CN105275926A - Boom control method and system - Google Patents
Boom control method and system Download PDFInfo
- Publication number
- CN105275926A CN105275926A CN201510772665.9A CN201510772665A CN105275926A CN 105275926 A CN105275926 A CN 105275926A CN 201510772665 A CN201510772665 A CN 201510772665A CN 105275926 A CN105275926 A CN 105275926A
- Authority
- CN
- China
- Prior art keywords
- angular velocity
- jib
- oil cylinder
- real
- preset angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Jib Cranes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a boom control method and system. The boom control method comprises the steps that a preset angular velocity value for stretching or retracting a boom is input and a controller controls the stretching and retracting speed of a piston rod of an oil cylinder according to the preset angular velocity value and further comprises the steps that the real-time angular velocity value for stretching or retracting the boom is detected and compared with the preset angular velocity value; when the real-time angular velocity value is larger than the preset angular velocity value, the controller controls the stretching and retracting speed of the piston rod to be decreased; and when the real-time angular velocity value is smaller than the preset angular velocity value, the controller controls the stretching and retracting speed of the piston rod to be increased. After the preset angular velocity value is input, the real-time angular velocity value can be controlled to be close to the preset angular velocity value so that the boom can rotate at a constant speed, accordingly, the rotating speed of the boom is controlled stably and accurately, high operability is achieved, linear following of given input can be achieved, and rapid correction can be achieved even if under the influence of external factors.
Description
Technical field
The present invention relates to engineering machinery field, particularly relate to a kind of arm support control method and system.
Background technique
Rotary jib has a wide range of applications in engineering machinery field, such as, arrange multistage jib at concrete mixer, effectively improves the operation convenience of concrete mixer cloth.In the prior art, jib and upper stage arrangement hinged, and oil cylinder respectively hinged jib and upper stage arrangement, by the flexible rotation realizing jib of control oil cylinder.Realized by remote control unit the control of jib, each handle of remote control unit respectively correspondence often saves jib.The analog amount that the degree of driving handle and remote control unit export is directly proportional, when driving handle, analog signals exports controller to, the aperture of the analog amount of handle and jib multi-way valve is mapped by direct ratio by controller, control the hydraulic fluid flow rate entering oil cylinder, the stretching speed of control piston bar, and then realize the control to jib rotational speed.
But, owing to being subject to the impact of gravity, the resistance of jib cylinder movement under different attitudes is different, the straight line motion of the flow of jib multi-way valve and oil cylinder can not be directly proportional, simultaneously, the angular velocity that the straight line motion of oil cylinder and jib launch to regain action is not also directly proportional, and above-mentioned reason makes jib can not the uniform rotation when inputting definite value.Visible, when operating jib, command value is the value of remote control unit input, and controlling value is the rotational velocity of jib, command value and the non-linear ratio of controlling value, affects steadily accurately controlling jib.
Therefore, a kind of controlling method that steadily accurately can control jib rotational speed how is provided to be the current technical issues that need to address of those skilled in the art.
Summary of the invention
The object of this invention is to provide a kind of arm support control method and system, steadily accurately can control the rotational speed of jib.
For solving the problems of the technologies described above, the invention provides a kind of arm support control method, comprising the steps:
Input launches or regains the preset angle velocity amplitude of jib, controls the stretching speed of the piston rod of oil cylinder according to described preset angle velocity amplitude;
Detect the real-time magnitude of angular velocity launching or regain described jib, and contrast with described preset angle velocity amplitude;
When described real-time magnitude of angular velocity is greater than described preset angle velocity amplitude, the stretching speed controlling described piston rod reduces;
When described real-time magnitude of angular velocity is less than described preset angle velocity amplitude, the stretching speed controlling described piston rod increases.
Preferably, detect the described real-time magnitude of angular velocity launching or regain described jib to comprise:
Obtain the angle of just jib and upper stage arrangement described in the moment, obtain the angle of jib and described upper stage arrangement described in the moment of end, calculate the difference of two angles;
Gather the time difference in described just moment and described end moment;
Calculate the ratio of described difference and described time difference, obtain described real-time magnitude of angular velocity.
Preferably, the angle obtaining jib and described upper stage arrangement described in described just moment or described end moment comprises:
Obtain the overhang of described oil cylinder, and obtain the total length of oil cylinder described in this moment;
According to the known length determining line segment AB, AC of length and the line segment BC of acquisition, and calculate upper process angle between stage arrangement and connecting rod described in this moment by the cosine law, the length of its middle conductor AB is the distance of articulating point apart from the articulating point of described upper stage arrangement and described oil cylinder of described upper stage arrangement and described connecting rod, the length of line segment AC is the distance of articulating point apart from the articulating point of described connecting rod and described oil cylinder of described upper stage arrangement and described connecting rod, the total length of the length of line segment BC oil cylinder described in the moment for this reason;
According to dimensional parameters and the described process angle calculated of the known described connecting rod determined, and calculated the angle of jib described in this moment and described upper stage arrangement by sine.
Preferably, also be previously provided with maximum critical overhang and minimum critical overhang, contrast described overhang and described maximum critical overhang and described minimum critical overhang, as as described in overhang be greater than as described in maximum critical overhang or minimum critical overhang as described in being less than, reduce described preset angle velocity amplitude.
Preferably, be also previously provided with minimum magnitude of angular velocity, contrast described preset angle velocity amplitude and described minimum magnitude of angular velocity, as described in preset angle velocity amplitude be less than as described in minimum magnitude of angular velocity, control described oil cylinder and quit work.
Preferably, the stretching speed controlling described piston rod reduces or after increase, returns and detect described real-time magnitude of angular velocity, and contrast with described preset angle velocity amplitude, and according to comparing result, the stretching speed controlling described piston rod reduces or increases.
The present invention also provides a kind of arm support control system, comprising:
Remote control unit, for inputting the preset angle velocity amplitude launching or regain jib;
Detection device, for detecting the real-time magnitude of angular velocity launching or regain described jib;
Oil cylinder, launches for driving described jib or regains;
Controller, for contrasting described preset angle velocity amplitude and described real-time magnitude of angular velocity, and controls the stretching speed of the piston rod of described oil cylinder according to comparing result.
Preferably, described detection device comprises the angle transducer for detecting angle between described jib and upper stage arrangement.
Preferably, described detection device comprises the displacement transducer for detecting described oil cylinder overhang.
Preferably, institute's displacement sensors is arranged at bottom described oil cylinder, the piston of described oil cylinder is provided with the inductance loop for coordinating with institute displacement sensors.
Arm support control method provided by the invention and system, controller is according to the expansion of input or the preset angle velocity amplitude regaining jib, control the stretching speed of the piston rod of oil cylinder, detect the real-time magnitude of angular velocity launching or regain jib simultaneously, and contrast with preset angle velocity amplitude; When real-time magnitude of angular velocity is greater than preset angle velocity amplitude, the stretching speed of controller control piston bar reduces; When real-time magnitude of angular velocity is less than preset angle velocity amplitude, the stretching speed of controller control piston bar increases.By the detection to real-time magnitude of angular velocity, and contrast with preset angle velocity amplitude, comparing result is fed back to controller, the stretching speed that controller controls the piston rod of oil cylinder increases or reduces, and then the magnitude of angular velocity that adjustment jib rotates.After input preset angle velocity amplitude, real-time magnitude of angular velocity can be adjusted close to preset angle velocity amplitude, jib is at the uniform velocity rotated, and then steadily accurately control the rotational speed of jib, good operability is provided, can linearly follows given input, even and if have extraneous factor to affect, also can Fast Correction.
Accompanying drawing explanation
Fig. 1 is the flow chart of a kind of embodiment of arm support control method provided by the present invention;
Fig. 2 is the flow chart of the method for control piston bar stretching speed in a kind of embodiment of arm support control method provided by the present invention;
Fig. 3 is the structural representation of a kind of embodiment of beam mechanism provided by the present invention;
Fig. 4 is the geometrized structure graph of a kind of embodiment of beam mechanism provided by the present invention;
Fig. 5 is preset angle velocity amplitude in a kind of embodiment of arm support control method provided by the present invention and export control signal relation schematic diagram.
Embodiment
Core of the present invention is to provide a kind of arm support control method and system, steadily accurately can control the rotational speed of jib.
In order to make those skilled in the art person understand the present invention program better, below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
Please refer to Fig. 1 and Fig. 2, Fig. 1 is the flow chart of a kind of embodiment of arm support control method provided by the present invention; Fig. 2 is the flow chart of the method for control piston bar stretching speed in a kind of embodiment of arm support control method provided by the present invention.
In the specific embodiment of the present invention, beam mechanism comprises stage arrangement 1, jib 2 and oil cylinder 3, and upper stage arrangement 1 is hinged with jib 2, and two ends hinged upper stage arrangement 1 and the jib 2 respectively of oil cylinder 3, is rotated by the telescopic band swing arm frame 2 of oil cylinder 3.Wherein going up stage arrangement 1 can be the upper level jib be connected with jib 2, also can for fixing turntable.
The arm support control method that the specific embodiment of the invention provides is specially:
S1: input launches or regains the preset angle velocity amplitude of jib 2.
Preset angle velocity amplitude can be inputted in several ways, particularly can for promoting the handle of remote control unit, the corresponding corresponding jib 2 of each handle, the degree that handle promotes is larger, represents preset angle velocity amplitude larger, otherwise, the degree that handle promotes is less, represents preset angle velocity amplitude less.Simultaneously, the signal inputted by handle has positive and negative both direction, corresponding to expansion and the withdrawal of jib 2, the direction that specifically can be promoted by handle is distinguished, initial position is set to during as mediated by handle, driven forward represents the positive signal that input launches, and represents the negative signal that input is regained backward.Also can adopt other mode controlling parties such as switching button is set to, all within protection scope of the present invention.Meanwhile, also can adopt other remote control modes, as used knob or inputting the modes such as concrete numerical value, all within protection scope of the present invention.
S2: controller controls the stretching speed of the piston rod of oil cylinder according to preset angle velocity amplitude.
Because piston rod drives jib 2 to rotate, by the stretching speed of control piston bar, can control the rotational velocity of jib 2, namely piston rod stretching speed is faster, and the angular velocity that jib 2 rotates is faster, and piston rod stretching speed is slower, and the angular velocity that jib 2 rotates is slower.
Wherein, controller according to the concrete grammar of the stretching speed of the piston rod of preset angle velocity amplitude control oil cylinder can be:
S21: controller is according to preset angle velocity amplitude output current value.
In previous step, remote control unit receives the information that operator export, when using handle, the promotion degree of handle is directly proportional to analog output control signal, namely, after driving handle, remote control unit produces corresponding analog output control signal, and exports controller to.Controller, by carrying out pulsewidth modulation to analog output control signal, forms corresponding current value and exports multi-way valve to.Wherein also can adopt other signal processing modes, all within protection scope of the present invention.
S22: multi-way valve adjusts aperture according to current value.
S23: control the hydraulic fluid flow rate entering oil cylinder 3 according to aperture.
The aperture of the current value adjustment self that multi-way valve exports according to controller, controls according to aperture size the hydraulic fluid flow rate entering oil cylinder 3.
S24: according to the stretching speed of hydraulic fluid flow rate control piston bar.
Finally according to the stretching speed of hydraulic fluid flow rate control piston bar, in conjunction with above steps, control procedure is for when needs input preset angle speed, driving handle is to corresponding position, pushed amount is converted to analog output control signal and exports controller to by remote control unit, output control signal is carried out pulsewidth modulation formation current value and is exported multi-way valve to by controller, the aperture of multi-way valve is directly proportional to current value, multi-way valve opens the aperture corresponding with current value, and then control the hydraulic fluid flow rate entering oil cylinder 3, flow is larger, the stretching speed of piston rod is faster, flow is less, the stretching speed of piston rod is slower, control the rotational velocity of jib.Also other modes can be adopted to control stretching speed, as adjusted the structure of multi-way valve, adjust the proportionate relationship of each numerical value, all within protection scope of the present invention.
S3: detect the real-time magnitude of angular velocity launching or regain jib 2.
The method of the real-time magnitude of angular velocity of multiple detection can be had, real-time magnitude of angular velocity can be drawn by the mode calculating angle variable quantity in the short time.
Particularly, controller gets extremely short two moment in the time lag as first moment and end moment, obtains the angle engraved at the beginning between stage arrangement 1 and jib 2, and obtains end moment upper angle between stage arrangement 1 and jib 2, calculates the difference of two angles.
The time difference in controller collection first moment and end moment, the ratio of calculated difference and time difference, when two moment time lag pole in short-term, the first moment is very close with the end moment, can be similar to and think a moment, the difference calculated can think the instantaneous angular velocity in this moment, is real-time magnitude of angular velocity.Gather different first moment and end moment, namely obtain not real-time magnitude of angular velocity in the same time.
S4: contrast real-time magnitude of angular velocity and preset angle velocity amplitude.
According to the real-time magnitude of angular velocity that S3 obtains, the preset angle velocity amplitude inputted with S1 contrasts, and compares both sizes, when real-time magnitude of angular velocity is greater than preset angle velocity amplitude, enters S5; When real-time magnitude of angular velocity is less than preset angle velocity amplitude, enter S6; When both are equal, represent that the rotational speed of jib 2 meets demand, do not need to adjust, continue to keep present speed.Wherein S5 and S6 does not have sequencing, can only there is a kind of situation after contrast, carries out corresponding operating.
S5: the stretching speed of controller control piston bar reduces, and reduces real-time angular velocity.
S6: the stretching speed of controller control piston bar increases, and increases real-time angular velocity.
In the specific embodiment of the invention, stretching speed can be controlled according to the mode provided in S2, namely controller is by increasing or reduce the aperture of output current value increase or reduction multi-way valve, and then increase or reduce to enter the hydraulic fluid flow rate of oil cylinder 3, increase or reduce the stretching speed of piston rod, final raising or reduce the rotational speed of jib 2, achieves the control to rotational speed and adjustment.Certainly other modes previously mentioned also can be adopted to control, all within protection scope of the present invention oil cylinder 3.
After the stretching speed of controller control piston bar increases or reduces, return and detect real-time magnitude of angular velocity, and contrast new real-time magnitude of angular velocity and the preset angle velocity amplitude inputted before, according to comparing result, the stretching speed of controller Repetitive controller piston rod increases or reduces, and concrete control mode as previously mentioned.All detect new real-time magnitude of angular velocity after so regulating the speed at every turn, and carry out contrasting and adjust, achieve the real-time monitoring to angular velocity and adjustment.When real-time magnitude of angular velocity is equal with preset angle velocity amplitude, represent that the rotational speed of jib 2 meets demand, do not need to adjust, continue to keep present speed, but in practical work process, because oil cylinder 3 is straight line motion and jib is the many factors such as circular movement, be in most cases comparatively hard to keep at the uniform velocity, therefore speed adjustment is all carrying out in the moment.
By the detection to real-time magnitude of angular velocity, and contrast with preset angle velocity amplitude, comparing result is fed back to controller, the stretching speed that controller controls the piston rod of oil cylinder 3 increases or reduces, and then the magnitude of angular velocity that adjustment jib 2 rotates.After input preset angle velocity amplitude, real-time magnitude of angular velocity can be adjusted close to preset angle velocity amplitude, jib 2 is at the uniform velocity rotated, and then steadily accurately control the rotational speed of jib 2, good operability is provided, can linearly follow given input, even and if have extraneous factor to affect, also can Fast Correction.
Please refer to Fig. 3 and Fig. 4, Fig. 3 is the structural representation of a kind of embodiment of beam mechanism provided by the present invention; Fig. 4 is the geometrized structure graph of a kind of embodiment of beam mechanism provided by the present invention.
In the arm support control method that the specific embodiment of the invention provides, beam mechanism also comprises connecting rod 4, upper stage arrangement 1 is hinged with jib 2, connecting rod 4 respectively with upper stage arrangement 1 and jib 2 hinged, the two ends of oil cylinder 3 respectively with upper stage arrangement 2 and connecting rod 4 hinged, the flexible of oil cylinder 3 still can drive jib 2 to rotate.The articulating point wherein going up stage arrangement 1 and connecting rod 4 is known and fixing parameter apart from upper stage arrangement 1 with the distance of the articulating point of oil cylinder 3, the articulating point of upper stage arrangement 1 and connecting rod 4 is known and preset parameter apart from connecting rod 4 and the distance of the articulating point of oil cylinder 3, and each dimensional parameters of connecting rod 4 is also known and fixing.
When needing to obtain the angle between a certain moment jib 2 and upper stage arrangement 1, concrete mode can for obtaining the overhang of oil cylinder 3, and obtain the total length of this moment oil cylinder 3 by the dimensional parameters of overhang and oil cylinder 3.Upper stage arrangement 1, oil cylinder 3 and connecting rod 4 define triangle, according to the parameter of known fixed and the total length of oil cylinder 3 above, are calculated the process angle now engraved between stage arrangement 1 and connecting rod 4 by the cosine law.And calculate the angle between this moment jib 2 and upper stage arrangement 1 by sine.
Circular is as follows:
Upper stage arrangement 1 and the supreme stage arrangement 1 of oil cylinder 3 articulating point are line segment AB with connecting rod 4 articulating point, connecting rod 4 is triangle ACD, hinged upper stage arrangement 1 is line segment AE with the hinge bar of jib 2, and hinged jib 2 is line segment DF with the hinge bar of connecting rod 4, and jib 2 is broken line EFG.
Wherein the length of L2 to L10 is known, ∠ EAB, ∠ CAD and ∠ EFG known, by measuring known oil cylinder 3 total length L 1, calculate the angle value of ∠ BAC, i.e. the angle value of ∠ a;
∠EAD＝∠EAB-∠CAD-∠a
Can be obtained by (1) (2):
∠AEG＝∠AED+∠DEF-∠FEG
Can be obtained by sine:
∠b＝∠BAG＝∠EAB-∠EAG
Wherein, ∠ b is the angle between jib 2 and upper stage arrangement 1; above-mentioned method of measurement is only carry out for specified structure a kind of mode of measuring; when each parts Placement of jib structure is different; also can draw corresponding angle by above-mentioned principle, each computational methods are all within protection scope of the present invention.
By measuring crow flight distance and calculating the mode of angle, obtain the angle in a certain moment, and what measure be the numerical value of oil cylinder 3, being convenient to measurement, also can adopting other modes, as directly taken measurement of an angle, all within protection scope of the present invention.
In the arm support control method that the specific embodiment of the invention provides, the maximum critical overhang of setting and minimum critical overhang can be envisioned, be greater than maximum critical overhang as overhang or be less than minimum critical overhang, then reduce preset angle velocity amplitude.When jib 2 launch or be recovered to close on limit position time; piston rod in oil cylinder 3 also moves to limit position; the signal value that displacement transducer detects closes on maximum or minimum stroke; reduce preset angle velocity amplitude immediately; and then the stretching speed of control piston bar reduces; strong impact is produced, protection jib 2 and oil cylinder 3 when avoiding jib 2 to move to limit position.Such as; when displacement transducer signal value arrives minimum or range 50mm range intervals; preset angle velocity amplitude is become 70% of maximum permissible value; according to actual conditions adjustment distance and ratio; or adopt as other modes such as detection angles limit position limit limit position, all within protection scope of the present invention.
Please refer to Fig. 5, Fig. 5 is preset angle velocity amplitude in a kind of embodiment of arm support control method provided by the present invention and export control signal relation schematic diagram.
In the arm support control method that the specific embodiment of the invention provides, after input preset angle velocity amplitude, this value and the minimum magnitude of angular velocity preset can be contrasted, as preset angle velocity amplitude is less than minimum magnitude of angular velocity, then controller does not export control signal, control oil cylinder 3 to quit work, the preset angle velocity amplitude of input with export the relation of control signal as shown in Figure 4, wherein positive negative indication moving direction.The preset angle velocity amplitude of input increases by 0, but before the minimum magnitude of angular velocity of arrival, exporting control signal is 0, until be greater than minimum magnitude of angular velocity always, preset angle velocity amplitude is linear with output control signal, exports control signal and increases with the growth of preset angle velocity amplitude.
The specific embodiment of the invention also provides arm support control system, comprises remote control unit, detection device, oil cylinder 3 and controller, and wherein remote control unit is for inputting the preset angle velocity amplitude launching or regain jib 2; Detection device is for detecting the real-time magnitude of angular velocity launching or regain jib 2; Oil cylinder 3 launches for driving jib 2 or regains; Controller for contrasting preset angle velocity amplitude and real-time magnitude of angular velocity, and controls the stretching speed of the piston rod of oil cylinder 3 with comparing result.
After input preset angle velocity amplitude, real-time magnitude of angular velocity can be adjusted close to preset angle velocity amplitude, jib 2 is at the uniform velocity rotated, and then steadily accurately control the rotational speed of jib 2, good operability is provided, can linearly follow given input, even and if have extraneous factor to affect, also can Fast Correction.
In control system provided by the invention, detection device can be directly the angle transducer directly measuring angle between jib 2 and upper stage arrangement 1, also can be the displacement transducer measuring oil cylinder 3 overhang, particularly by bottom displacement transducer setting and oil cylinder 3, piston is provided with inductance loop, is obtained the overhang of oil cylinder 3 by the distance detecting inductance loop and displacement transducer.Also the Through Several Survey Measures such as the external or barcode detection of sensor can be adopted to measure, all within protection scope of the present invention.
Above arm support control method provided by the present invention and system are described in detail.Apply specific case herein to set forth principle of the present invention and mode of execution, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improve and modify and also fall in the protection domain of the claims in the present invention.
Claims (10)
1. an arm support control method, is characterized in that, comprises the steps:
Input launches or regains the preset angle velocity amplitude of jib, controls the stretching speed of the piston rod of oil cylinder according to described preset angle velocity amplitude;
Detect the real-time magnitude of angular velocity launching or regain described jib, and contrast with described preset angle velocity amplitude;
When described real-time magnitude of angular velocity is greater than described preset angle velocity amplitude, the stretching speed controlling described piston rod reduces;
When described real-time magnitude of angular velocity is less than described preset angle velocity amplitude, the stretching speed controlling described piston rod increases.
2. arm support control method according to claim 1, is characterized in that, detects the described real-time magnitude of angular velocity launching or regain described jib and comprises:
Obtain the angle of just jib and upper stage arrangement described in the moment, obtain the angle of jib and described upper stage arrangement described in the moment of end, calculate the difference of two angles;
Gather the time difference in described just moment and described end moment;
Calculate the ratio of described difference and described time difference, obtain described real-time magnitude of angular velocity.
3. arm support control method according to claim 2, is characterized in that, the angle obtaining jib and described upper stage arrangement described in described just moment or described end moment comprises:
Obtain the overhang of described oil cylinder, and obtain the total length of oil cylinder described in this moment;
According to the known length determining line segment AB, AC of length and the line segment BC of acquisition, and calculate upper process angle between stage arrangement and connecting rod described in this moment by the cosine law, the length of its middle conductor AB is the distance of articulating point apart from the articulating point of described upper stage arrangement and described oil cylinder of described upper stage arrangement and described connecting rod, the length of line segment AC is the distance of articulating point apart from the articulating point of described connecting rod and described oil cylinder of described upper stage arrangement and described connecting rod, the total length of the length of line segment BC oil cylinder described in the moment for this reason;
According to dimensional parameters and the described process angle calculated of the known described connecting rod determined, and calculated the angle of jib described in this moment and described upper stage arrangement by sine.
4. arm support control method according to claim 3, it is characterized in that, also be previously provided with maximum critical overhang and minimum critical overhang, contrast described overhang and described maximum critical overhang and described minimum critical overhang, as as described in overhang be greater than as described in maximum critical overhang or minimum critical overhang as described in being less than, reduce described preset angle velocity amplitude.
5. arm support control method according to claim 1, it is characterized in that, be also previously provided with minimum magnitude of angular velocity, contrast described preset angle velocity amplitude and described minimum magnitude of angular velocity, as as described in preset angle velocity amplitude be less than as described in minimum magnitude of angular velocity, control described oil cylinder and quit work.
6. the arm support control method according to claim 1 to 5 any one, it is characterized in that, control described piston rod stretching speed reduce or increase after, return and detect described real-time magnitude of angular velocity, and contrast with described preset angle velocity amplitude, according to comparing result, the stretching speed controlling described piston rod reduces or increases.
7. an arm support control system, is characterized in that, comprising:
Remote control unit, for inputting the preset angle velocity amplitude launching or regain jib;
Detection device, for detecting the real-time magnitude of angular velocity launching or regain described jib;
Oil cylinder, launches for driving described jib or regains;
Controller, for contrasting described preset angle velocity amplitude and described real-time magnitude of angular velocity, and controls the stretching speed of the piston rod of described oil cylinder according to comparing result.
8. arm support control system according to claim 7, is characterized in that, described detection device comprises the angle transducer for detecting angle between described jib and upper stage arrangement.
9. arm support control system according to claim 8, is characterized in that, described detection device comprises the displacement transducer for detecting described oil cylinder overhang.
10. arm support control system according to claim 9, is characterized in that, institute's displacement sensors is arranged at bottom described oil cylinder, the piston of described oil cylinder is provided with the inductance loop for coordinating with institute displacement sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510772665.9A CN105275926B (en) | 2015-11-12 | 2015-11-12 | A kind of arm support control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510772665.9A CN105275926B (en) | 2015-11-12 | 2015-11-12 | A kind of arm support control method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105275926A true CN105275926A (en) | 2016-01-27 |
| CN105275926B CN105275926B (en) | 2017-09-15 |
Family
ID=55145526
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510772665.9A Active CN105275926B (en) | 2015-11-12 | 2015-11-12 | A kind of arm support control method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105275926B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110905674A (en) * | 2019-12-27 | 2020-03-24 | 徐州重型机械有限公司 | Crane power matching control method and system and crane |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310407A (en) * | 2011-04-22 | 2012-01-11 | 三一重工股份有限公司 | Bionic control method and control system of mechanical arm |
| CN102566598A (en) * | 2012-02-03 | 2012-07-11 | 三一重工股份有限公司 | Engineering machine and controlling method and controlling system for engineering machine |
| CN102591221A (en) * | 2012-02-07 | 2012-07-18 | 三一重工股份有限公司 | Controller, control system and method of multi-section arm support equipment, and engineering machinery equipment |
| CN103147577A (en) * | 2013-02-27 | 2013-06-12 | 中联重科股份有限公司 | Control method, equipment, system and construction machinery for multi-joint mechanical arm support |
| CN203066485U (en) * | 2012-12-27 | 2013-07-17 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Intelligent arm support control system of concrete pump truck |
| CN103233581A (en) * | 2013-02-08 | 2013-08-07 | 上海格尼特控制技术有限公司 | Concrete arm support pumper and control method thereof |
| CN103387185A (en) * | 2013-08-01 | 2013-11-13 | 徐州重型机械有限公司 | Control system, control method and crane |
| CN103644250A (en) * | 2013-12-06 | 2014-03-19 | 长沙中联消防机械有限公司 | Fire fighting truck cantilever crane vibration control device, method and system and fire fighting truck |
| CN104236618A (en) * | 2014-08-04 | 2014-12-24 | 湘潭大学 | Posture anti-collision detection method and system for booms among pumpers |
| CN104776822A (en) * | 2015-04-15 | 2015-07-15 | 武汉地和智能有限公司 | Multi-section boom posture detecting system and method |
-
2015
- 2015-11-12 CN CN201510772665.9A patent/CN105275926B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310407A (en) * | 2011-04-22 | 2012-01-11 | 三一重工股份有限公司 | Bionic control method and control system of mechanical arm |
| CN102566598A (en) * | 2012-02-03 | 2012-07-11 | 三一重工股份有限公司 | Engineering machine and controlling method and controlling system for engineering machine |
| CN102591221A (en) * | 2012-02-07 | 2012-07-18 | 三一重工股份有限公司 | Controller, control system and method of multi-section arm support equipment, and engineering machinery equipment |
| CN203066485U (en) * | 2012-12-27 | 2013-07-17 | 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 | Intelligent arm support control system of concrete pump truck |
| CN103233581A (en) * | 2013-02-08 | 2013-08-07 | 上海格尼特控制技术有限公司 | Concrete arm support pumper and control method thereof |
| CN103147577A (en) * | 2013-02-27 | 2013-06-12 | 中联重科股份有限公司 | Control method, equipment, system and construction machinery for multi-joint mechanical arm support |
| CN103387185A (en) * | 2013-08-01 | 2013-11-13 | 徐州重型机械有限公司 | Control system, control method and crane |
| CN103644250A (en) * | 2013-12-06 | 2014-03-19 | 长沙中联消防机械有限公司 | Fire fighting truck cantilever crane vibration control device, method and system and fire fighting truck |
| CN104236618A (en) * | 2014-08-04 | 2014-12-24 | 湘潭大学 | Posture anti-collision detection method and system for booms among pumpers |
| CN104776822A (en) * | 2015-04-15 | 2015-07-15 | 武汉地和智能有限公司 | Multi-section boom posture detecting system and method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110905674A (en) * | 2019-12-27 | 2020-03-24 | 徐州重型机械有限公司 | Crane power matching control method and system and crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105275926B (en) | 2017-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102718147B (en) | Hook motion control mechanism and tower crane | |
| CN102566598B (en) | Engineering machine and controlling method and controlling system for engineering machine | |
| CN102864800A (en) | Flat-pushing control method and device of excavator and excavator | |
| CN203199818U (en) | Automatic winding and unwinding device of electric cable reel controlled by pressure sensor | |
| CN103663203B (en) | The speed of revolutions control method of hoisting crane, device, system and hoisting crane | |
| CN102591221B (en) | Controller, control system and method of multi-section arm support equipment, and engineering machinery equipment | |
| CN102701077B (en) | System and method for controlling position of lifting hook of crane, as well as crane | |
| CN109375584B (en) | Arm support joint control method and system, engineering machinery and machine readable storage medium | |
| CN106082043B (en) | A kind of self-walking aerial working vehicle control | |
| CN103787145A (en) | Fabric twining device under constant tension control and control method of fabric twining device | |
| AU2008306801B2 (en) | Method, apparatus and computer program for adjusting hydraulically operated boom | |
| CN102929290B (en) | Be applied to spraying machine control system, method and device that tunnel concrete sprays | |
| CN105329788B (en) | Uniform velocity amplitude-varying control method for jib crane | |
| CN103556832B (en) | A kind of arm support state control device, method, system and engineering machinery | |
| CN105275926A (en) | Boom control method and system | |
| CN106315412B (en) | Hoisting arm expansion control method, device, system and engineering machinery | |
| CN105836623B (en) | Crane quantitative control methodin, device and system | |
| CN102912817A (en) | Excavator as well as control method and control device thereof | |
| CN102502432B (en) | Variable amplitude suspension arm of oil cylinder as well as linear speed control method and device thereof | |
| CN102620706B (en) | Method, device and system for calibrating variable amplitude measurement device in engineering machinery | |
| CN104088842A (en) | Automatic identification and compensation method and system for dead control zone of proportional direction valve | |
| CN107264833A (en) | A kind of wing pitching lifts coupled motions platform | |
| CN113107912B (en) | Constant-speed walking control method and device and excavator | |
| CN107285202B (en) | A kind of container side crane arm movement locus control system and method | |
| CN205037867U (en) | A three -dimensional dynamic measurement system for bucket -wheel stacker reclaimer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201009 Address after: No.202 Xuanfu street, Xuanhua District, Zhangjiakou, Hebei Province Patentee after: Hebei Leisa Heavy Construction Machinery Co., Ltd Address before: 102206 Changping District City, Shahe, Sha Yang Road, Beijing Patentee before: BEIQI FOTON MOTOR Co.,Ltd. |