CN105800485B - Method, device and system for controlling rotation speed of arm support and engineering machinery - Google Patents
Method, device and system for controlling rotation speed of arm support and engineering machinery Download PDFInfo
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- CN105800485B CN105800485B CN201410849169.4A CN201410849169A CN105800485B CN 105800485 B CN105800485 B CN 105800485B CN 201410849169 A CN201410849169 A CN 201410849169A CN 105800485 B CN105800485 B CN 105800485B
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Abstract
The invention discloses a method, a device and a system for controlling the rotation speed of an arm support and an engineering machine, which improve the rotation efficiency of the arm support and are convenient to operate on the premise of ensuring the rotation safety of the arm support. The method comprises the following steps of obtaining the inclination angle of each section of arm in the arm support relative to the horizontal plane under the current working condition, wherein: the inclination angle is an angle which is formed by counterclockwise rotation of the knuckle arm around a hinge point at the head end of the knuckle arm relative to a horizontal plane; determining the horizontal distance between the tail end of each section arm and the central line of the rotary table under the current working condition according to the arm length of each section arm and the obtained inclination angle of each section arm, and obtaining the maximum horizontal distance; and obtaining the current maximum allowable control current of the rotary proportional valve according to the maximum horizontal distance.
Description
Technical field
The present invention relates to technical field of engineering machinery, more particularly to a kind of arm support rotational speed control method, device, system
And engineering machinery.
Background technology
With developing rapidly for the fields such as construction industry, high ferro, the various Construction traffics with arm support equipment are widely used,
Arm support is typically provided with this kind of vehicle, arm support includes more piece joint arm, and adjacent joint arm is hinged by connecting shaft and two neighboring section
Arm support oil cylinder is connected between arm, the arm support oil cylinder can drive two adjacent joint arms being connected with the arm support oil cylinder around connecting shaft
Rotate to an angle, realize folding and the opening of joint arm.The arm support of multiple joint arm compositions is fixed on support by turntable simultaneously,
Arm support can carry out 360 degree of rotation (i.e. horizontal rotation) around the vertical pivot perpendicular to horizontal plane under the drive of turntable.With this
The engineering machinery of jib structure is common to be had：Pump truck, fire fighting truck etc..
The principle for controlling arm support rotational speed in the prior art is：Control device is controlled by the size of adjustment control electric current
The aperture of system revolution proportioning valve (valve of control gantry rotation velocity) valve, turn round the bigger arm support revolution of aperture of proportioning valve valve
Speed it is also corresponding faster, so as to realize the control to arm support running speed.Control arm support is can be seen that from this control process
Running speed is realized by controlling the size of the control electric current of control device output.
During arm support horizontal rotation, collide in order to avoid the people and building of arm support and construction site, it is necessary to
Need to according to specification limit arm support horizontal rotation speed (i.e. arm support horizontal rotation when, the joint arm maximum horizontal in terminal position
Movement velocity is not more than 1.5m/s), that is to say, that the maximum controlling current of revolution proportioning valve is limited in advance, wherein：Arm support
Proportioning valve electric current corresponding to transport maximum speed is maximum controlling current.
At present, to the setting of maximum controlling current, usually use that all (i.e. whole joint arms are positioned at one for expansion with arm support
On straight line) when length be radius of turn, calculate maximum angular velocity of rotation, and turned round according to the maximum angular velocity of rotation
The maximum controlling current of proportioning valve.
But inventor has found：Arm support is in practical work process, and when revolution, arm support may be beaten arm support without whole
Open, now the end of arm support is smaller with respect to the radius of turn of turntable accordingly, or arm support one end farthest apart from turntable is not
It is the tail end of final section joint arm, if length when also all deploying (i.e. whole joint arms are located on straight line) with arm support is corresponding
Maximum angular velocity of rotation if limiting the maximum rotational speed of arm support, the rotational speed of arm support can be influenceed, and then can influence
Whole equipment is efficiency of construction.
The content of the invention
The embodiment of the present invention provides a kind of arm support rotational speed control method, device, system and engineering machinery, to solve
Arm support rotational speed is set relatively low in the prior art, can not be adjusted in real time, and then the problem of the efficiency of construction of influence whole equipment.
To reach above-mentioned purpose, the present invention provides following technical scheme.
The invention provides a kind of control method of arm support rotational speed, including：
Obtain current working under, in arm support each joint arm relative level angle of inclination, wherein：The angle of inclination is section
The angle that arm is crossed around its head end pin joint relative level rotate counterclockwise；
Determined according to the angle of inclination of the brachium of each joint arm and each joint arm of acquisition under current working, the end of each joint arm
Horizontal range between the center line of turntable, and obtain maximum horizontal range therein；
Obtained turning round the current maximum allowable control electric current of proportioning valve according to the maximum horizontal range.
The control method of arm support rotational speed provided by the invention, by obtaining under current working, each joint arm phase in arm support
Current working is determined to the angle of inclination of horizontal plane, and according to the angle of inclination of the brachium of each joint arm and each joint arm of acquisition
Under, the horizontal range between the center line of the end of each joint arm and turntable, and obtain maximum horizontal range therein；According to described
Maximum horizontal range is obtained turning round the current maximum allowable control electric current of proportioning valve, it is possible to achieve the maximum for turning round proportioning valve is permitted
Perhaps the continuous adjustment of control electric current, you can to deploy the difference (difference of radius of turn) of posture according to arm support, in real time, suitably
Setting revolution proportioning valve maximum allowable control electric current, when avoiding the arm support from not deploying all, rotational speed was limited slow
The generation of phenomenon.
So the control method of arm support rotational speed provided by the invention, can adjust the maximum for turning round proportioning valve in real time
Control electric current, on the premise of the security of arm support revolution is ensured, the revolution efficiency of arm support is improved, and it is easy to operation.
It is described to be obtained turning round proportioning valve currently most according to the maximum horizontal range in some optional embodiments
It is big to allow control electric current to specifically include：
According to formula：Obtain the maximum allowable control electric current, IxFor maximum allowable control
Electric current processed, IaTo turn round the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, arm support tail end speed limit bar
The maximum controlling current that proportioning valve is allowed, L are turned round under partiFor the brachium of the i-th section section arm, n is the joint arm included in arm support
Number, i value is 1 ... n, rmaxFor maximum horizontal range.
In some optional embodiments, the angle of inclination of each joint arm of the brachium and acquisition according to each joint arm
Determine under current working, the horizontal range between the center line of the end of each joint arm and turntable, and obtain maximum horizontal therein
Distance specifically includes：
According to formula：Calculate between the end of each joint arm and the center line of turntable it is horizontal away from
From, wherein：riEnd for the i-th section section arm and the horizontal range between the center line of turntable, n is the joint arm included in arm support
Number, LiThe brachium of arm is saved for the i-th section,For the angle of inclination of the i-th section section arm relative level；
The n horizontal ranges saved in section arm often between the end of section section arm and the center line of turntable are compared to each other, obtain institute
State maximum horizontal range.
In some optional embodiments, above-mentioned control method also includes：Obtained according to the maximum allowable control electric current
To the actual output current.
It is described that the reality output electricity is obtained according to the maximum allowable control electric current in some optional embodiments
Stream specifically includes：
According to formula：I=Ia+(Ix-Ia) × k%, obtains actual output current, wherein：K% is adjustment factor, IxFor most
It is big to allow control electric current, IaTo turn round the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, arm support end
The maximum controlling current that revolution proportioning valve is allowed under the conditions of the speed limit of end, LiFor the brachium of the i-th section section arm, n in arm support by wrapping
The number of the joint arm contained, rmaxFor maximum horizontal range, I is actual output current.
Present invention also offers a kind of control device of arm support rotational speed, including：
Obtain module, for obtaining under current working, in arm support each joint arm relative level angle of inclination, wherein：Institute
It is the angle that joint arm is crossed around its head end pin joint relative level rotate counterclockwise to state angle of inclination；
First computing module, the angle of inclination for the brachium according to each joint arm and each joint arm of acquisition determine current work
Horizontal range under condition, between the center line of the end of each joint arm and turntable, and obtain maximum horizontal range therein；
Second computing module, for being obtained turning round the current maximum allowable control of proportioning valve according to the maximum horizontal range
Electric current.
In some optional embodiments, second computing module is specifically used for：
According to formula：The maximum allowable control electric current is obtained, wherein, IxFor maximum
Allow control electric current, IaTo turn round the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, arm support tail end
The maximum controlling current that proportioning valve is allowed, L are turned round under the conditions of speed limitiFor the brachium of the i-th section section arm, n is included in arm support
Joint arm number, i value is 1 ... n, rmaxFor maximum horizontal range.
In some optional embodiments, first computing module is specifically used for：
According to formula：Calculate between the end of each joint arm and the center line of turntable it is horizontal away from
From, wherein：riEnd for the i-th section section arm and the horizontal range between the center line of turntable, n is the joint arm included in arm support
Number, LiThe brachium of arm is saved for the i-th section,For the angle of inclination of the i-th section section arm relative level；
The n horizontal ranges saved in section arm often between the end of section section arm and the center line of turntable are compared to each other, obtain institute
State maximum horizontal range.
In some optional embodiments, above-mentioned control device also includes：3rd computing module, for according to described in most
It is big to allow control electric current to obtain the actual output current.
In some optional embodiments, the 3rd computing module is specifically used for：
According to formula：I=Ia+(Ix-Ia) × k%, obtains actual output current, wherein：K% is adjustment factor, IxFor most
It is big to allow control electric current, IaTo turn round the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, arm support end
The maximum controlling current that revolution proportioning valve is allowed under the conditions of the speed limit of end, LiFor the brachium of the i-th section section arm, n in arm support by wrapping
The number of the joint arm contained, rmaxFor maximum horizontal range, I is actual output current.
Present invention also offers a kind of control system of arm support rotational speed, including：
Angle detection device, for detecting under current working, in arm support each joint arm relative level angle of inclination, its
In：The angle of inclination is the angle that joint arm is crossed around its head end pin joint relative level rotate counterclockwise；
The control device being connected with the angular sensing means signal, the control device are used for the brachium according to each joint arm
And the angle of inclination of each joint arm obtained determines under current working, the level between the center line of the end of each joint arm and turntable
Distance, and obtain maximum horizontal range therein；
It is additionally operable to be obtained turning round the current maximum allowable control electric current of proportioning valve according to the maximum horizontal range.
In some optional embodiments, the control device obtains the reality according to the maximum allowable control electric current
Border output current.
Present invention also offers a kind of engineering machinery, including：Turntable, the revolution proportioning valve of control turntable rotation, is installed on
The arm support of the turntable, include the control system of the arm support rotational speed described in any of the above-described.
Brief description of the drawings
Fig. 1 is the control method flow chart of arm support rotational speed provided in an embodiment of the present invention；
Fig. 2 is Computing Principle schematic diagram provided in an embodiment of the present invention；
Fig. 3 is the controling device structure diagram of arm support rotational speed provided in an embodiment of the present invention；
Fig. 4 is the control system architecture schematic diagram of arm support rotational speed provided in an embodiment of the present invention.
Reference：
The section section arms of 11- first segment joint arms 12- second
Section three of 13- Section four of section arm 14- section arms
Section of five section arm 2- of 15- obtains module
3- the first computing module the second computing modules of 4-
5- angle acquisition device 6- control devices
7- turns round proportioning valve
For inclination angle
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of patent protection of the present invention.
During arm support horizontal rotation, collide in order to avoid the people and building of arm support and construction site, it is necessary to
Need to according to specification limit arm support horizontal rotation speed (i.e. arm support horizontal rotation when, the joint arm maximum horizontal in terminal position
Movement velocity is not more than 1.5m/s), that is to say, that the maximum controlling current of revolution proportioning valve is limited in advance, at present, to maximum
The setting of control electric current, length when all deploying (i.e. whole joint arms are located on straight line) using arm support is usually used as rotation
Turn radius, calculate maximum angular velocity of rotation, and obtain turning round the maximum control electricity of proportioning valve according to the maximum angular velocity of rotation
Stream.But inventor has found：Arm support is in practical work process, and for arm support when revolution, arm support may be without fully open, phase
The end for the now arm support answered is smaller with respect to the radius of turn of turntable, if also with arm support, all (i.e. whole joint arms are located at one for expansion
On bar straight line) when length corresponding to maximum angular velocity of rotation come if limiting arm support, whole equipment can be influenceed be construction effect
Rate.
For these reasons, as shown in figure 1, Fig. 1 is the control method of arm support rotational speed provided in an embodiment of the present invention
Flow chart；The invention provides a kind of control method of arm support rotational speed, including：
Step S101：Obtain current working under, in arm support each joint arm relative level angle of inclination, wherein：Inclination angle
Spend the angle crossed for joint arm around its head end pin joint relative level rotate counterclockwise；
Step S102：Determined under current working, respectively according to the angle of inclination of the brachium of each joint arm and each joint arm of acquisition
Horizontal range between the end of joint arm and the center line of turntable, and obtain maximum horizontal range therein；Sometimes arm support is not complete
Portion opens, i.e., arm support one end farthest from turntable, which is differed, is set to the end of arm support, as shown in Fig. 2 Fig. 2 carries for the embodiment of the present invention
The Computing Principle schematic diagram of confession；So that arm support includes 5 section section arms as an example, the section section arm the 12, the 3rd of first segment joint arm 11, second is followed successively by
Section section arm 13, Section of four section arm 14 and Section of five section arm 15, as shown in Fig. 2 now one end farthest from turntable in arm support is
Section four, the end of section arm 14；
Step S103：Obtained turning round the current maximum allowable control electric current of proportioning valve according to maximum horizontal range.
The control method of arm support rotational speed provided by the invention, by obtaining under current working, each joint arm phase in arm support
Current working is determined to the angle of inclination of horizontal plane, and according to the angle of inclination of the brachium of each joint arm and each joint arm of acquisition
Under, the horizontal range between the center line of the end of each joint arm and turntable, and obtain maximum horizontal range therein；According to maximum
Horizontal range obtains turning round the current maximum allowable control electric current of proportioning valve, it is possible to achieve the maximum allowable control to turning round proportioning valve
The continuous adjustment of electric current processed, you can to deploy the difference of posture according to arm support, the maximum allowable of proportioning valve is turned round in appropriate setting
Control electric current, when avoiding the arm support from not deploying all, rotational speed was limited the generation of slow phenomenon.
So the control method of arm support rotational speed provided by the invention, can adjust the maximum for turning round proportioning valve in real time
Control electric current, on the premise of the security of arm support revolution is ensured, the revolution efficiency of arm support is improved, and it is easy to operation.
Further, in above-mentioned steps S103：Obtain turning round current maximum allowable of proportioning valve according to maximum horizontal range
Control electric current specifically includes：
According to formula：The maximum allowable control electric current is obtained (namely in practical operation
In, the maximum electric current for driving proportion magnetic valve is allowed through control unit computing, now the linear velocity of arm support distalmost end is most
Big permissible value), IxFor maximum allowable control electric current, IaTo turn round the firing current of proportioning valve, IbIt is complete in arm support for revolution proportioning valve
When portion deploys, the maximum controlling current that proportioning valve is allowed, L are turned round under the conditions of arm support tail end speed limitiFor the arm of the i-th section section arm
Long, n is the number of the joint arm included in arm support, i value is 1 ... n, rmaxFor maximum horizontal range.
Above-mentioned maximum horizontal range can obtain according to various ways, in a kind of embodiment, as shown in Fig. 2 building
Vertical XY rectangular coordinate systems as described in Figure, in above-mentioned steps S102：According to the inclination of the brachium of each joint arm and each joint arm of acquisition
Horizontal range under angle-determining current working, between the center line of the end of each joint arm and turntable, and obtain maximum therein
Horizontal range specifically includes：
According to formula：Calculate between the end of each joint arm and the center line of turntable it is horizontal away from
From, wherein：riEnd for the i-th section section arm and the horizontal range between the center line of turntable, n is the joint arm included in arm support
Number, LiThe brachium of arm is saved for the i-th section,For the angle of inclination of the i-th section section arm relative level；In above-mentioned formula
Value may be negative value.
As shown in Fig. 2 the horizontal range between the end of first segment joint arm 11 and the center line of turntable is：
Second section section arm 12 end and turntable center line between horizontal range be：
Section three, section arm 13 end and turntable center line between horizontal range be：
Section four, section arm 14 end and turntable center line between horizontal range be：
Section five, section arm 15 end and turntable center line between horizontal range be：
The n horizontal ranges saved in section arm often between the end of section section arm and the center line of turntable are compared to each other, obtained most
Big horizontal range.As shown in Fig. 2 ultimate range is r4。
Then turning round the current maximum controlling current of proportioning valve is
In order on the premise of rotational speed is improved, ensure the security and control accuracy of arm support revolution, above-mentioned control
Method also includes：The actual output current is obtained according to maximum allowable control electric current.
In a kind of specific embodiment, above-mentioned according to maximum allowable control electric current to obtain the actual output current specific
Including：
According to formula：I=Ia+(Ix-Ia) × k%, obtains actual output current, wherein：K% is adjustment factor, IxFor most
It is big to allow control electric current, IaTo turn round the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, arm support end
The maximum controlling current that revolution proportioning valve is allowed under the conditions of the speed limit of end, LiFor the brachium of the i-th section section arm, n in arm support by wrapping
The number of the joint arm contained, rmaxFor maximum horizontal range, I is actual output current.
Above-mentioned k% those skilled in the art can set according to being actually needed.
Based on above-mentioned control method, a kind of control device can be built, as shown in figure 3, Fig. 3 is provided in an embodiment of the present invention
The controling device structure diagram of arm support rotational speed, present invention also offers a kind of control device of arm support rotational speed, bag
Include：
Obtain module 2, for obtaining under current working, in arm support each joint arm relative level angle of inclination, wherein：Incline
Rake angle is the angle that joint arm is crossed around its head end pin joint relative level rotate counterclockwise；
First computing module 3, determined for the angle of inclination of the brachium according to each joint arm and each joint arm of acquisition current
Horizontal range under operating mode, between the center line of the end of each joint arm and turntable, and obtain maximum horizontal range therein；Sometimes
Arm support is not fully open, i.e., arm support one end farthest from turntable, which is differed, is set to the end of arm support, as shown in Fig. 2 Fig. 2 is the present invention
The Computing Principle schematic diagram that embodiment provides；So that arm support includes 5 section section arms as an example, first segment joint arm 11, second is followed successively by successively
Arm 12, Section of three section arm 13, Section of four section arm 14 and Section of five section arm 15, as shown in Fig. 2 now farthest from turntable in arm support
One end for Section four save arm 14 end；
Second computing module 4, for being obtained turning round the current maximum allowable control of proportioning valve according to the maximum horizontal range
Electric current processed.
Above-mentioned second computing module 4 is specifically used for：
According to formula：The maximum allowable control electric current is obtained, wherein, IxFor maximum
Allow control electric current, IaTo turn round the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, arm support tail end
The maximum controlling current that proportioning valve is allowed, L are turned round under the conditions of speed limitiFor the brachium of the i-th section section arm, n is included in arm support
Joint arm number, i value is 1 ... n, rmaxFor maximum horizontal range.
Above-mentioned maximum horizontal range can obtain according to various ways, in a kind of embodiment, the first computing module 3
It is specifically used for：
According to formula：Calculate between the end of each joint arm and the center line of turntable it is horizontal away from
From, wherein：riEnd for the i-th section section arm and the horizontal range between the center line of turntable, n is the joint arm included in arm support
Number, LiThe brachium of arm is saved for the i-th section,For the angle of inclination of the i-th section section arm relative level；
Establish XY rectangular coordinate systems as described in Figure, as shown in Fig. 2 the center line of the end of first segment joint arm 11 and turntable it
Between horizontal range be：
Second section section arm 12 end and turntable center line between horizontal range be：
Section three, section arm 13 end and turntable center line between horizontal range be：
Section four, section arm 14 end and turntable center line between horizontal range be：
Section five, section arm 15 end and turntable center line between horizontal range be：
The n horizontal ranges saved in section arm often between the end of section section arm and the center line of turntable are compared to each other, obtained most
Big horizontal range.
As shown in Fig. 2 ultimate range is r4。
Then turning round the current maximum controlling current of proportioning valve is
In order on the premise of rotational speed is improved, ensure the security and control accuracy of arm support revolution, above-mentioned control
Device also includes：3rd computing module, for obtaining the actual output current according to the maximum allowable control electric current.
Specifically, the 3rd computing module is specifically used for：According to formula：I=Ia+(Ix-Ia) × k%, obtain actual defeated
Go out electric current, wherein：K% is adjustment factor, IxFor maximum allowable control electric current, IaTo turn round the firing current of proportioning valve, IbTo return
Turn proportioning valve when arm support all deploys, the maximum controlling current that revolution proportioning valve is allowed under the conditions of arm support tail end speed limit, Li
For i-th section section arm brachium, n be arm support included in joint arm number, rmaxFor maximum horizontal range, I is reality output electricity
Stream.
Above-mentioned k% those skilled in the art can set according to being actually needed.
Based on above-mentioned control method, a kind of control system can be constructed, as shown in figure 4, Fig. 4 provides for the embodiment of the present invention
Arm support rotational speed control system architecture schematic diagram, the control system of arm support rotational speed provided by the invention, including：
Angle detection device 5, for detecting under current working, in arm support each joint arm relative level angle of inclination, its
In：The angle of inclination is the angle that joint arm is crossed around its head end pin joint relative level rotate counterclockwise；
The control device 6 being connected with the signal of angle detection device 5, control device 6 be used for according to the brachium of each joint arm and
The angle of inclination of each joint arm obtained determines under current working, between the center line of the end of each joint arm and turntable it is horizontal away from
From, and obtain maximum horizontal range therein；Sometimes arm support is not fully open, i.e., arm support one end farthest from turntable, which is differed, is set to
The end of arm support, as shown in Fig. 2 Fig. 2 is Computing Principle schematic diagram provided in an embodiment of the present invention；5 sections are included with arm support and save arm
Exemplified by, it is followed successively by the section section of first segment joint arm 11, second arm 12, Section of three section arm 13, Section of four section arm 14 and Section of five section arm
15, as shown in Fig. 2 now one end farthest from turntable in arm support is the end of Section of four section arm 14；
It is additionally operable to be obtained turning round the current maximum allowable control electric current of proportioning valve 7 according to maximum horizontal range.
Above-mentioned control device is specifically used for：
According to formula：Actual output current is obtained, wherein, IxFor maximum allowable control
Electric current, IaTo turn round the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, arm support tail end speed limit condition
The maximum controlling current that lower revolution proportioning valve is allowed, LiFor the brachium of the i-th section section arm, n is the joint arm included in arm support
Number, i value are 1 ... n, rmaxFor maximum horizontal range.
Above-mentioned maximum horizontal range can obtain according to various ways, and in a kind of embodiment, control device is specific
For：
According to formula：Calculate between the end of each joint arm and the center line of turntable it is horizontal away from
From, wherein：riEnd for the i-th section section arm and the horizontal range between the center line of turntable, n is the joint arm included in arm support
Number, LiThe brachium of arm is saved for the i-th section,For the angle of inclination (0-360 ° of panoramic limit) of the i-th section section arm relative level；
Establish XY rectangular coordinate systems as described in Figure, as shown in Fig. 2 the center line of the end of first segment joint arm 11 and turntable it
Between horizontal range be：
Second section section arm 12 end and turntable center line between horizontal range be：
Section three, section arm 13 end and turntable center line between horizontal range be：
Section four, section arm 14 end and turntable center line between horizontal range be：
Section five, section arm 15 end and turntable center line between horizontal range be：
The n horizontal ranges saved in section arm often between the end of section section arm and the center line of turntable are compared to each other, obtained most
Big horizontal range.
As shown in Fig. 2 ultimate range is r4。
Then turning round the current maximum controlling current of proportioning valve 7 is
In order on the premise of rotational speed is improved, ensure the security and control accuracy of arm support revolution, control device
It is additionally operable to obtain actual output current according to maximum allowable control electric current.
Specifically, above-mentioned control device also particularly useful for：
According to formula：I=Ia+(Ix-Ia) × k%, obtains actual output current, wherein：K% is adjustment factor, IxFor most
It is big to allow control electric current, IaTo turn round the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, arm support end
The maximum controlling current that revolution proportioning valve is allowed under the conditions of the speed limit of end, LiFor the brachium of the i-th section section arm, n in arm support by wrapping
The number of the joint arm contained, rmaxFor maximum horizontal range, I is actual output current.
Above-mentioned k% those skilled in the art can set according to being actually needed.
The advantages of based on above-mentioned control system, present invention also offers a kind of engineering machinery, including：Turntable, control turntable
The revolution proportioning valve of rotation, the arm support of turntable is installed on, includes the control system of the arm support rotational speed described in any of the above-described
System.
Above-mentioned engineering machinery can be concrete mixer, fire fighting truck etc..
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (13)
- A kind of 1. control method of arm support rotational speed, it is characterised in that including：Obtain current working under, in arm support each joint arm relative level angle of inclination, wherein：The angle of inclination be joint arm around The angle that its head end pin joint relative level rotate counterclockwise is crossed；Determined according to the angle of inclination of the brachium of each joint arm and each joint arm of acquisition under current working, the end of each joint arm with turn Horizontal range between the center line of platform, and obtain maximum horizontal range therein；Obtained turning round the current maximum allowable control electric current of proportioning valve according to the maximum horizontal range.
- 2. control method as claimed in claim 1, it is characterised in that described to be obtained turning round ratio according to the maximum horizontal range The current maximum allowable control electric current of example valve specifically includes：According to formula：The maximum allowable control electric current is obtained, wherein, IxFor maximum allowable control Electric current processed, IaTo turn round the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, arm support tail end speed limit bar The maximum controlling current that proportioning valve is allowed is turned round under part；LiFor the brachium of the i-th section section arm, n is the joint arm included in arm support Number, i value is 1 ... n, rmaxFor maximum horizontal range.
- 3. control method as claimed in claim 1, it is characterised in that described according to the brachium of each joint arm and each section of acquisition The angle of inclination of arm determines under current working, the horizontal range between the center line of the end of each joint arm and turntable, and obtains it In maximum horizontal range specifically include：According to formula：The horizontal range between the end of each joint arm and the center line of turntable is calculated, its In：riEnd for the i-th section section arm and the horizontal range between the center line of turntable, n are of the joint arm included in arm support Number, LiThe brachium of arm is saved for the i-th section,For the angle of inclination of the i-th section section arm relative level；The n horizontal ranges saved in section arm often between the end of section section arm and the center line of turntable are compared to each other, obtain it is described most Big horizontal range.
- 4. the control method as described in any one of claims 1 to 3, it is characterised in that also include：According to the maximum allowable control Electric current processed obtains actual output current.
- 5. control method as claimed in claim 4, it is characterised in that described that reality is obtained according to the maximum allowable control electric current Border output current specifically includes：According to formula：I=Ia+(Ix-Ia) × k%, obtains actual output current, wherein：K% is adjustment factor, IxFor actual control Electric current processed, IaTo turn round the firing current of proportioning valve, I is actual output current.
- A kind of 6. control device of arm support rotational speed, it is characterised in that including：Obtain module, for obtaining under current working, in arm support each joint arm relative level angle of inclination, wherein：It is described to incline Rake angle is the angle that joint arm is crossed around its head end pin joint relative level rotate counterclockwise；First computing module, the angle of inclination for the brachium according to each joint arm and each joint arm of acquisition determine current working Under, the horizontal range between the center line of the end of each joint arm and turntable, and obtain maximum horizontal range therein；Second computing module, for being obtained turning round the current maximum allowable control electricity of proportioning valve according to the maximum horizontal range Stream.
- 7. control device as claimed in claim 6, it is characterised in that second computing module is specifically used for：According to formula：The maximum allowable control electric current is obtained, wherein, IxFor maximum allowable control electric current, IaTo return Turn the firing current of proportioning valve, IbIt is to turn round proportioning valve when arm support all deploys, ratio is turned round under the conditions of arm support tail end speed limit The maximum controlling current that valve is allowed, LiFor the brachium of the i-th section section arm, n is the number of the joint arm included in arm support, and i's takes It is worth for 1 ... n, rmaxFor maximum horizontal range.
- 8. control device as claimed in claim 6, it is characterised in that first computing module is specifically used for：According to formula：The horizontal range between the end of each joint arm and the center line of turntable is calculated, its In：riEnd for the i-th section section arm and the horizontal range between the center line of turntable, n are of the joint arm included in arm support Number, LiThe brachium of arm is saved for the i-th section,For the angle of inclination of the i-th section section arm relative level；The n horizontal ranges saved in section arm often between the end of section section arm and the center line of turntable are compared to each other, obtain it is described most Big horizontal range.
- 9. the control device as described in any one of claim 6~8, it is characterised in that also include：3rd computing module, is used for Actual output current is obtained according to the maximum allowable control electric current.
- 10. control device as claimed in claim 9, it is characterised in that the 3rd computing module is specifically used for：According to formula：I=Ia+(Ix-Ia) × k%, obtains actual output current, wherein：K% is adjustment factor, IxPermit for maximum Perhaps control electric current, IaTo turn round the firing current of proportioning valve, I is actual output current.
- A kind of 11. control system of arm support rotational speed, it is characterised in that including：Angle detection device, for detecting under current working, in arm support each joint arm relative level angle of inclination, wherein：Institute It is the angle that joint arm is crossed around its head end pin joint relative level rotate counterclockwise to state angle of inclination；The control device being connected with the angular sensing means signal, the control device be used for according to the brachium of each joint arm and The angle of inclination of each joint arm obtained determines under current working, between the center line of the end of each joint arm and turntable it is horizontal away from From, and obtain maximum horizontal range therein；It is additionally operable to be obtained turning round the current maximum allowable control electric current of proportioning valve according to the maximum horizontal range.
- 12. control system as claimed in claim 11, it is characterised in that the control device is according to the maximum allowable control Electric current obtains actual output current.
- 13. a kind of engineering machinery, including：Turntable, the revolution proportioning valve of turntable rotation is controlled, is installed on the arm support of the turntable, Characterized in that, also include the control system of the arm support rotational speed as described in claim 11 or 12.
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| CN108340373B (en) * | 2018-01-31 | 2020-05-08 | 中联重科股份有限公司 | Arm support control device, system and method and engineering machinery |
| CN110339514B (en) * | 2019-07-17 | 2021-06-11 | 三一汽车制造有限公司 | Fire fighting truck control method and system, fire fighting truck and computer readable storage medium |
| CN110327575B (en) * | 2019-07-17 | 2021-06-11 | 三一汽车制造有限公司 | Fire monitor control method and system, fire truck and computer readable storage medium |
| CN113027131A (en) * | 2021-03-16 | 2021-06-25 | 中联重科股份有限公司 | Method and device for controlling rotation speed of arm support, controller and pumping machine |
| CN113830685A (en) * | 2021-10-12 | 2021-12-24 | 临工集团济南重机有限公司 | Control method and control system for rotation speed of rotary table and aerial work platform |
| CN116409736B (en) * | 2023-06-12 | 2023-08-11 | 临工重机股份有限公司 | Leveling control method for aerial work platform and aerial work platform |
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| CN102491176B (en) * | 2011-12-15 | 2014-03-12 | 中联重科股份有限公司 | Method, device and system for controlling rotation of crane and crane |
| CN103092103B (en) * | 2013-02-07 | 2014-04-09 | 中联重科股份有限公司 | Control method and control system of folding arm support and engineering machinery |
| CN103303800B (en) * | 2013-06-24 | 2015-06-03 | 中联重科股份有限公司 | Crane rotation control method and system and crane |
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