CN106315412A - Boom telescoping control method, boom telescoping control apparatus, boom telescoping control system and engineering machine - Google Patents
Boom telescoping control method, boom telescoping control apparatus, boom telescoping control system and engineering machine Download PDFInfo
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- CN106315412A CN106315412A CN201510337151.0A CN201510337151A CN106315412A CN 106315412 A CN106315412 A CN 106315412A CN 201510337151 A CN201510337151 A CN 201510337151A CN 106315412 A CN106315412 A CN 106315412A
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Abstract
The invention discloses a boom telescoping control method, a boom telescoping control apparatus, a boom telescoping control system and an engineering machine. The method comprises the following steps: acquiring the target telescoping length of a boom; acquiring the current telescoping length of the boom in real time; determining a telescoping control signal according to the current telescoping length of the boom and the target telescoping length of the boom; and outputting the telescoping control signal to an execution mechanism in order to control the boom to telescope. The current telescoping length of the arm is acquired to realize real time adjustment of the telescoping control signal, so improvement of the stability in the boom telescoping process is facilitated, and the pressure impact of a hydraulic system is reduced; and closed loop control is adopted to realize the consistence of the boom telescoping rules under different conditions, so the telescoping efficiency is guaranteed.
Description
Technical field
The present invention relates to engineering machinery field, particularly to a kind of hoisting arm expansion control method, dress
Put, system and engineering machinery.
Background technology
Single-cylinder bolt type telescopic boom integrates mechanical, electrical, liquid, has boom weight light, and cross section becomes
Change little, lift heavy good rigidity, system intelligent degree high, it is widely used in relatively large-tonnage
Wheeled crane, in the engineering machinery such as full Terrain Cranes.Automatic at single-cylinder bolt type telescopic boom
Under pattern, according to actual job operating mode, operator selects target to stretch operating mode, the most only need to pass through
Handle sends one and enables signal, and system will be automatically performed flexible task.
In existing extension and contraction control technology, controller is according to arm current location and target location
The telescopic process of arm is divided into high, medium and low speed three phases, on each flexible rank by distance size
In Duan, the current output value of telescopic arm is fixed value, when arm pin joint proximal arm pin-and-hole, exports less
Fixed current value, until arm pin is plugged, completes expanding-contracting action.This employing fixed current value sublevel
Section controls hoisting arm expansion and suffers from the drawback that hoisting arm expansion method for control speed is opened loop control, no
With the flexible efficiency under operating mode it is difficult to ensure that；Extension and contraction control signal intensity is big, and hydraulic system is easily generated
Shake, flexible stationarity is bad.
In existing another kind of extension and contraction control scheme, according to oil cylinder stretching speed adjust current output value with
Control hoisting arm expansion, but owing to the acquisition process of this scheme speed signal is loaded down with trivial details, measure essence
Spend low, arm pin can be caused low with the positioning precision of pin-and-hole, thus greatly have impact on arm and automatically stretch
The success rate of contracting latch.
Summary of the invention
In view of above technical problem, the invention provides a kind of hoisting arm expansion control method, device,
System and engineering machinery, by closed loop control, realize flexible control according to the current collapsing length of arm
Adjusting in real time of signal processed controls hoisting arm expansion speed, to improve stablizing during hoisting arm expansion
Property, reduce hydraulic system pressure impact.
According to an aspect of the present invention, it is provided that a kind of hoisting arm expansion control method, including:
Obtain arm target collapsing length；
Obtain the current collapsing length of arm in real time；
According to the current collapsing length of arm and arm target collapsing length, determine extension and contraction control signal；
Extension and contraction control signal is exported to actuator, stretch controlling arm.
In one embodiment of the invention, stretch according to the current collapsing length of arm and arm target
Contracting length, determines that the step of extension and contraction control signal includes:
According to the current collapsing length of arm and arm target collapsing length, determine current absolute residual
Length；
According to current absolute residual length, inquire about the absolute residual length and flexible basic value prestored
Corresponding relation, it is thus achieved that the flexible basic value corresponding with current absolute residual length；
Using flexible basic value as extension and contraction control signal, perform afterwards to export extension and contraction control signal
To the step of actuator.
In one embodiment of the invention, corresponding with current absolute residual length in acquisition
After the step of flexible basic value, described method also includes:
According to the initial collapsing length of arm and arm target collapsing length, the arm prestored is selected to stretch
Contracting length geometric locus；
From the hoisting arm expansion length geometric locus prestored, obtain arm current goal length；
According to arm current goal length and the current collapsing length of arm, determine flexible correction value；
Determine extension and contraction control signal according to flexible basic value and flexible correction value, perform flexible afterwards
Control signal exports to the step of actuator.
In one embodiment of the invention, extension is worked as according to arm current goal length and arm
Contracting length, determines that the step of flexible correction value includes:
According to arm current goal length and the current collapsing length of arm, determine when front stretching deviation；
According to when front stretching deviation, flexible deviation and the corresponding of flexible correction value that inquiry prestores are closed
System, determine with when the corresponding flexible correction value of front stretching deviation.
In one embodiment of the invention, the step obtaining arm target collapsing length includes:
Receive the arm target collapsing length of user's input；
Or,
The arm target receiving user's input is stretched percentage ratio, and arm target user inputted
Flexible percentage ratio is converted to arm target collapsing length.
In one embodiment of the invention, the step bag of the current collapsing length of arm is obtained in real time
Include: receive the current collapsing length of arm of linear transducer Real-time Collection.
In one embodiment of the invention, described method also includes:
The current state of detection mode selection switch；
If the current state of mode selection switch is automatic telescopic pattern, then perform to obtain arm mesh
The step of mark collapsing length.
According to a further aspect in the invention, it is provided that a kind of hoisting arm expansion controls device, long including target
Degree acquiring unit, current length acquiring unit, control signal determine unit and output unit, its
In:
Target length acquiring unit, is used for obtaining arm target collapsing length；
Current length acquiring unit, obtains the current collapsing length of arm in real time；
Control signal determines unit, current for the arm obtained according to current length acquiring unit
The arm target collapsing length that collapsing length and target length acquiring unit obtain, determines and stretches
Contracting control signal；
Output unit, for being exported by extension and contraction control signal to actuator, enters controlling arm
Row is flexible.
In one embodiment of the invention, control signal determines that unit includes that residue length determines
Module, basic value determine that module and control signal determine module, wherein:
Residue length determines module, for stretching according to the current collapsing length of arm and arm target
Length, determines current absolute residual length；
Basic value determines module, the most surplus for determining that module determines according to residue length
Remaining length, inquires about the absolute residual length and the corresponding relation of flexible basic value prestored, it is thus achieved that with
The flexible basic value that current absolute residual length is corresponding；
Control signal determines module, is used for flexible basic value as extension and contraction control signal, afterwards
Instruction output unit performs to export extension and contraction control signal to the operation of actuator.
In one embodiment of the invention, control signal determines that unit also includes Curve selection mould
Block, path length acquisition module and correction value acquisition module, wherein:
Curve selection module, is used for according to the initial collapsing length of arm and arm target collapsing length,
Select the hoisting arm expansion length geometric locus prestored；
Path length acquisition module, for from the hoisting arm expansion length geometric locus prestored, obtains
Take arm current goal length；
Correction value acquisition module, for the current mesh of arm obtained according to path length acquisition module
The current collapsing length of arm that mark length and current length acquiring unit obtain, determines flexible
Correction value；
Control signal determine module be additionally operable to according to basic value determine that module determines flexible basic
The flexible correction value that value and correction value acquisition module determine determines extension and contraction control signal, afterwards
Instruction output unit performs to export extension and contraction control signal to the operation of actuator.
In one embodiment of the invention, correction value acquisition module includes that deviation determines submodule
Submodule is determined, wherein with correction value:
Deviation determines submodule, long for working as front stretching according to arm current goal length and arm
Degree, determines when front stretching deviation；
Correction value determines submodule, for determine that submodule determines according to deviation when front stretching inclined
Difference, inquires about the flexible deviation and the corresponding relation of flexible correction value prestored, and determines and works as front stretching
The flexible correction value that deviation is corresponding.
In one embodiment of the invention, target length acquiring unit is used for:
Receive the arm target collapsing length of user's input；
Or,
The arm target receiving user's input is stretched percentage ratio, and arm target user inputted
Flexible percentage ratio is converted to arm target collapsing length.
In one embodiment of the invention, current length acquiring unit is used for receiving length sensing
The current collapsing length of arm of device Real-time Collection.
In one embodiment of the invention, described device also includes detector unit, wherein:
Detector unit, for detecting the current state of mode selection switch；And open in model selection
When the current state closed is automatic telescopic pattern, instruction target length acquiring unit performs acquisition and hangs
The operation of arm target collapsing length.
According to a further aspect in the invention, it is provided that a kind of hoisting arm expansion control system, pass including length
Sensor, hoisting arm expansion control device and actuator, wherein:
Linear transducer, for the current collapsing length of Real-time Collection arm, and is sent to arm and stretches
Contracting controls device；
Hoisting arm expansion controls device, controls dress for the hoisting arm expansion described in any of the above-described embodiment
Put；
Actuator, for controlling the extension and contraction control signal that device provides, control according to hoisting arm expansion
Arm processed stretches.
In one embodiment of the invention, described system also includes mode selection switch, wherein:
Mode selection switch, for receiving the mode select signal of user's input, in order to hoisting arm expansion control
Device processed is according to the current state of mode select signal detection mode selection switch.
According to a further aspect in the invention, it is provided that a kind of engineering with single cylinder bolt-type telescoping boom
Machinery, it is characterised in that include hoisting arm expansion described in any of the above-described embodiment control device,
Or the hoisting arm expansion control system described in any of the above-described embodiment.
The present invention realizes real-time to extension and contraction control signal by gathering the current collapsing length of arm
Adjust to control hoisting arm expansion speed in real time, thus improve the stability of hoisting arm expansion process,
Reduce hydraulic system pressure impact；Use closed loop control, it is possible to achieve the arm under different operating modes
The concordance of flexible rule, it is ensured that flexible efficiency；Simultaneously as the acquisition essence of length signals
Degree height such that it is able to ensure the positioning precision of arm pin and pin-and-hole, slotting to improve arm automatic telescopic
The success rate of pin.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it is clear that
Ground, the accompanying drawing in describing below is only some embodiments of the present invention, skill common for this area
From the point of view of art personnel, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the schematic diagram of one embodiment of hoisting arm expansion control method of the present invention.
Fig. 2 is the schematic diagram of arm automatic telescopic length in one embodiment of the invention.
Fig. 3 is the schematic diagram of hoisting arm expansion another embodiment of control method of the present invention.
Fig. 4 is the schematic diagram of arm automatic telescopic geometric locus in one embodiment of the invention.
Fig. 5 is the schematic diagram that hoisting arm expansion of the present invention controls one embodiment of device.
Fig. 6 is the schematic diagram that in one embodiment of the invention, control signal determines module.
Fig. 7 is the schematic diagram that in one embodiment of the invention, correcting current determines module.
Fig. 8 hoisting arm expansion of the present invention controls the schematic diagram of another embodiment of device.
Fig. 9 is the schematic diagram of one embodiment of hoisting arm expansion control system of the present invention.
Figure 10 is the schematic diagram of hoisting arm expansion another embodiment of control system of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention
It is clearly and completely described, it is clear that described embodiment is only that a part of the present invention is real
Execute example rather than whole embodiments.Description at least one exemplary embodiment is actual below
On be merely illustrative, never as to the present invention and application thereof or any restriction of use.Base
Embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, broadly falls into the scope of protection of the invention.
Unless specifically stated otherwise, the parts illustrated the most in these embodiments are relative with step
Layout, numerical expression and numerical value do not limit the scope of the invention.
Simultaneously, it should be appreciated that for the ease of describing, the size of the various piece shown in accompanying drawing
It is not to draw according to actual proportionate relationship.
May not make in detail for technology, method and apparatus known to person of ordinary skill in the relevant
Discuss, but in the appropriate case, described technology, method and apparatus should be considered to authorize description
A part.Shown here with in all examples discussed, any occurrence only should be interpreted
It is only exemplary rather than as limiting.Therefore, other example of exemplary embodiment is permissible
There is different values.
It should also be noted that similar label and letter expression similar terms in following accompanying drawing, therefore,
The most a certain Xiang Yi accompanying drawing is defined, then need not it is entered in accompanying drawing subsequently
One step discussion.
Fig. 1 is the schematic diagram of one embodiment of hoisting arm expansion control method of the present invention.Preferably,
The present embodiment can be controlled device by hoisting arm expansion of the present invention and perform.The method comprises the following steps:
Step 101, obtains arm target collapsing length lt。
Fig. 2 is the schematic diagram of arm automatic telescopic length in one embodiment of the invention.In fig. 2,
Telescopic arm 12 stretches along direction A relative to basic arm 11, and basic arm 11 is arranged
Having arm pin-and-hole 13, wherein, basic arm 11 includes circumference wall 111 and is arranged on circumference wall 111
The end wall 112 of axial direction one end, telescopic arm 12 includes circumference wall 121 and is arranged on circumference wall
The end wall 122 of 111 axial direction one end.As in figure 2 it is shown, arm target collapsing length ltFor base
The distance of end wall 112 to arm pin-and-hole 13 axial line of this arm 11.
In one embodiment of the invention, step 101 may include that reception user is by defeated
Enter the arm target collapsing length l of device inputtAnd/or arm target stretches percentage ratio.
In one embodiment of the invention, in step 101, if only receiving user by defeated
The arm target entering device input is stretched percentage ratio, and the most described method can also include: by user
The arm target percentage ratio that stretches of input is converted to arm target collapsing length lt, perform step afterwards
Rapid 102.
Step 102, after hoisting arm expansion starts, obtains current collapsing length l (t) of arm in real time.
In one embodiment of the invention, step 102 may include that and starts at hoisting arm expansion
After, the current collapsing length of arm of reception linear transducer 14 Real-time Collection as shown in Figure 2
l(t).In fig. 2, telescopic arm stretches along direction A, and linear transducer 14 is bracing wire
Sensor, for the flexible cylinder head of monitoring in real time and current arm present position.As in figure 2 it is shown,
Current collapsing length l (t) of arm can be end wall 112 to the telescopic arm 12 of current basic arm 11
The distance of end wall 122.
Step 103, according to arm l (t) and arm target collapsing length ltDetermine extension and contraction control signal.
In one embodiment of the invention, described extension and contraction control signal can be according to actuator
Difference and use different control signals.Such as: if actuator includes proportional solenoid etc.
During electrically-controlled valve, the signal of telecommunication such as current signal or voltage signal can be used as extension and contraction control signal；
When actuator includes controlled valve, pressure signal can be used as extension and contraction control signal.
In one embodiment of the invention, step 103 may include that according to arm l (t) and hangs
Arm target collapsing length ltDetermine current absolute residual length la, and long according to current absolute residual
Degree laDetermine extension and contraction control signal.
Step 104, exports to actuator by extension and contraction control signal, stretches controlling arm
Contracting.
In one embodiment of the invention, hoisting arm expansion control method of the present invention can apply to
The extension and contraction control of single cylinder bolt-type telescoping boom.
The hoisting arm expansion control method provided based on the above embodiment of the present invention, by gathering arm
Current collapsing length realizes the real-time adjustment to extension and contraction control signal, to control hoisting arm expansion speed
Degree, thus the stability during improve hoisting arm expansion, reduce hydraulic system pressure impact；
Use closed loop control, it is possible to achieve the concordance of the hoisting arm expansion rule under different operating modes, it is ensured that
Flexible efficiency.
Additionally, compared to scheme extension and contraction control signal being adjusted according to stretching speed signal
The acquisition of speed signal, in the above embodiment of the present invention, the acquisition precision of length signals is high, by
This ensure that the positioning precision of arm pin and pin-and-hole, thus improves arm automatic telescopic latch
Success rate.
In one embodiment of the invention, described method can also include: detection model selection
The current state of switch；If the current state of mode selection switch is automatic telescopic pattern, then hold
Row obtains the step of arm target collapsing length；If the current state of mode selection switch is manual
Stretch mode, then determine extension and contraction control signal according to the input signal of extension and contraction control handle, afterwards
Perform to export extension and contraction control signal to the step of actuator.Thus the above embodiment of the present invention
Freely switching of automatic telescopic pattern and manual telescopic pattern can be realized, facilitate Consumer's Experience.
In one embodiment of the invention, extension and contraction control signal can include flexible basic value,
Wherein, described flexible basic value can use flexible fundamental current, flexible fundamental voltage, stretch
The signal forms such as basic pressure.
With situation that flexible basic value is flexible fundamental current to above-described embodiment in example below
In step 103 be specifically introduced.Step 103 specifically may include that
Step (1), according to current collapsing length l (t) of arm and arm target collapsing length lt,
Determine current absolute residual length la。
In one embodiment of the invention, current absolute residual length laFormula can be passed through
la=| l (t)-lt| determine.
Step (2), according to current absolute residual length la, inquire about the absolute residual length prestored
Corresponding relation with flexible fundamental current, it is thus achieved that corresponding with current absolute residual length is flexible
Fundamental current I0。
Step (3), using flexible fundamental current as extension and contraction control signal, performs step afterwards
104。
The above embodiment of the present invention realizes flexible electricity substantially by gathering the current collapsing length of arm
The real-time adjustment of stream, to control hoisting arm expansion speed, due to flexible fundamental current I0Ensure that
Arm is all stablized flexible under any operating mode, thus the stability during improve hoisting arm expansion,
Reduce hydraulic system pressure impact.
In some embodiments of the invention, extension and contraction control signal can be by flexible basic value and stretching
Contracting correction value determines jointly, and correction value of wherein stretching is corresponding with flexible basic value, can use
The signal forms such as electric current correction value, voltage correction value, pressure correction value.
Fig. 3 is the schematic diagram of hoisting arm expansion another embodiment of control method of the present invention.Preferably,
The present embodiment can be controlled device by hoisting arm expansion of the present invention and perform.In the present embodiment, flexible basic
Value uses flexible fundamental current value, and correction value of correspondingly stretching uses electric current correction value.The method
Comprise the following steps:
Step 301, the current state of detection mode selection switch.
Step 302, if the current state of mode selection switch is automatic telescopic pattern, then obtains
Arm target collapsing length lt。
Step 303, according to arm initial collapsing length lcWith arm target collapsing length lt, select
The hoisting arm expansion length geometric locus prestored, curve 1 as shown in Figure 4.
In one embodiment of the invention, arm initial collapsing length lcFor as shown in Figure 2
The hoisting arm expansion length that linear transducer 14 gathers in arm original state (during non-telescopic variation).
In one embodiment of the invention, the hoisting arm expansion length geometric locus prestored is to pass through
The standard hoisting arm expansion length geometric locus that experimental debugging obtains in advance.Hoisting arm expansion control of the present invention
Arm initial collapsing length l is prestored in device processed0, arm target collapsing length lt, Yi Jixiang
Answer the corresponding relation of hoisting arm expansion length geometric locus, thus can pass through the initial collapsing length of arm
lcWith arm target collapsing length lt, select the hoisting arm expansion length geometric locus prestored.
Step 304, obtains current collapsing length l (t) of arm in real time.
In one embodiment of the invention, step 304 may include that reception as shown in Figure 2
Current collapsing length l (t) of arm of linear transducer 14 Real-time Collection.
Step 305, according to current collapsing length l (t) of arm and arm target collapsing length lt, really
Surely stretch fundamental current I0.Flexible fundamental current I0Ensure that arm is the most steady under any operating mode
Fixed flexible.
Step 306, from the hoisting arm expansion length geometric locus prestored, obtains the current mesh of arm
Mark length l0(t), wherein, l0T () is curve 1 (hoisting arm expansion length target trajectory as shown in Figure 4
Curve) at the vertical coordinate (hoisting arm expansion length) of current time.
Step 307, according to arm current goal length l0(t) and currently practical length l (t) of arm,
Determine electric current correction value Δ I.
In one embodiment of the invention, step 307 may include that
Step (1), according to arm current goal length l0(t) and currently practical length l (t) of arm,
Determine when front stretching deviation delta l.
Preferably, step (1) may include that according to formula Δ l=l0T ()-l (t) determines when extension
Contracting deviation delta l.I.e., as shown in Figure 4, by current target track 1 and actual path 2
In the difference of the vertical coordinate (hoisting arm expansion length) of current time, determine when front stretching deviation delta l.
Step (2), basis, when front stretching deviation delta l, inquire about the flexible deviation and electric current prestored
The corresponding relation of correction value, determine with as the corresponding electric current correction value Δ I of front stretching deviation delta l.
Step 308, according to flexible fundamental current I0Determine that extension and contraction control is believed with electric current correction value Δ I
Number, and extension and contraction control signal is exported to actuator, stretch controlling arm, wherein,
Extension and contraction control signal is extension and contraction control electric current I.
In one embodiment of the invention, according to flexible fundamental current I in step 3080With
Electric current correction value Δ I determines that the step of extension and contraction control signal may include that according to flexible electricity substantially
Stream I0With electric current correction value Δ I's with (i.e. by formula I=I0+ Δ I), determine extension and contraction control
Electric current I.
In one embodiment of the invention, described method includes: if l0(t) > l (t), works as extension
Contracting deviation delta l is just, then corresponding for Δ l electric current correction value Δ I is just, by strengthening flexible control
Signal processed controls speed to accelerate hoisting arm expansion, so that currently practical length l (t) is gradually to hanging
Arm current goal length l0T () is close；If l0(t) < l (t), when front stretching deviation delta l is negative, then Δ l
Corresponding electric current correction value Δ I is negative, by reducing extension and contraction control signal to reduce hoisting arm expansion
Control speed, so that currently practical length l (t) is gradually to arm current goal length l0(t)
Close.
In the above embodiment of the present invention, step 303 is permissible to the order of each step of step 307
Adjusting, as long as ensureing step 304, before step 305 and step 307 and step 303 exists
Before step 306, the most all can realize the function of the above embodiment of the present invention.
The above embodiment of the present invention is based on flexible fundamental current I0With electric current correction value Δ I, to flexible
The extension and contraction control electric current of arm carries out closed loop control, controls arm flexible under target trajectory curve,
Now, the switching transition of hoisting arm expansion speed is more steady, and thrashing is less, not only enters one
Step improves the stability of system, and system pressure fluctuation reduces further, reduces pressure
The impact damage to Hydraulic Elements.
Additionally, compared to scheme extension and contraction control signal being adjusted according to stretching speed signal
The acquisition of speed signal, the above embodiment of the present invention owing to easily obtaining length signals accurately,
Use the control of hoisting arm expansion geometric locus to better ensure that and can better ensure that arm pin and pin
The positioning precision in hole, improves the success rate of arm automatic telescopic latch.
Meanwhile, the length signals that the above embodiment of the present invention accurately obtains can be with geometric locus phase
In conjunction with, it is achieved the closed loop control to hoisting arm expansion, contribute to realizing arm under different operating modes
Flexible rule keeps consistent, on the premise of ensureing hoisting arm expansion efficiency, it is possible to improve further
System stability.
Fig. 5 is the schematic diagram that hoisting arm expansion of the present invention controls one embodiment of device.As it is shown in figure 5,
Described hoisting arm expansion controls device and includes target length acquiring unit 51, current length acquiring unit
52, control signal determines module 53 and output unit 54, wherein:
Target length acquiring unit 51, is used for obtaining arm target collapsing length lt.In the present invention
An embodiment in, as in figure 2 it is shown, arm target collapsing length ltIt can be basic arm 11
The distance of end wall 112 to arm pin-and-hole 13 axial line.
In one embodiment of the invention, target length acquiring unit 51 is used specifically for receiving
The arm target collapsing length that family is inputted by input equipment.
In one embodiment of the invention, target length acquiring unit 51 is used specifically for receiving
Stretched percentage ratio by the arm target that input equipment inputs in family；And by the arm mesh of user's input
The flexible percentage ratio of mark is converted to arm target collapsing length.
Current length acquiring unit 52, for after hoisting arm expansion starts, obtains arm in real time and works as
Front stretching length l (t).
In one embodiment of the invention, current length acquiring unit 52 is specifically at arm
After flexible beginning, receive current collapsing length l (t) of arm of linear transducer Real-time Collection.Wherein,
As in figure 2 it is shown, current collapsing length l (t) of arm can be the end wall 112 of current basic arm 11
Distance to the end wall 122 of telescopic arm 12.
Control signal determines module 53, for hanging of obtaining according to current length acquiring unit 52
The arm target that current collapsing length l (t) of arm and target length acquiring unit 51 obtain is stretched
Length lt, determine extension and contraction control signal.
Output unit 54, for determining the extension and contraction control signal that module 53 determines by control signal
Export to actuator, stretch controlling arm.
In one embodiment of the invention, hoisting arm expansion control method of the present invention can apply to
There is the extension and contraction control of the engineering machinery (such as crane) of single cylinder bolt-type telescoping boom.
The hoisting arm expansion provided based on the above embodiment of the present invention controls device, by gathering arm
Current collapsing length l (t) realizes the real-time adjustment to extension and contraction control signal, thus is favorably improved
Stability during hoisting arm expansion, reduces hydraulic system pressure impact；Use closed loop control, can
To realize the concordance of the hoisting arm expansion rule under different operating mode, it is ensured that flexible efficiency.
Additionally, compared to scheme extension and contraction control signal being adjusted according to stretching speed signal
The acquisition of speed signal, the above embodiment of the present invention is high due to the acquisition precision of length signals,
Hoisting arm expansion geometric locus is thus used to control the location that can better ensure that arm pin with pin-and-hole
Precision, thus improve the success rate of arm automatic telescopic latch.
Fig. 6 is the schematic diagram that in one embodiment of the invention, control signal determines module.Such as Fig. 6 institute
Showing, the control signal in embodiment described in Fig. 5 determines that module 53 can include that residue length determines
Module 531, basic value determine that module 532 and control signal determine module 533, wherein:
Residue length determines module 531, for according to current collapsing length l (t) of arm and arm mesh
Mark collapsing length lt, determine current absolute residual length la。
In one embodiment of the invention, residue length determines that module 531 is specifically for basis
Formula la=| l (t)-lt| determine current absolute residual length la。
Basic value determines module 532, for determining that what module 531 determined works as according to residue length
Front absolute residual length la, absolute residual length and the corresponding of flexible basic value that inquiry prestores are closed
System, it is thus achieved that the flexible basic value corresponding with current absolute residual length.
Control signal determines module, is used for flexible basic value as extension and contraction control signal, afterwards
Instruction output unit performs to export extension and contraction control signal to the operation of actuator.
The above embodiment of the present invention realizes flexible basic value by gathering the current collapsing length of arm
Real-time adjustment, to control hoisting arm expansion speed, owing to flexible basic value ensure that arm exists
All stablize flexible under any operating mode, thus the stability during improve hoisting arm expansion, reduce
Hydraulic system pressure impact.
In one embodiment of the invention, as shown in Figure 6, the control in embodiment described in Fig. 5
Signal processed determines that module 53 can also include Curve selection module 534, path length acquisition module
535 and correction value acquisition module 536, wherein:
Curve selection module 534, for according to arm initial collapsing length lcStretch with arm target
Contracting length lt, select the hoisting arm expansion length geometric locus prestored.
In one embodiment of the invention, the hoisting arm expansion length geometric locus prestored is to pass through
The standard hoisting arm expansion length geometric locus that experimental debugging obtains in advance, bent as shown in Figure 4
Line 1.
Path length acquisition module 535, is used for from the hoisting arm expansion length geometric locus prestored,
Obtain arm current goal length l0(t), wherein, l0T () is curve 1 (arm as shown in Figure 4
Collapsing length target trajectory curve) at the vertical coordinate (hoisting arm expansion length) of current time.
Correction value acquisition module 536, for hanging of obtaining according to path length acquisition module 535
Arm current goal length l0T arm that () and current length acquiring unit obtain is long when front stretching
Degree l (t), determines flexible correction value.
Control signal determines module 533 to be additionally operable to according to basic value and determines the flexible base that module determines
The flexible correction value that this value and correction value acquisition module 536 determine determines extension and contraction control signal,
Instruction output unit performs to export extension and contraction control signal to the operation of actuator afterwards.
In one embodiment of the invention, described extension and contraction control signal can be according to actuator
Difference and use different control signals.Such as: if actuator includes proportional solenoid etc.
During electrically-controlled valve, the signal of telecommunication such as current signal or voltage signal can be used as extension and contraction control signal；
When actuator includes controlled valve, pressure signal can be used as extension and contraction control signal.
Correspondingly, in the above embodiment of the present invention, extension and contraction control signal can be by flexible basic
Value and flexible correction value determine jointly.Wherein, described flexible basic value can use flexible basic
The signal forms such as electric current, flexible fundamental voltage, flexible basic pressure.Flexible correction value is with flexible
Basic value is corresponding, can include using electric current correction value, voltage correction value, pressure to repair
On the occasion of waiting signal form.
In one embodiment of the invention, control signal determines that module 533 is specifically for basis
Flexible fundamental current I0With electric current correction value Δ I's with (i.e. by formula I=I0+ Δ I), determine
Extension and contraction control signal (extension and contraction control electric current I).
Telescopic arm, based on flexible basic value and flexible correction value, is stretched by the above embodiment of the present invention
Contracting controls electric current and carries out closed loop control, controls arm flexible under target trajectory curve, now,
The switching transition of hoisting arm expansion speed is more steady, and thrashing is less, improves the most further
The stability of system, and system pressure fluctuation reduces further, reduces compression shock pair
The damage of Hydraulic Elements.
Meanwhile, the above embodiment of the present invention uses geometric locus to control hoisting arm expansion, contributes to reality
The existing arm flexible rule under different operating modes keeps consistent, before ensureing hoisting arm expansion efficiency
Put, it is possible to improve system stability further.
Additionally, the length signals that the above embodiment of the present invention relates to, it is easier to accurately obtain, by
This, use hoisting arm expansion geometric locus to control to substantially increase the positioning accurate realizing arm pin with pin-and-hole
Degree, thus improve the success rate of arm automatic telescopic latch.
Fig. 7 is the schematic diagram that in one embodiment of the invention, correcting current determines module.Such as Fig. 7 institute
Showing, the correction value acquisition module 536 in Fig. 6 embodiment includes that deviation determines submodule 5361
Submodule 5362 is determined, wherein with correction value:
Deviation determines submodule 5361, for according to arm current goal length l0T () and arm are worked as
Front physical length l (t), determines when front stretching deviation delta l.I.e., as shown in Figure 4, by currently
Moment target trajectory 1 and the hoisting arm expansion length of actual path 2 correspondence, determine when front stretching is inclined
Difference Δ l.
In one embodiment of the invention, deviation determines that submodule 5361 is specifically for according to public affairs
Formula Δ l=l0T ()-l (t) determines when front stretching deviation delta l.
Preferably, as shown in Figure 4, deviation determines that submodule 5361 is specifically for according to time current
Carve target trajectory 1 and actual path 2 vertical coordinate (hoisting arm expansion length) at current time
Difference, determines when front stretching deviation delta l.
Correction value determines submodule 5362, for determining what submodule 5361 determined according to deviation
When front stretching deviation delta l, inquire about the flexible deviation and the corresponding relation of electric current correction value prestored, really
Fixed with as the corresponding electric current correction value Δ I of front stretching deviation delta l.
In one embodiment of the invention, if l0(t) > l (t), when front stretching deviation delta l is just,
Then corresponding for Δ l electric current correction value Δ I is just, by strengthening extension and contraction control signal to accelerate to hang
Arm extension and contraction control speed, so that currently practical length l (t) is gradually to arm current goal length
l0T () is close；If l0T () < l (t), when front stretching deviation delta l is negative, then corresponding for Δ l electric current is repaiied
Positive value delta I is negative, controls speed by reducing extension and contraction control signal to reduce hoisting arm expansion, thus
Make currently practical length l (t) gradually to arm current goal length l0T () is close.
Fig. 8 is the schematic diagram that hoisting arm expansion of the present invention controls another embodiment of device.As shown in Figure 8,
Described device includes target length acquiring unit 81, current length acquiring unit 82, control signal
Determine module 83, output unit 84, wherein
Target length acquiring unit 81 in the present embodiment, current length acquiring unit 82, control
Signal determines module 83, output unit 84 and the target length acquiring unit in Fig. 5 embodiment
51, current length acquiring unit 52, control signal determine that module 53, output unit 54 act on
Similar with function, I will not elaborate.
In embodiment illustrated in fig. 8 of the present invention, described device can also include detector unit 85,
Wherein:
Detector unit 85, for detecting the current state of mode selection switch；And in model selection
When the current state of switch is automatic telescopic pattern, instruction target length acquiring unit 81 performs to obtain
Take the operation of arm target collapsing length, and indicate current length acquiring unit 82 to perform in real time to obtain
Take the operation of the current collapsing length of arm.
In one embodiment of the invention, detector unit 85 is additionally operable to working as of mode selection switch
When front state is manual telescopic pattern, instruction control signal determines that unit is according to extension and contraction control handle
Input signal determine extension and contraction control signal, thus can realize automatic telescopic pattern and manually stretch
Freely switching of compressed mode, facilitates Consumer's Experience.
Fig. 9 is the schematic diagram of one embodiment of hoisting arm expansion control system of the present invention.As it is shown in figure 9,
Described hoisting arm expansion control system includes that linear transducer 902, hoisting arm expansion control device 903
With actuator 904, wherein:
Linear transducer 902, for current collapsing length l (t) of Real-time Collection arm, and is sent to
Hoisting arm expansion controls device 903.
In one embodiment of the invention, linear transducer 902 can use as shown in Figure 2
Stay wire sensor 14, i.e. the long line sensor of cylinder, for the flexible cylinder head of in real time monitoring and currently hang
Arm present position.
Hoisting arm expansion controls device 903, is used for receiving input equipment 901 and linear transducer 902
Input signal, judge according to input signal, control electric current to actuator output.
In one embodiment of the invention, hoisting arm expansion controls device 903 is any of the above-described reality
Execute the hoisting arm expansion described in example and control device.
Actuator 904, for controlling, according to hoisting arm expansion, the extension and contraction control that device 903 provides
Signal, controls arm and stretches.
The hoisting arm expansion control system provided based on the above embodiment of the present invention, by gathering arm
It is real-time that current collapsing length l (t) realizes extension and contraction control signal (such as extension and contraction control electric current)
Adjust, thus the stability during being favorably improved hoisting arm expansion, reduce hydraulic system pressure punching
Hit；Use closed loop control, it is possible to achieve the concordance of the hoisting arm expansion rule under different operating modes, protect
Demonstrate,prove flexible efficiency；Meanwhile, compared to according to stretching speed signal, extension and contraction control signal is carried out
The acquisition of the scheme speed signal adjusted, the acquisition precision of length signals of the present invention is high, thus
Hoisting arm expansion geometric locus is used to control to ensure well the positioning precision of arm pin and pin-and-hole,
Thus improve the success rate of arm automatic telescopic latch.
In one embodiment of the invention, as it is shown in figure 9, described system can also include defeated
Entering device 901, wherein, it is defeated that described input equipment 901 is used for receiving user (such as driver)
The arm target collapsing length entered and/or arm target are stretched percentage ratio, and are sent to hoisting arm expansion
Control device 903.
In one embodiment of the invention, described input equipment 901 can use display input
Device.
In one embodiment of the invention, actuator 904 can include proportional solenoid and liquid
Pressure motor, wherein:
Proportional solenoid controls, according to hoisting arm expansion, the extension and contraction control signal that device 903 provides, and adjusts
The openings of sizes of joint proportional solenoid, and then the stretching speed size of arm is controlled by hydraulic motor,
Thus realize the closed loop control of collapsing length current to arm.
Figure 10 is the schematic diagram of hoisting arm expansion another embodiment of control system of the present invention.Such as Figure 10 institute
Showing, described system includes that input equipment 1001, linear transducer 1002, hoisting arm expansion control dress
Put 1003, actuator 1004, mode selection switch 1005, wherein:
Input equipment 1001 in the present embodiment, linear transducer 1002, hoisting arm expansion control dress
Put 1003, actuator 1004, with the input equipment 901 described in Fig. 9 embodiment, length
Sensor 902, hoisting arm expansion control device 903, actuator 904 26S Proteasome Structure and Function is similar to,
I will not elaborate.
Mode selection switch 1005, for receiving the mode select signal of user's input, in order to hang
Arm telescopic control device is according to the current state of mode select signal detection mode selection switch.Mould
Formula selects switch 1005 for according to described mode select signal switching automatic telescopic pattern and hands
Dynamic stretch mode.
In one embodiment of the invention, as shown in Figure 10, described system can also include
Extension and contraction control handle 1006, wherein:
Extension and contraction control handle 1006, under automatic telescopic pattern, sends and starts flexible making
Energy signal, its output signal value size does not affect stretching speed；And under manual telescopic pattern
Non-follow control hoisting arm expansion controls the extension and contraction control signal magnitude of device, and then controls hoisting arm expansion
Speed.
Pass through the above embodiment of the present invention, it is possible to achieve automatically controlling of hoisting arm expansion, and can
To carry out arm automatic telescopic pattern and the switching of manual telescopic pattern.
According to a further aspect in the invention, it is provided that a kind of engineering with single cylinder bolt-type telescoping boom
Machinery, it is characterised in that include hoisting arm expansion described in any of the above-described embodiment control device,
Or the hoisting arm expansion control system described in any of the above-described embodiment.
Engineering machinery in the present embodiment can be crane, fire control aerial ladder vehicle, high-altitude work
The engineering machinery such as industry car.
Telescopic arm, based on flexible basic value and flexible correction value, is stretched by the above embodiment of the present invention
Contracting control signal carries out closed loop control, controls arm flexible under geometric locus, now, and arm
Being capable of stretching speed switching transition steady, thrashing is little, not only further increases and is
The stability of system, and system pressure fluctuation reduces further, reduces compression shock to hydraulic pressure
The damage of element.
Meanwhile, the above embodiment of the present invention uses the expansion rail trace curve extension and contraction control to telescopic arm
Signal carries out closed loop control, to control hoisting arm expansion, contributes to realizing arm under different operating modes
Flexible rule keep consistent, on the premise of ensureing hoisting arm expansion efficiency, it is possible to carry further
High system stability.
Additionally, compared to scheme extension and contraction control signal being adjusted according to stretching speed signal
The acquisition of speed signal, the acquisition precision of length signals of the present invention is high, thus, uses arm
Expansion rail trace curve controls to substantially increase the positioning precision realizing arm pin with pin-and-hole, thus improves
The success rate of arm automatic telescopic latch.
Hoisting arm expansion described above controls device and can be implemented as performing institute of the present invention
The general processor of representation function, programmable logic controller (PLC) (PLC), Digital Signal Processing
Device (DSP), special IC (ASIC), field programmable gate array (FPGA)
Or other PLDs, discrete gate or transistor logic, discrete hardware group
Part or it is the most appropriately combined.
So far, the present invention is described in detail.In order to avoid covering the design of the present invention, do not have
Details more known in the field are described.Those skilled in the art as described above, completely
It can be appreciated how implement technical scheme disclosed herein.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment
Can be completed by hardware, it is also possible to instruct relevant hardware by program and complete, described
Program can be stored in a kind of computer-readable recording medium, and storage medium mentioned above is permissible
It is read only memory, disk or CD etc..
Description of the invention is given for the sake of example and description, and is not exhaustively
Or it limit the invention to disclosed form.Many modifications and variations are for the common skill of this area
It is obvious for art personnel.Selecting and describing embodiment is the principle in order to the present invention is more preferably described
Apply with reality, and make those of ordinary skill in the art it will be appreciated that the present invention thus design is suitable
The various embodiments with various amendments in special-purpose.
Claims (17)
1. a hoisting arm expansion control method, it is characterised in that including:
Obtain arm target collapsing length；
Obtain the current collapsing length of arm in real time；
According to the current collapsing length of arm and arm target collapsing length, determine extension and contraction control signal；
Extension and contraction control signal is exported to actuator, stretch controlling arm.
Method the most according to claim 1, it is characterised in that work as front stretching according to arm
Length and arm target collapsing length, determine that the step of extension and contraction control signal includes:
According to the current collapsing length of arm and arm target collapsing length, determine current absolute residual
Length；
According to current absolute residual length, inquire about the absolute residual length and flexible basic value prestored
Corresponding relation, it is thus achieved that the flexible basic value corresponding with current absolute residual length；
Using flexible basic value as extension and contraction control signal, perform afterwards to export extension and contraction control signal
To the step of actuator.
Method the most according to claim 2, it is characterised in that absolute with current obtaining
After the step of the flexible basic value that residue length is corresponding, also include:
According to the initial collapsing length of arm and arm target collapsing length, the arm prestored is selected to stretch
Contracting length geometric locus；
From the hoisting arm expansion length geometric locus prestored, obtain arm current goal length；
According to arm current goal length and the current collapsing length of arm, determine flexible correction value；
Determine extension and contraction control signal according to flexible basic value and flexible correction value, perform flexible afterwards
Control signal exports to the step of actuator.
Method the most according to claim 3, it is characterised in that according to arm current goal
Length and the current collapsing length of arm, determine that the step of flexible correction value includes:
According to arm current goal length and the current collapsing length of arm, determine when front stretching deviation；
According to when front stretching deviation, flexible deviation and the corresponding of flexible correction value that inquiry prestores are closed
System, determine with when the corresponding flexible correction value of front stretching deviation.
Method the most according to claim 1, it is characterised in that obtain arm target and stretch
The step of length includes:
Receive the arm target collapsing length of user's input；
Or,
The arm target receiving user's input is stretched percentage ratio, and arm target user inputted
Flexible percentage ratio is converted to arm target collapsing length.
Method the most according to claim 1, it is characterised in that obtain arm in real time current
The step of collapsing length includes:
Receive the current collapsing length of arm of linear transducer Real-time Collection.
Method the most according to claim 1, it is characterised in that also include:
The current state of detection mode selection switch；
If the current state of mode selection switch is automatic telescopic pattern, then perform to obtain arm mesh
The step of mark collapsing length.
8. a hoisting arm expansion controls device, it is characterised in that include target length acquiring unit,
Current length acquiring unit, control signal determine unit and output unit, wherein:
Target length acquiring unit, is used for obtaining arm target collapsing length；
Current length acquiring unit, obtains the current collapsing length of arm in real time；
Control signal determines unit, current for the arm obtained according to current length acquiring unit
The arm target collapsing length that collapsing length and target length acquiring unit obtain, determines and stretches
Contracting control signal；
Output unit, for being exported by extension and contraction control signal to actuator, enters controlling arm
Row is flexible.
Device the most according to claim 8, it is characterised in that control signal determines unit
Determine that module, basic value determine that module and control signal determine module, wherein including residue length:
Residue length determines module, for stretching according to the current collapsing length of arm and arm target
Length, determines current absolute residual length；
Basic value determines module, the most surplus for determining that module determines according to residue length
Remaining length, inquires about the absolute residual length and the corresponding relation of flexible basic value prestored, it is thus achieved that with
The flexible basic value that current absolute residual length is corresponding；
Control signal determines module, is used for flexible basic value as extension and contraction control signal, afterwards
Instruction output unit performs to export extension and contraction control signal to the operation of actuator.
Device the most according to claim 9, it is characterised in that control signal determines list
Unit also includes Curve selection module, path length acquisition module and correction value acquisition module, wherein:
Curve selection module, is used for according to the initial collapsing length of arm and arm target collapsing length,
Select the hoisting arm expansion length geometric locus prestored；
Path length acquisition module, for from the hoisting arm expansion length geometric locus prestored, obtains
Take arm current goal length；
Correction value acquisition module, for the current mesh of arm obtained according to path length acquisition module
The current collapsing length of arm that mark length and current length acquiring unit obtain, determines flexible
Correction value；
Control signal determine module be additionally operable to according to basic value determine that module determines flexible basic
The flexible correction value that value and correction value acquisition module determine determines extension and contraction control signal, afterwards
Instruction output unit performs to export extension and contraction control signal to the operation of actuator.
11. devices according to claim 10, it is characterised in that correction value acquisition module
Determine that submodule and correction value determine submodule, wherein including deviation:
Deviation determines submodule, long for working as front stretching according to arm current goal length and arm
Degree, determines when front stretching deviation；
Correction value determines submodule, for determine that submodule determines according to deviation when front stretching inclined
Difference, inquires about the flexible deviation and the corresponding relation of flexible correction value prestored, and determines and works as front stretching
The flexible correction value that deviation is corresponding.
12. devices according to claim 8, it is characterised in that target length obtains single
Unit is used for:
Receive the arm target collapsing length of user's input；
Or,
The arm target receiving user's input is stretched percentage ratio, and arm target user inputted
Flexible percentage ratio is converted to arm target collapsing length.
13. devices according to claim 8, it is characterised in that
Current length acquiring unit works as front stretching for the arm receiving linear transducer Real-time Collection
Length.
14. devices according to claim 8, it is characterised in that also include detector unit,
Wherein:
Detector unit, for detecting the current state of mode selection switch；And open in model selection
When the current state closed is automatic telescopic pattern, instruction target length acquiring unit performs acquisition and hangs
The operation of arm target collapsing length, and indicate current length acquiring unit to perform to obtain arm in real time
The operation of current collapsing length.
15. 1 kinds of hoisting arm expansion control systems, it is characterised in that include linear transducer, hang
Arm telescopic control device and actuator, wherein:
Linear transducer, for the current collapsing length of Real-time Collection arm, and is sent to arm and stretches
Contracting controls device；
Hoisting arm expansion controls device, the hoisting arm expansion control according to any one of claim 8-14
Device processed；
Actuator, for controlling the extension and contraction control signal that device provides, control according to hoisting arm expansion
Arm processed stretches.
16. systems according to claim 15, it is characterised in that also include model selection
Switch, wherein:
Mode selection switch, for receiving the mode select signal of user's input, in order to arm is stretched
Contracting controls the device current state according to mode select signal detection mode selection switch.
17. 1 kinds of engineering machinery with single cylinder bolt-type telescoping boom, it is characterised in that bag
Include the hoisting arm expansion according to any one of claim 8-14 and control device or claim 15
Or the hoisting arm expansion control system described in 16.
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| CN201510337151.0A CN106315412B (en) | 2015-06-17 | 2015-06-17 | Hoisting arm expansion control method, device, system and engineering machinery |
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