CN106315412B - Hoisting arm expansion control method, device, system and engineering machinery - Google Patents
Hoisting arm expansion control method, device, system and engineering machinery Download PDFInfo
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- CN106315412B CN106315412B CN201510337151.0A CN201510337151A CN106315412B CN 106315412 B CN106315412 B CN 106315412B CN 201510337151 A CN201510337151 A CN 201510337151A CN 106315412 B CN106315412 B CN 106315412B
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Abstract
The present invention discloses a kind of hoisting arm expansion control method, device, system and engineering machinery.This method comprises: obtaining boom target collapsing length；The current collapsing length of boom is obtained in real time；According to the current collapsing length of boom and boom target collapsing length, extension and contraction control signal is determined；Extension and contraction control signal is exported to executing agency, is stretched with controlling boom.The present invention realizes the real-time adjustment to extension and contraction control signal by the current collapsing length of acquisition boom, so that the stability during helping to improve hoisting arm expansion, reduces hydraulic system pressure impact；Using closed-loop control, the consistency of the hoisting arm expansion rule under different operating conditions may be implemented, ensure that flexible efficiency.
Description
Technical field
The present invention relates to engineering machinery field, in particular to a kind of hoisting arm expansion control method, device, system and engineering machine
Tool.
Background technique
Single-cylinder bolt type telescopic boom integrates mechanical, electrical, liquid, has boom weight light, changes of section is small, hoist rigidity
Well, the features such as system intelligent degree is high, is widely used in the engineerings such as large tonnage wheeled crane, the full Terrain Cranes
In machinery.Under single-cylinder bolt type telescopic boom automatic mode, according to actual job operating condition, operator's selection target is stretched operating condition,
Then only an enable signal need to be issued by handle, system will be automatically performed flexible task.
In existing extension and contraction control technology, according to boom current location, the size at a distance from target position will be hung controller
The telescopic process of arm is divided into high, medium and low speed three phases, and the current output value of telescopic arm is to fix in each flexible stage
Value, in arm pin joint proximal arm pin hole, exports lesser fixed current value, until arm pin is plugged, completes expanding-contracting action.This use
Fixed current value control by stages hoisting arm expansion suffers from the drawback that hoisting arm expansion method for control speed is opened loop control, different
Flexible efficiency under operating condition it is difficult to ensure that；Extension and contraction control signal intensity is big, and hydraulic system is also easy to produce shake, and stationarity of stretching is not
It is good.
In existing another kind extension and contraction control scheme, current output value is adjusted according to oil cylinder stretching speed and is stretched with controlling boom
Contracting, but since the acquisition process of this scheme speed signal is cumbersome, measurement accuracy is low, will lead to the positioning of arm pin and pin hole
Precision is low, to greatly affected the success rate of boom automatic telescopic bolt.
Summary of the invention
In view of the above technical problem, the present invention provides a kind of hoisting arm expansion control method, device, system and engineering machines
Tool is realized according to the current collapsing length of boom and is stretched to the real-time adjustment of extension and contraction control signal to control boom by closed-loop control
Contracting speed reduces hydraulic system pressure impact to improve the stability during hoisting arm expansion.
According to an aspect of the present invention, a kind of hoisting arm expansion control method is provided, comprising:
Obtain boom target collapsing length；
The current collapsing length of boom is obtained in real time；
According to the current collapsing length of boom and boom target collapsing length, extension and contraction control signal is determined；
Extension and contraction control signal is exported to executing agency, is stretched with controlling boom.
In one embodiment of the invention, according to the current collapsing length of boom and boom target collapsing length, determination is stretched
Contracting control signal the step of include:
According to the current collapsing length of boom and boom target collapsing length, current absolute residual length is determined；
According to current absolute residual length, the corresponding relationship of the absolute residual length and flexible basic value that prestore is inquired, is obtained
Obtain flexible basic value corresponding with current absolute residual length；
Using flexible basic value as extension and contraction control signal, executes export extension and contraction control signal to the step of executing agency later
Suddenly.
In one embodiment of the invention, in the step for obtaining flexible basic value corresponding with current absolute residual length
After rapid, the method also includes:
According to the initial collapsing length of boom and boom target collapsing length, select the hoisting arm expansion length track prestored bent
Line；
From the hoisting arm expansion length geometric locus prestored, boom current goal length is obtained；
According to boom current goal length and the current collapsing length of boom, flexible correction value is determined；
Determine extension and contraction control signal according to flexible basic value and flexible correction value, later execute extension and contraction control signal export to
The step of executing agency.
In one embodiment of the invention, according to boom current goal length and the current collapsing length of boom, determination is stretched
The step of contracting correction value includes:
According to boom current goal length and the current collapsing length of boom, determines and work as front stretching deviation；
According to front stretching deviation is worked as, the corresponding relationship of the flexible deviation and flexible correction value that prestore is inquired, it is determining and current
The flexible corresponding flexible correction value of deviation.
In one embodiment of the invention, the step of obtaining boom target collapsing length includes: to receive user to input
Boom target collapsing length；
Or,
The flexible percentage conversion of boom target for receiving the flexible percentage of boom target of user's input, and user being inputted
For boom target collapsing length.
In one embodiment of the invention, the step of obtaining the current collapsing length of boom in real time includes: to receive length to pass
The current collapsing length of the boom that sensor acquires in real time.
In one embodiment of the invention, the method also includes:
The current state of detection pattern selection switch；
If the current state of mode selection switch is automatic telescopic mode, the step for obtaining boom target collapsing length is executed
Suddenly.
According to another aspect of the present invention, a kind of hoisting arm expansion control device is provided, including target length acquiring unit, when
Preceding length acquiring unit, control signal determination unit and output unit, in which:
Target length acquiring unit, for obtaining boom target collapsing length；
Current length acquiring unit, for obtaining the current collapsing length of boom in real time；
Control signal determination unit, the current collapsing length of boom for being obtained according to current length acquiring unit and
The boom target collapsing length that target length acquiring unit obtains, determines extension and contraction control signal；
Output unit is stretched for exporting extension and contraction control signal to executing agency with controlling boom.
In one embodiment of the invention, control signal determination unit includes that residue length determining module, basic value are true
Cover half block and control signal determining module, in which:
Residue length determining module, for determining current according to the current collapsing length of boom and boom target collapsing length
Absolute residual length；
Basic value determining module, the current absolute residual length for being determined according to residue length determining module, inquiry are pre-
The corresponding relationship of the absolute residual length and flexible basic value deposited obtains corresponding with current absolute residual length flexible basic
Value；
Signal determining module is controlled, for using flexible basic value as extension and contraction control signal, indicating that output unit is held later
It is about to extension and contraction control signal to export to the operation of executing agency.
In one embodiment of the invention, control signal determination unit further includes that Curve selection module, path length obtain
Modulus block and correction value obtain module, in which:
Curve selection module, for according to the initial collapsing length of boom and boom target collapsing length, select to prestore to be hung
Arm collapsing length geometric locus；
Path length obtains module, for obtaining boom current goal from the hoisting arm expansion length geometric locus prestored
Length；
Correction value obtains module, for obtaining the boom current goal length and work as that module obtains according to path length
The current collapsing length of boom that preceding length acquiring unit obtains determines flexible correction value；
The flexible basic value and correction value that control signal determining module is also used to be determined according to basic value determining module obtain
The flexible correction value that modulus block determines determines extension and contraction control signal, indicates that output unit execution exports extension and contraction control signal later
To the operation of executing agency.
In one embodiment of the invention, it includes that deviation determines that submodule and correction value determine son that correction value, which obtains module,
Module, in which:
Deviation determines submodule, for determining when extension according to boom current goal length and the current collapsing length of boom
Contracting deviation；
Correction value determines submodule, for according to deviation determine that submodule determines when front stretching deviation, inquire prestoring
The corresponding relationship of flexible deviation and flexible correction value determines and works as the corresponding flexible correction value of front stretching deviation.
In one embodiment of the invention, target length acquiring unit is used for:
Receive the boom target collapsing length of user's input；
Or,
The flexible percentage conversion of boom target for receiving the flexible percentage of boom target of user's input, and user being inputted
For boom target collapsing length.
In one embodiment of the invention, current length acquiring unit is used to receive that linear transducer to acquire in real time hangs
The current collapsing length of arm.
In one embodiment of the invention, described device further includes detection unit, in which:
Detection unit, the current state for detection pattern selection switch；And it is in the current state of mode selection switch
When automatic telescopic mode, instruction target length acquiring unit executes the operation for obtaining boom target collapsing length.
According to another aspect of the present invention, a kind of hoisting arm expansion control system, including linear transducer, hoisting arm expansion are provided
Control device and executing agency, in which:
Linear transducer for acquiring the current collapsing length of boom in real time, and is sent to hoisting arm expansion control device；
Hoisting arm expansion control device is any of the above-described hoisting arm expansion control device as described in the examples；
Executing agency, the extension and contraction control signal for being provided according to hoisting arm expansion control device, control boom stretch.
In one embodiment of the invention, the system also includes mode selection switch, in which: mode selection switch,
For receiving the mode select signal of user's input, so that hoisting arm expansion control device is selected according to mode select signal detection pattern
Select the current state of switch.
According to another aspect of the present invention, a kind of engineering machinery with single cylinder bolt-type telescoping boom, feature are provided
It is, including any of the above-described hoisting arm expansion control device as described in the examples or any of the above-described boom as described in the examples
Telescopic control system.
The present invention realizes the real-time adjustment to extension and contraction control signal with real-time control by the current collapsing length of acquisition boom
Hoisting arm expansion speed reduces hydraulic system pressure impact to improve the stability of hoisting arm expansion process；Using closed loop control
System, may be implemented the consistency of the hoisting arm expansion rule under different operating conditions, ensure that flexible efficiency；Simultaneously as length signals
Acquisition precision it is high, so as to guarantee the positioning accuracy of arm pin and pin hole, to improve the success rate of boom automatic telescopic bolt.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the schematic diagram of hoisting arm expansion control method one embodiment of the present invention.
Fig. 2 is the schematic diagram of boom automatic telescopic length in one embodiment of the invention.
Fig. 3 is the schematic diagram of another embodiment of hoisting arm expansion control method of the present invention.
Fig. 4 is the schematic diagram of boom automatic telescopic geometric locus in one embodiment of the invention.
Fig. 5 is the schematic diagram of hoisting arm expansion control device one embodiment of the present invention.
Fig. 6 is the schematic diagram that signal determining module is controlled in one embodiment of the invention.
Fig. 7 is the schematic diagram of correcting current determining module in one embodiment of the invention.
The schematic diagram of Fig. 8 another embodiment of hoisting arm expansion control device of the present invention.
Fig. 9 is the schematic diagram of hoisting arm expansion control system one embodiment of the present invention.
Figure 10 is the schematic diagram of another embodiment of hoisting arm expansion control system of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments
It is not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part of specification.Institute that is shown here and discussing
Have in example, any occurrence should be construed as merely illustratively, not as limitation.Therefore, exemplary embodiment
Other examples can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
Fig. 1 is the schematic diagram of hoisting arm expansion control method one embodiment of the present invention.Preferably, the present embodiment can be by this hair
Bright hoisting arm expansion control device executes.Method includes the following steps:
Step 101, boom target collapsing length l is obtainedt。
Fig. 2 is the schematic diagram of boom automatic telescopic length in one embodiment of the invention.In Fig. 2, telescopic arm 12 along
Direction A stretches relative to basic arm 11, and arm pin hole 13 is provided on basic arm 11, wherein basic arm 11 includes circumferential wall
111 and the end wall 112 of circumferential 111 axial direction one end of wall is set, telescopic arm 12 includes circumferential wall 121 and is arranged in circumferential wall
The end wall 122 of 111 axial direction one end.As shown in Fig. 2, boom target collapsing length ltFor basic arm 11 end wall 112 to arm
The distance of 13 axial line of pin hole.
In one embodiment of the invention, step 101 may include: the boom for receiving user and being inputted by input unit
Target collapsing length ltAnd/or the flexible percentage of boom target.
In one embodiment of the invention, in step 101, if only receiving the boom that user is inputted by input unit
Target is stretched percentage, then the method can also include: that the boom target of the user's input percentage that stretches is converted to boom
Target collapsing length lt, step 102 is executed later.
Step 102, after hoisting arm expansion starts, the current collapsing length l (t) of boom is obtained in real time.
In one embodiment of the invention, step 102 may include: and receive as shown in Figure 2 after hoisting arm expansion starts
The current collapsing length l (t) of boom that acquires in real time of linear transducer 14.In Fig. 2, telescopic arm stretches along direction A,
Linear transducer 14 is stay wire sensor, for real-time monitoring telescoping cylinder head and current boom present position.As shown in Fig. 2, hanging
The current collapsing length l (t) of arm can be the end wall 112 of current basic arm 11 to telescopic arm 12 end wall 122 distance.
Step 103, according to boom l (t) and boom target collapsing length ltDetermine extension and contraction control signal.
In one embodiment of the invention, the extension and contraction control signal can use not according to the difference of executing agency
Same control signal.Such as: if executing agency includes the electrically-controlled valves such as proportion magnetic valve, it can be believed using current signal or voltage
Number equal electric signals are as extension and contraction control signal；It, can be using pressure signal as extension and contraction control when executing agency includes controlled valve
Signal.
In one embodiment of the invention, step 103 may include: according to boom l (t) and boom target collapsing length
ltDetermine current absolute residual length la, and according to current absolute residual length laDetermine extension and contraction control signal.
Step 104, extension and contraction control signal is exported to executing agency, is stretched with controlling boom.
In one embodiment of the invention, it is flexible to can be applied to single cylinder bolt-type for hoisting arm expansion control method of the present invention
The extension and contraction control of boom.
It is real by the current collapsing length of acquisition boom based on the hoisting arm expansion control method that the above embodiment of the present invention provides
Now to the real-time adjustment of extension and contraction control signal, to control hoisting arm expansion speed, thus the stabilization during improving hoisting arm expansion
Property, reduce hydraulic system pressure impact；Using closed-loop control, the consistent of the hoisting arm expansion rule under different operating conditions may be implemented
Property, it ensure that flexible efficiency.
In addition, obtaining compared to the scheme speed signal being adjusted according to stretching speed signal to extension and contraction control signal
It taking, the acquisition precision of length signals is high in the above embodiment of the present invention, thus, it is possible to guarantee the positioning accuracy of arm pin and pin hole, from
And improve the success rate of boom automatic telescopic bolt.
In one embodiment of the invention, the method can also include: the current state of detection pattern selection switch；
If the current state of mode selection switch is automatic telescopic mode, the step of obtaining boom target collapsing length is executed；If mould
It is manual telescopic mode that formula, which selects the current state of switch, then determines that extension and contraction control is believed according to the input signal of extension and contraction control handle
Number, the step of exporting extension and contraction control signal to executing agency is executed later.Thus the above embodiment of the present invention may be implemented certainly
The free switching of dynamic stretch mode and manual telescopic mode, facilitates user experience.
In one embodiment of the invention, extension and contraction control signal may include flexible basic value, wherein the flexible base
This value can be using signal forms such as flexible fundamental current, flexible fundamental voltage, flexible basic pressures.
In following example with flexible basic value be the case where stretching fundamental current to the step 103 in above-described embodiment into
Row is specific to be introduced.Step 103 can specifically include:
Step (1), according to the current collapsing length l (t) of boom and boom target collapsing length lt, determine current absolute residual
Length la。
In one embodiment of the invention, current absolute residual length laFormula l can be passed througha=| l (t)-lt| really
It is fixed.
Step (2), according to current absolute residual length la, inquire the absolute residual length and flexible fundamental current prestored
Corresponding relationship obtains flexible fundamental current I corresponding with current absolute residual length0。
Step (3) executes step 104 using flexible fundamental current as extension and contraction control signal later.
The above embodiment of the present invention realizes the real-time adjustment to flexible fundamental current by the current collapsing length of acquisition boom,
To control hoisting arm expansion speed, due to the fundamental current I that stretches0It can guarantee that boom is all stable flexible under any operating condition, thus
The stability during hoisting arm expansion is improved, hydraulic system pressure impact is reduced.
In some embodiments of the invention, extension and contraction control signal can be jointly true by flexible basic value and flexible correction value
It is fixed, wherein flexible correction value is corresponding with flexible basic value, electric current correction value, voltage correction value, pressure correction value can be used
Equal signal forms.
Fig. 3 is the schematic diagram of another embodiment of hoisting arm expansion control method of the present invention.Preferably, the present embodiment can be by this hair
Bright hoisting arm expansion control device executes.In the present embodiment, the basic value that stretches is using flexible fundamental current value, amendment of correspondingly stretching
Value uses electric current correction value.Method includes the following steps:
Step 301, the current state of detection pattern selection switch.
Step 302, if the current state of mode selection switch is automatic telescopic mode, boom target collapsing length is obtained
lt。
Step 303, according to the initial collapsing length l of boomcWith boom target collapsing length lt, select the hoisting arm expansion prestored
Length geometric locus, curve 1 as shown in Figure 4.
In one embodiment of the invention, the initial collapsing length l of boomcExist for linear transducer 14 as shown in Figure 2
The hoisting arm expansion length of boom original state (when non-telescopic variation) acquisition.
In one embodiment of the invention, the hoisting arm expansion length geometric locus prestored is obtained by preparatory experimental debugging
The standard hoisting arm expansion length geometric locus obtained.The initial collapsing length of boom is prestored in hoisting arm expansion control device of the present invention
l0, boom target collapsing length ltAnd the corresponding relationship of corresponding hoisting arm expansion length geometric locus, it thus can be by the beginning of boom
Beginning collapsing length lcWith boom target collapsing length lt, select the hoisting arm expansion length geometric locus prestored.
Step 304, the current collapsing length l (t) of boom is obtained in real time.
In one embodiment of the invention, step 304 may include: to receive linear transducer 14 as shown in Figure 2 in fact
When the current collapsing length l (t) of boom that acquires.
Step 305, according to the current collapsing length l (t) of boom and boom target collapsing length lt, determine flexible fundamental current
I0.Flexible fundamental current I0It can guarantee that boom is all stable flexible under any operating condition.
Step 306, from the hoisting arm expansion length geometric locus prestored, boom current goal length l is obtained0(t),
In, l0It (t) is curve 1 (hoisting arm expansion length target trajectory curve) as shown in Figure 4 in the ordinate (hoisting arm expansion at current time
Length).
Step 307, according to boom current goal length l0(t) with the currently practical length l (t) of boom, determine that electric current is corrected
It is worth Δ I.
In one embodiment of the invention, step 307 may include:
Step (1), according to boom current goal length l0(t) and front stretching is worked as in the currently practical length l (t) of boom, determination
Deviation delta l.
Preferably, step (1) may include: according to formula Δ l=l0(t)-l (t), which is determined, works as front stretching deviation delta l.That is,
As shown in figure 4, by current target track 1 and actual path 2 current time ordinate (hoisting arm expansion length)
Difference determines and works as front stretching deviation delta l.
Step (2), basis work as front stretching deviation delta l, inquire the corresponding relationship of the flexible deviation and electric current correction value that prestore,
Determine electric current correction value Δ I corresponding with front stretching deviation delta l is worked as.
Step 308, according to flexible fundamental current I0Extension and contraction control signal is determined with electric current correction value Δ I, and by flexible control
Signal processed is exported to executing agency, is stretched with controlling boom, wherein extension and contraction control signal is extension and contraction control electric current I.
In one embodiment of the invention, according to the fundamental current I that stretches in step 3080It is determined with electric current correction value Δ I
The step of extension and contraction control signal may include: according to the fundamental current I that stretches0(pass through with electric current correction value Δ I's and formula I
=I0+ Δ I), determine extension and contraction control electric current I.
In one embodiment of the invention, which comprises if l0(t) > l (t), when front stretching deviation delta l is positive,
Then the corresponding electric current correction value Δ I of Δ l is positive, and controls speed by increasing extension and contraction control signal to accelerate hoisting arm expansion, from
And make currently practical length l (t) gradually to boom current goal length l0(t) close；If l0(t) < l (t), when front stretching is inclined
Poor Δ l is negative, then the corresponding electric current correction value Δ I of Δ l is negative, by reducing extension and contraction control signal to reduce hoisting arm expansion control
Speed processed, so that currently practical length l (t) is gradually to boom current goal length l0(t) close.
In the above embodiment of the present invention step 303 to step 307 each step sequence it is adjustable, as long as guarantee step
Rapid 304 before step 305 and step 307 and step 303 is before step 306, then above-mentioned reality of the invention may be implemented
Apply the function of example.
The above embodiment of the present invention is based on flexible fundamental current I0With electric current correction value Δ I, to the extension and contraction control of telescopic arm
Electric current carries out closed-loop control, controls boom and stretches under target trajectory curve, at this point, the switching transition of hoisting arm expansion speed is more
Steadily, thrashing is smaller, not only further improves the stability of system, but also system pressure fluctuation further decreases, and drops
Low damage of the compression shock to Hydraulic Elements.
In addition, obtaining compared to the scheme speed signal being adjusted according to stretching speed signal to extension and contraction control signal
It takes, the above embodiment of the present invention obtains accurate length signals due to being easy, can be more using the control of hoisting arm expansion geometric locus
Guarantee to better ensure that the positioning accuracy of arm pin and pin hole well, improves the success rate of boom automatic telescopic bolt.
Meanwhile the length signals that the above embodiment of the present invention accurately obtains can be combined with geometric locus, be realized to hanging
The flexible closed-loop control of arm, helps to realize flexible rule of the boom under different operating conditions and is consistent, and is guaranteeing hoisting arm expansion
Under the premise of efficiency, system stability can be further increased.
Fig. 5 is the schematic diagram of hoisting arm expansion control device one embodiment of the present invention.As shown in figure 5, the hoisting arm expansion
Control device includes that target length acquiring unit 51, current length acquiring unit 52, control signal determining module 53 and output are single
Member 54, in which:
Target length acquiring unit 51, for obtaining boom target collapsing length lt.In one embodiment of the invention,
As shown in Fig. 2, boom target collapsing length ltThe end wall 112 of basic arm 11 be can be to the distance of 13 axial line of arm pin hole.
In one embodiment of the invention, target length acquiring unit 51 passes through input unit specifically for receiving user
The boom target collapsing length of input.
In one embodiment of the invention, target length acquiring unit 51 passes through input unit specifically for receiving user
The flexible percentage of the boom target of input；And the flexible percentage of the boom target of user's input is converted into the flexible length of boom target
Degree.
Current length acquiring unit 52, for obtaining the current collapsing length l (t) of boom in real time after hoisting arm expansion starts.
In one embodiment of the invention, current length acquiring unit 52 is specifically used for after hoisting arm expansion starts, and connects
Receive the current collapsing length l (t) of boom that linear transducer acquires in real time.Wherein, as shown in Fig. 2, the current collapsing length l of boom
(t) can be the end wall 112 of current basic arm 11 to telescopic arm 12 end wall 122 distance.
Control signal determining module 53, the current collapsing length l of boom for obtaining according to current length acquiring unit 52
(t) and target length acquiring unit 51 obtain boom target collapsing length lt, determine extension and contraction control signal.
Output unit 54 is exported for will control the extension and contraction control signal that signal determining module 53 determines to executing agency,
It is stretched with controlling boom.
In one embodiment of the invention, hoisting arm expansion control method of the present invention can be applied to single cylinder bolt-type
The extension and contraction control of the engineering machinery (such as crane) of telescoping boom.
Based on the hoisting arm expansion control device that the above embodiment of the present invention provides, by acquiring the current collapsing length l of boom
(t) the real-time adjustment to extension and contraction control signal is realized, so that the stability during helping to improve hoisting arm expansion, reduces hydraulic
System pressure impact；Using closed-loop control, the consistency of the hoisting arm expansion rule under different operating conditions may be implemented, ensure that flexible
Efficiency.
In addition, obtaining compared to the scheme speed signal being adjusted according to stretching speed signal to extension and contraction control signal
It takes, the above embodiment of the present invention, thus can using the control of hoisting arm expansion geometric locus since the acquisition precision of length signals is high
The positioning accuracy of arm pin and pin hole is better ensured that, to improve the success rate of boom automatic telescopic bolt.
Fig. 6 is the schematic diagram that signal determining module is controlled in one embodiment of the invention.As shown in fig. 6, implementing described in Fig. 5
Control signal determining module 53 in example may include residue length determining module 531, basic value determining module 532 and control letter
Number determining module 533, in which:
Residue length determining module 531, for according to the current collapsing length l (t) of boom and boom target collapsing length lt,
Determine current absolute residual length la。
In one embodiment of the invention, residue length determining module 531 is specifically used for according to formula la=| l (t)-lt
| determine current absolute residual length la。
Basic value determining module 532, the current absolute residual length for being determined according to residue length determining module 531
la, the corresponding relationship of the absolute residual length and flexible basic value that prestore is inquired, is obtained corresponding with current absolute residual length
Flexible basic value.
Signal determining module is controlled, for using flexible basic value as extension and contraction control signal, indicating that output unit is held later
It is about to extension and contraction control signal to export to the operation of executing agency.
The above embodiment of the present invention realizes the real-time adjustment to flexible basic value by the current collapsing length of acquisition boom, with
Hoisting arm expansion speed is controlled, since flexible basic value can guarantee that boom is all stable flexible under any operating condition, to improve
Stability during hoisting arm expansion reduces hydraulic system pressure impact.
In one embodiment of the invention, as shown in fig. 6, control signal determining module 53 in embodiment described in Fig. 5
It can also include Curve selection module 534, path length obtains module 535 and correction value obtains module 536, in which:
Curve selection module 534, for according to the initial collapsing length l of boomcWith boom target collapsing length lt, selection is in advance
The hoisting arm expansion length geometric locus deposited.
In one embodiment of the invention, the hoisting arm expansion length geometric locus prestored is obtained by preparatory experimental debugging
The standard hoisting arm expansion length geometric locus obtained, curve 1 as shown in Figure 4.
Path length obtains module 535, for obtaining the current mesh of boom from the hoisting arm expansion length geometric locus prestored
Mark length l0(t), wherein l0(t) the indulging at current time for curve 1 (hoisting arm expansion length target trajectory curve) as shown in Figure 4
Coordinate (hoisting arm expansion length).
Correction value obtains module 536, for obtaining the boom current goal length l that module 535 obtains according to path length0
(t) and the current collapsing length l (t) of boom that obtains of current length acquiring unit, flexible correction value is determined.
The flexible basic value and amendment that control signal determining module 533 is also used to be determined according to basic value determining module
Value obtains the flexible correction value that module 536 determines and determines extension and contraction control signal, indicates that output unit is executed extension and contraction control later
Signal is exported to the operation of executing agency.
In one embodiment of the invention, the extension and contraction control signal can use not according to the difference of executing agency
Same control signal.Such as: if executing agency includes the electrically-controlled valves such as proportion magnetic valve, it can be believed using current signal or voltage
Number equal electric signals are as extension and contraction control signal；It, can be using pressure signal as extension and contraction control when executing agency includes controlled valve
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
It is common to determine.Wherein, the flexible basic value can be using flexible fundamental current, flexible fundamental voltage, flexible basic pressure etc.
Signal form.Flexible correction value is corresponding with flexible basic value, may include can use electric current correction value, voltage correction value,
The signal forms such as pressure correction value.
In one embodiment of the invention, control signal determining module 533 is specifically used for according to the fundamental current I that stretches0
(pass through with electric current correction value Δ I's and formula I=I0+ Δ I), determine extension and contraction control signal (extension and contraction control electric current I).
The above embodiment of the present invention is based on flexible basic value and flexible correction value, carries out to the extension and contraction control electric current of telescopic arm
Closed-loop control controls boom and stretches under target trajectory curve, at this point, the switching transition of hoisting arm expansion speed is more steady, is
System shake is smaller, not only further improves the stability of system, but also system pressure fluctuation further decreases, and reduces pressure
Impact the damage to Hydraulic Elements.
Meanwhile the above embodiment of the present invention controls hoisting arm expansion using geometric locus, helps to realize boom in different works
Flexible rule under condition is consistent, and under the premise of guaranteeing hoisting arm expansion efficiency, can further increase system stability.
In addition, the length signals that the above embodiment of the present invention is related to, it is easier to it is accurate to obtain, hoisting arm expansion is used as a result,
Geometric locus control substantially increase realize arm pin and pin hole positioning accuracy, thus improve boom automatic telescopic bolt at
Power.
Fig. 7 is the schematic diagram of correcting current determining module in one embodiment of the invention.As shown in fig. 7, in Fig. 6 embodiment
Correction value obtain module 536 include deviation determine that submodule 5361 and correction value determine submodule 5362, in which:
Deviation determines submodule 5361, for according to boom current goal length l0(t) and the currently practical length l of boom
(t), it determines and works as front stretching deviation delta l.That is, as shown in figure 4, by current target track 1 and actual path 2 is corresponding hangs
Arm collapsing length determines and works as front stretching deviation delta l.
In one embodiment of the invention, deviation determines that submodule 5361 is specifically used for according to formula Δ l=l0(t)-l
(t) it determines and works as front stretching deviation delta l.
Preferably, as shown in figure 4, deviation determines submodule 5361 specifically for according to current target track 1 and in fact
Border track 2 determines in the difference of the ordinate (hoisting arm expansion length) at current time and works as front stretching deviation delta l.
Correction value determines submodule 5362, for according to deviation determine that submodule 5361 determines as front stretching deviation delta l,
The corresponding relationship of the flexible deviation and electric current correction value that prestore is inquired, determines that electric current corresponding with front stretching deviation delta l is worked as is repaired
Positive value delta I.
In one embodiment of the invention, if l0(t) > l (t), when front stretching deviation delta l is positive, then Δ l is corresponding
Electric current correction value Δ I is positive, and speed is controlled by increasing extension and contraction control signal to accelerate hoisting arm expansion, so that currently practical
Length l (t) is gradually to boom current goal length l0(t) 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, and controls speed by reducing extension and contraction control signal to reduce hoisting arm expansion, so that
Currently practical length l (t) is gradually to boom current goal length l0(t) close.
Fig. 8 is the schematic diagram of another embodiment of hoisting arm expansion control device of the present invention.As shown in figure 8, described device includes
Target length acquiring unit 81, current length acquiring unit 82, control signal determining module 83, output unit 84, wherein
Target length acquiring unit 81, current length acquiring unit 82 in the present embodiment, control signal determining module 83,
Target length acquiring unit 51, current length acquiring unit 52, control signal in output unit 84 and Fig. 5 embodiment determine mould
Block 53, the effect of output unit 54 are similar with function, and I will not elaborate.
In embodiment illustrated in fig. 8 of the present invention, described device can also include detection unit 85, in which:
Detection unit 85, the current state for detection pattern selection switch；And in the current state of mode selection switch
When for automatic telescopic mode, instruction target length acquiring unit 81 executes the operation for obtaining boom target collapsing length, and indicates
Current length acquiring unit 82 executes the operation for obtaining the current collapsing length of boom in real time.
In one embodiment of the invention, it is to stretch manually that detection unit 85, which is also used to the current state of mode selection switch,
When compressed mode, instruction control signal determination unit determines extension and contraction control signal according to the input signal of extension and contraction control handle, thus
The free switching that automatic telescopic mode and manual telescopic mode may be implemented, facilitates user experience.
Fig. 9 is the schematic diagram of hoisting arm expansion control system one embodiment of the present invention.As shown in figure 9, the hoisting arm expansion
Control system includes linear transducer 902, hoisting arm expansion control device 903 and executing agency 904, in which:
Linear transducer 902 for acquiring the current collapsing length l (t) of boom in real time, and is sent to hoisting arm expansion control dress
Set 903.
In one embodiment of the invention, linear transducer 902 can use stay wire sensor 14 as shown in Figure 2,
That is the long line sensor of cylinder, for real-time monitoring telescoping cylinder head and current boom present position.
Hoisting arm expansion control device 903, for receiving the input signal of input unit 901 and linear transducer 902, foundation
Input signal is judged, exports control electric current to executing agency.
In one embodiment of the invention, hoisting arm expansion control device 903 is any of the above-described as described in the examples hangs
Arm telescopic control device.
Executing agency 904, the extension and contraction control signal for being provided according to hoisting arm expansion control device 903, control boom into
Row is flexible.
Based on the hoisting arm expansion control system that the above embodiment of the present invention provides, by acquiring the current collapsing length l of boom
(t) the real-time adjustment to extension and contraction control signal (such as extension and contraction control electric current) is realized, to help to improve hoisting arm expansion process
In stability, reduce hydraulic system pressure impact；Using closed-loop control, the hoisting arm expansion rule under different operating conditions may be implemented
Consistency, ensure that flexible efficiency；Meanwhile compared to the side being adjusted according to stretching speed signal to extension and contraction control signal
The acquisition precision of the acquisition of case speed signal, length signals of the present invention is high, thus controls energy using hoisting arm expansion geometric locus
The enough positioning accuracy for guaranteeing arm pin and pin hole well, to improve the success rate of boom automatic telescopic bolt.
In one embodiment of the invention, as shown in figure 9, the system can also include input unit 901, wherein
The input unit 901 is used to receive the boom target collapsing length of user (such as driver) input and/or boom target is stretched
Percentage, and it is sent to hoisting arm expansion control device 903.
In one embodiment of the invention, the input unit 901 can use display input device.
In one embodiment of the invention, executing agency 904 may include proportion magnetic valve and hydraulic motor, in which:
The extension and contraction control signal that proportion magnetic valve is provided according to hoisting arm expansion control device 903, adjusts proportion magnetic valve
Openings of sizes, and then by the stretching speed size of hydraulic motor control boom, to realize to the current collapsing length of boom
Closed-loop control.
Figure 10 is the schematic diagram of another embodiment of hoisting arm expansion control system of the present invention.As shown in Figure 10, the system packet
Include input unit 1001, linear transducer 1002, hoisting arm expansion control device 1003, executing agency 1004, mode selection switch
1005, in which:
Input unit 1001, linear transducer 1002, hoisting arm expansion control device 1003, executing agency in the present embodiment
1004, with Fig. 9 input unit 901 as described in the examples, linear transducer 902, hoisting arm expansion control device 903, execution machine
904 structure and function of structure is similar, and I will not elaborate.
Mode selection switch 1005, for receiving the mode select signal of user's input, so as to hoisting arm expansion control device
According to the current state of mode select signal detection pattern selection switch.Mode selection switch 1005 is used to be selected according to the mode
Select signal switching automatic telescopic mode and manual telescopic mode.
In one embodiment of the invention, as shown in Figure 10, the system can also include extension and contraction control handle 1006,
Wherein:
Extension and contraction control handle 1006, under automatic telescopic mode, sending to start flexible enable signal, output signal
Value size does not influence stretching speed；And the extension and contraction control letter of hoisting arm expansion control device is manually controlled under manual telescopic mode
Number size, and then control hoisting arm expansion speed.
Through the above embodiments of the present invention, the automatic control of hoisting arm expansion may be implemented, and it is automatic to carry out boom
The switching of stretch mode and manual telescopic mode.
According to another aspect of the present invention, a kind of engineering machinery with single cylinder bolt-type telescoping boom, feature are provided
It is, including any of the above-described hoisting arm expansion control device as described in the examples or any of the above-described boom as described in the examples
Telescopic control system.
Engineering machinery in the present embodiment can be the engineering machinery such as crane, fire control aerial ladder vehicle, high-altitude operation vehicle.
The above embodiment of the present invention is based on flexible basic value and flexible correction value, carries out to the extension and contraction control signal of telescopic arm
Closed-loop control, control boom under geometric locus stretch, at this point, boom can be realized stretching speed switching transition it is steady, system
It shakes small, not only further improves the stability of system, but also system pressure fluctuation further decreases, and reduces compression shock
Damage to Hydraulic Elements.
Meanwhile the above embodiment of the present invention carries out closed loop control using extension and contraction control signal of the flexible geometric locus to telescopic arm
System, to control hoisting arm expansion, helps to realize flexible rule of the boom under different operating conditions and is consistent, and is guaranteeing hoisting arm expansion
Under the premise of efficiency, system stability can be further increased.
In addition, obtaining compared to the scheme speed signal being adjusted according to stretching speed signal to extension and contraction control signal
It takes, the acquisition precision of length signals of the present invention is high, is substantially increased using the control of hoisting arm expansion geometric locus realize arm pin as a result,
With the positioning accuracy of pin hole, to improve the success rate of boom automatic telescopic bolt.
Hoisting arm expansion control device described above can be implemented as executing the logical of function described in the invention
It can with processor, programmable logic controller (PLC) (PLC), digital signal processor (DSP), specific integrated circuit (ASIC), scene
Program gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components
Or it is any appropriately combined.
So far, the present invention is described in detail.In order to avoid covering design of the invention, it is public that this field institute is not described
The some details known.Those skilled in the art as described above, completely it can be appreciated how implementing technology disclosed herein
Scheme.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (13)
1. a kind of hoisting arm expansion control method characterized by comprising
Obtain boom target collapsing length；
The current collapsing length of boom is obtained in real time；
According to the current collapsing length of boom and boom target collapsing length, extension and contraction control signal is determined；
Extension and contraction control signal is exported to executing agency, is stretched so that executing agency controls boom according to extension and contraction control signal
Contracting；
Wherein, according to the current collapsing length of boom and boom target collapsing length, the step of determining extension and contraction control signal, includes:
According to the current collapsing length of boom and boom target collapsing length, current absolute residual length is determined；
According to current absolute residual length, inquire the corresponding relationship of the absolute residual length and flexible basic value that prestore, obtain with
The currently corresponding flexible basic value of absolute residual length；
Using flexible basic value as extension and contraction control signal, the step of exporting extension and contraction control signal to executing agency is executed later；
Wherein, after the step of obtaining flexible basic value corresponding with current absolute residual length, the hoisting arm expansion control
Method processed further include:
According to the initial collapsing length of boom and boom target collapsing length, the hoisting arm expansion length geometric locus prestored is selected；
From the hoisting arm expansion length geometric locus prestored, boom current goal length is obtained；
According to boom current goal length and the current collapsing length of boom, flexible correction value is determined；
According to the sum of flexible basic value and flexible correction value determine extension and contraction control signal, later execute extension and contraction control signal export to
The step of executing agency；
Wherein, according to boom current goal length and the current collapsing length of boom, determine that the step of stretching correction value includes:
According to boom current goal length and the current collapsing length of boom, determines and work as front stretching deviation；
According to front stretching deviation is worked as, the corresponding relationship of the flexible deviation and flexible correction value that prestore is inquired, determine and works as front stretching
The corresponding flexible correction value of deviation.
2. the method according to claim 1, wherein the step of obtaining boom target collapsing length includes:
Receive the boom target collapsing length of user's input.
3. the method according to claim 1, wherein the step of obtaining boom target collapsing length includes:
The flexible percentage of boom target of user's input is received, and the flexible percentage of the boom target of user's input is converted to and is hung
Arm target collapsing length.
4. method according to any one of claim 1-3, which is characterized in that obtain the current collapsing length of boom in real time
Step includes:
Receive the current collapsing length of boom that linear transducer acquires in real time.
5. method according to any one of claim 1-3, which is characterized in that further include:
The current state of detection pattern selection switch；
If the current state of mode selection switch is automatic telescopic mode, the step of obtaining boom target collapsing length is executed.
6. a kind of hoisting arm expansion control device, which is characterized in that including target length acquiring unit, current length acquiring unit,
Control signal determination unit and output unit, in which:
Target length acquiring unit, for obtaining boom target collapsing length；
Current length acquiring unit, for obtaining the current collapsing length of boom in real time；
Control signal determination unit, the current collapsing length of boom and target for obtaining according to current length acquiring unit
The boom target collapsing length that length acquiring unit obtains, determines extension and contraction control signal；
Output unit, for exporting extension and contraction control signal to executing agency, so that executing agency is according to extension and contraction control signal control
Boom processed stretches；
Wherein, control signal determination unit includes that residue length determining module, basic value determining module and control signal determine mould
Block, in which:
Residue length determining module, for determining current absolute according to the current collapsing length of boom and boom target collapsing length
Residue length；
Basic value determining module, the current absolute residual length for being determined according to residue length determining module, inquires prestoring
The corresponding relationship of absolute residual length and flexible basic value obtains flexible basic value corresponding with current absolute residual length；
Control signal determining module, for using flexible basic value be used as extension and contraction control signal, later instruction output unit execute general
Extension and contraction control signal is exported to the operation of executing agency；
Wherein, control signal determination unit further includes Curve selection module, path length obtains module and correction value obtains module,
Wherein:
Curve selection module, for selecting the boom prestored to stretch according to the initial collapsing length of boom and boom target collapsing length
Contracting length geometric locus；
Path length obtains module, for obtaining boom current goal length from the hoisting arm expansion length geometric locus prestored；
Correction value obtains module, for obtaining the boom current goal length and current length that module obtains according to path length
The current collapsing length of boom that acquiring unit obtains is spent, determines flexible correction value；
The flexible basic value and correction value that control signal determining module is also used to be determined according to basic value determining module obtain mould
The sum of flexible correction value that block determines determines extension and contraction control signal, indicates that output unit execution exports extension and contraction control signal later
To the operation of executing agency；
Wherein, it includes that deviation determines that submodule and correction value determine submodule that correction value, which obtains module, in which:
Deviation determines submodule, for determining when front stretching is inclined according to boom current goal length and the current collapsing length of boom
Difference；
Correction value determines submodule, for according to deviation determine that submodule determines when front stretching deviation, inquire prestore it is flexible
The corresponding relationship of deviation and flexible correction value determines and works as the corresponding flexible correction value of front stretching deviation.
7. device according to claim 6, which is characterized in that
Target length acquiring unit is used to receive the boom target collapsing length of user's input.
8. device according to claim 6, which is characterized in that
Target length acquiring unit is used to receive the flexible percentage of boom target of user's input, and the boom mesh that user is inputted
It marks flexible percentage and is converted to boom target collapsing length.
9. device a method according to any one of claims 6-8, which is characterized in that
Current length acquiring unit is for receiving the current collapsing length of boom that linear transducer acquires in real time.
10. device a method according to any one of claims 6-8, which is characterized in that further include detection unit, in which:
Detection unit, the current state for detection pattern selection switch；It and in the current state of mode selection switch is automatic
When stretch mode, instruction target length acquiring unit executes the operation for obtaining boom target collapsing length, and indicates current length
Acquiring unit executes the operation for obtaining the current collapsing length of boom in real time.
11. a kind of hoisting arm expansion control system, which is characterized in that including linear transducer, hoisting arm expansion control device and execution
Mechanism, in which:
Linear transducer for acquiring the current collapsing length of boom in real time, and is sent to hoisting arm expansion control device；
Hoisting arm expansion control device is hoisting arm expansion control device described in any one of claim 6-10；
Executing agency, the extension and contraction control signal for being provided according to hoisting arm expansion control device, control boom stretch.
12. system according to claim 11, which is characterized in that further include mode selection switch, in which:
Mode selection switch, for receiving the mode select signal of user's input, so that hoisting arm expansion control device is according to mode
The current state of selection signal detection pattern selection switch.
13. a kind of engineering machinery with single cylinder bolt-type telescoping boom, which is characterized in that including any in claim 6-10
Hoisting arm expansion control system described in hoisting arm expansion control device or claim 11 or 12 described in.
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| AT519726A1 (en) * | 2017-03-10 | 2018-09-15 | Weber Hydraulik Gmbh | Hydraulic rescue device for manual operation by a rescue person |
| CN109179214A (en) * | 2018-11-07 | 2019-01-11 | 三汽车起重机械有限公司 | A kind of method for controlling trajectory, device and crane |
| CN109534240B (en) * | 2018-11-26 | 2020-01-31 | 中联重科股份有限公司 | Telescopic oil cylinder, control system for telescopic oil cylinder and engineering machinery |
| CN112943751B (en) * | 2021-02-02 | 2023-08-15 | 上海三一重机股份有限公司 | Auxiliary job control method, device, electronic equipment and storage medium |
| CN113323090A (en) * | 2021-06-08 | 2021-08-31 | 厦门安百利科技有限公司 | Control method and control device for telescopic operation assembly |
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