CN106468903B - Motion control method, device, system and the engineering machinery of cantilever crane - Google Patents
Motion control method, device, system and the engineering machinery of cantilever crane Download PDFInfo
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- CN106468903B CN106468903B CN201510511424.9A CN201510511424A CN106468903B CN 106468903 B CN106468903 B CN 106468903B CN 201510511424 A CN201510511424 A CN 201510511424A CN 106468903 B CN106468903 B CN 106468903B
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- oil cylinder
- arm support
- support oil
- hydraulic actuator
- cantilever crane
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
Abstract
The invention discloses a kind of motion control method of cantilever crane, device, system and engineering machinery to ensure construction safety to improve the safety of cantilever crane movement.The motion control method of cantilever crane includes：Obtain the power output of at least one crucial arm support oil cylinder of cantilever crane；The maximum output speed of the hydraulic actuator is determined according to the power output of at least one crucial arm support oil cylinder for each hydraulic actuator of cantilever crane；The speed for controlling each hydraulic actuator of cantilever crane is no more than corresponding maximum output speed.
Description
Technical field
The present invention relates to technical field of engineering machinery, more particularly to the motion control method, device, system of a kind of cantilever crane
And engineering machinery.
Background technique
Pump truck is also known as concrete mixer, is the machinery that concrete is continuously conveyed along pipeline using pressure.Foldable arm rack is made
For one of the chief component of pump truck, it is used to support concrete delivery pipe and carries out cloth operation.Foldable arm rack is working
In the process, need to bear self gravity load and extraneous load, and its arm appearance and suffered load can have greatly changed.
In the prior art, mainly by operator, whether subjective judgement system power can satisfy and overcomes load by rule of thumb
The power demand of movement, when system load is larger, and mistake is using excessive control parameter, system power supply is not enough to full
Pedal system power demand to will lead to system power overload, or even causes equipment damage.In addition, supplying foot in system power
Enough, when but integrated load is larger, by experience, insufficient operator is operated, and the kinetic energy that may cause foldable arm rack is excessive, thus
The self-excitation of foldable arm rack is caused to disturb；Alternatively, generating biggish emergency stop punching in the case where foldable arm rack needs emergency braking
It hits, to cause the shaking or shake of cantilever crane.
To sum up, the safety of cantilever crane movement how is improved, construction safety is ensured, is that current those skilled in the art are urgently to be resolved
Technical problem.
Summary of the invention
The embodiment of the invention provides a kind of motion control method of cantilever crane, device, system and engineering machinery, to improve arm
The safety of frame movement, ensures construction safety.
The motion control method of cantilever crane provided by the embodiment of the present invention, including：
Obtain the power output of at least one crucial arm support oil cylinder of cantilever crane；
For each hydraulic actuator of cantilever crane, according to the power output of at least one crucial arm support oil cylinder, really
The maximum output speed of the fixed hydraulic actuator；
The speed for controlling each hydraulic actuator of cantilever crane is no more than corresponding maximum output speed.
Preferably, the speed of each hydraulic actuator of the control cantilever crane is no more than corresponding maximum output speed
Degree, including：
According to the maximum output speed of the hydraulic actuator, the flow rate upper limit value of the hydraulic actuator is determined；
The flow for controlling each hydraulic actuator of cantilever crane is no more than corresponding flow rate upper limit value.
Preferably, the power output of at least one crucial arm support oil cylinder according to, determines the hydraulic actuator
Maximum output speed, including：
According to the power output of at least one crucial arm support oil cylinder, the steady of at least one crucial arm support oil cylinder is determined
State power output；
According to the stable state power output of at least one crucial arm support oil cylinder, determine that the maximum of the hydraulic actuator is defeated
Speed out.
Specifically, when hydraulic actuator is arm support oil cylinder, at least one crucial arm support oil cylinder according to
Stable state power output determines the maximum output speed of the hydraulic actuator, including：
According to relational expression F (Fwi)*Vmaxj m=P1j, determine the maximum output speed of the arm support oil cylinder；Wherein, FwiTo close
The stable state power output of key arm support oil cylinder, F (Fwi) the equivalent steady state power output of at least one crucial arm support oil cylinder, V for described inmaxjFor
The maximum output speed of the arm support oil cylinder, m are maximum output Rate Index, P1jFor the corresponding cantilever crane system of the arm support oil cylinder
System power constant；
When hydraulic actuator is rotary motor, the stable state output of at least one crucial arm support oil cylinder according to
Power determines the maximum output speed of the hydraulic actuator, including：
According to relational expression T (Fwi)*ωmaxj n=P2j, determine the maximum output angular speed of the rotary motor；Wherein, Fwi
For the stable state power output of crucial arm support oil cylinder, T (Fwi) the equivalent steady state output torque of at least one crucial arm support oil cylinder for described in,
ωmaxjFor the maximum output angular speed of the rotary motor, n is maximum output angular speed index, P2jFor the rotary motor pair
The boom system power constant answered.
Preferably, the power output of at least one the crucial arm support oil cylinder for obtaining cantilever crane, including：Obtain each of cantilever crane
The power output of a arm support oil cylinder.
In the technical solution of the embodiment of the present invention, the self gravity load and external influence load of cantilever crane arm joint are reflected as
The power output of arm support oil cylinder determines the maximum output of hydraulic actuator according to the power output of at least one crucial arm support oil cylinder
Speed；To carry out rate limitation to hydraulic actuator according to the maximum output speed.The program has fully considered cantilever crane arm
The own load of section and extraneous load can prevent the self-excitation disturbance and system power overload of cantilever crane, and this improves cantilever crane fortune
Dynamic safety, has ensured construction safety.
Based on identical inventive concept, the embodiment of the invention also provides a kind of motion control devices of cantilever crane, including：
Acquiring unit, the power output of at least one crucial arm support oil cylinder for obtaining cantilever crane；
Determination unit, for being directed to each hydraulic actuator of cantilever crane, according at least one described crucial cantilever crane oil
The power output of cylinder determines the maximum output speed of the hydraulic actuator；
Monitoring unit is no more than corresponding maximum output speed for controlling the speed of each hydraulic actuator of cantilever crane
Degree.
Preferably, the monitoring unit determines institute specifically for the maximum output speed according to the hydraulic actuator
State the flow rate upper limit value of hydraulic actuator；And the flow of each hydraulic actuator of control cantilever crane is no more than corresponding stream
Measure upper limit value.
Preferably, the determination unit is determined specifically for the power output according at least one crucial arm support oil cylinder
The stable state power output of at least one crucial arm support oil cylinder；According to the stable state output of at least one crucial arm support oil cylinder
Power determines the maximum output speed of the hydraulic actuator.
Preferably, the determination unit is specifically used for when hydraulic actuator is arm support oil cylinder, according to relational expression F
(Fwi)*Vmaxj m=P1j, determine the maximum output speed of the arm support oil cylinder；Wherein, FwiStable state for crucial arm support oil cylinder is defeated
Power output, F (Fwi) the equivalent steady state power output of at least one crucial arm support oil cylinder, V for described inmaxjFor the maximum of the arm support oil cylinder
Output speed, m are maximum output Rate Index, P1jFor the corresponding boom system power constant of the arm support oil cylinder；And
When hydraulic actuator is rotary motor, according to relational expression T (Fwi)*ωmaxj n=P2j, determine the revolution horse
The maximum output angular speed reached；Wherein, FwiFor the stable state power output of crucial arm support oil cylinder, T (Fwi) it is at least one described key
The equivalent steady state output torque of arm support oil cylinder, ωmaxjFor the maximum output angular speed of the rotary motor, n is maximum output angle
Rate Index, P2jFor the corresponding boom system power constant of the rotary motor.
Preferably, the acquiring unit, the power output of each arm support oil cylinder specifically for obtaining cantilever crane.
Using the motion control device of the cantilever crane, fully considered cantilever crane arm joint own load and extraneous load, can be with
The self-excitation disturbance and system power overload of cantilever crane are prevented, this improves the safeties of cantilever crane movement, have ensured construction safety.
The embodiment of the invention also provides a kind of kinetic control systems of cantilever crane, including：
The sensor installed in the crucial arm support oil cylinder of at least one of cantilever crane, each sensor is for detecting corresponding key
The power output of arm support oil cylinder；
Equipment is controlled, is connect with sensor signal described in each, for being directed to each hydraulic actuator of cantilever crane,
According to the power output of at least one crucial arm support oil cylinder, the maximum output speed of the hydraulic actuator is determined；Control
The speed of each hydraulic actuator of cantilever crane is no more than corresponding maximum output speed.
Preferably, the control equipment determines institute specifically for the maximum output speed according to the hydraulic actuator
State the flow rate upper limit value of hydraulic actuator；And the flow of each hydraulic actuator of control cantilever crane is no more than corresponding stream
Measure upper limit value.
Preferably, the control equipment includes low-pass filter circuit, and the low-pass filter circuit is used for each sensor
Testing result carry out low-pass filtering treatment, obtain the stable state power output of at least one crucial arm support oil cylinder；
The control equipment, specifically for being directed to each hydraulic actuator of cantilever crane, according at least one described pass
The stable state power output of key arm support oil cylinder determines the maximum output speed of the hydraulic actuator.
Preferably, being mounted on the sensor in each arm support oil cylinder of the cantilever crane；The hydraulic of the cantilever crane executes member
Part is arm support oil cylinder and/or rotary motor.
The system also includes the output equipments connecting with the control device signal, and the output equipment is for exporting institute
State the information of the maximum output speed of hydraulic actuator.
Using the kinetic control system of the cantilever crane, the self-excitation disturbance and system power overload of cantilever crane can be prevented, therefore, is mentioned
The high safety of cantilever crane movement, has ensured construction safety.
The embodiment of the invention also provides a kind of engineering machinery, the motion control system including cantilever crane described in preceding solution
System, the safety of the cantilever crane of the engineering machinery at work is higher, to provide guarantee for construction safety.
Detailed description of the invention
Fig. 1 is the motion control method flow diagram of cantilever crane of the embodiment of the present invention；
Fig. 2 is foldable arm rack schematic diagram；
Fig. 3 is that the maximum output speed of arm support oil cylinder and the corresponding relationship of the equivalent steady state power output of crucial arm support oil cylinder show
It is intended to；
Fig. 4 is the motion control device structural schematic diagram of cantilever crane of the embodiment of the present invention；
Fig. 5 is the kinetic control system structural schematic diagram of cantilever crane of the embodiment of the present invention.
Specific embodiment
In order to improve the safety of cantilever crane movement, construction safety is ensured, the embodiment of the invention provides a kind of fortune of cantilever crane
Flowing control method, device, system and engineering machinery.
As shown in Figure 1, the motion control method for the cantilever crane that one embodiment of the invention provides, includes the following steps：
The power output of the crucial arm support oil cylinder of step 101, at least one for obtaining cantilever crane；
Step 102, each hydraulic actuator for cantilever crane, according to the defeated of at least one crucial arm support oil cylinder
Power output, determines the maximum output speed of hydraulic actuator；
Step 103, the speed for each hydraulic actuator for controlling cantilever crane are no more than corresponding maximum output speed.
The embodiment method is applied to the engineering machinery comprising cantilever crane, such as pump truck, water tower fire truck, cantilever crane lifting
Machine etc..The concrete type of cantilever crane is unlimited, can be foldable arm rack or telescopic jib.As shown in Fig. 2, cantilever crane 200 is to fold
Cantilever crane, multiple arm joints 210 including hinge connections, each arm joint 210 are connect at least one arm support oil cylinder 211, by cantilever crane oil
The driving movement of cylinder 211, so that the expansion and gathering of cantilever crane 200 can be realized.
In embodiments of the present invention, crucial arm support oil cylinder can be understood as to entire cantilever crane stressing influence biggish cantilever crane oil
Cylinder can determine the maximum output speed of each executive component according to the power output of these crucial arm support oil cylinders.Crucial cantilever crane
Oil cylinder can be determined according to the type of engineering machinery, arm joint quantity and in conjunction with specific experience.
The cantilever crane of engineering machinery needs to bear the effect of self gravity load and extraneous load mostly, and in the course of work
In, arm appearance and suffered load can have greatly changed.For the arm joint of cantilever crane, its own gravity load and external influence are negative
The power output that can be reflected as arm support oil cylinder is carried, the power output of crucial arm support oil cylinder can be detected by sensing device.Certainly, above-mentioned defeated
Power output can be the obtained direct result of detection, be also possible to handle by certain disposal skill later as a result, for example, can be with
Low-pass filtering treatment is carried out to the power output directly detected, obtains stable state power output.Using stable state power output as calculating liquid
The foundation for pressing executive component maximum output speed, can make the value strong antijamming capability of power output, it is not easy to by hydraulic system
Impact or system shock influence, to keep calculated result more accurate.It therefore, can be by low-pass filter circuit to sensor
Testing result carry out low-pass filtering treatment, to obtain the stable state power output of crucial arm support oil cylinder.
It is preferred, therefore, that, according to the power output of at least one crucial arm support oil cylinder, determining hydraulic hold in step 102
The maximum output speed of units, including：
According to the power output of at least one crucial arm support oil cylinder, the steady of at least one crucial arm support oil cylinder is determined
State power output；
According to the stable state power output of at least one crucial arm support oil cylinder, the maximum output speed of hydraulic actuator is determined
Degree.
Since there are certain corresponding relationships with flow rate upper limit value for the maximum output speed of hydraulic actuator, and control liquid
The flow rate upper limit value of executive component is pressed to limit the maximum output speed of hydraulic actuator and technically be easier to realize, is based on
This, step 103 can specifically include following steps：
According to the maximum output speed of hydraulic actuator, the flow rate upper limit value of hydraulic actuator is determined；
The flow for controlling each hydraulic actuator of cantilever crane is no more than corresponding flow rate upper limit value.
When the power output of crucial arm support oil cylinder is larger, the flow rate upper limit value that can control hydraulic actuator reduces,
The maximum output speed of hydraulic actuator is exactly reduced, therefore, the present invention carries out maximum output speed according to integrated load
Limitation can will drive the energy moments of cantilever crane movement to be maintained in controlled range, so that reaching prevents cantilever crane self-excited vibration
Mesh, to prevent the self-excitation of system overload or cantilever crane from disturbing.In addition, being allowed when the power output of crucial arm support oil cylinder is smaller
Increase the flow rate upper limit value of hydraulic actuator, that is, the maximum output speed of hydraulic actuator is improved, to improve cantilever crane
Sport efficiency.
In the technical solution of the embodiment of the present invention, the self gravity load and external influence load of cantilever crane arm joint are reflected as
The power output of arm support oil cylinder determines the maximum output of hydraulic actuator according to the power output of at least one crucial arm support oil cylinder
Speed, and the speed for controlling each hydraulic actuator of cantilever crane is no more than corresponding maximum output speed.The program is filled
Divide the own load for considering cantilever crane arm joint and extraneous load, the self-excitation disturbance and system power overload of cantilever crane can be prevented, because
This, improves the safety of cantilever crane movement, has ensured construction safety.
In one particular embodiment of the present invention, when hydraulic actuator is arm support oil cylinder, step 102 is specially：
According to relational expression F (Fwi)*Vmaxj m=P1j, determine the maximum output speed of arm support oil cylinder；Wherein, FwiFor crucial arm support oil cylinder
Stable state power output, F (Fwi) be at least one crucial arm support oil cylinder equivalent steady state power output, VmaxjIt is defeated for the maximum of arm support oil cylinder
Speed out, m are maximum output Rate Index, are constant, P1jIt is different for the corresponding boom system power constant of arm support oil cylinder
The corresponding boom system power constant of arm support oil cylinder is different, for example, the power constant of an arm is Pl1, the power constant of two arms is
Pl2, etc..F (Fwi) is the equivalent steady state power output of at least one crucial arm support oil cylinder, and equivalent steady state power output herein refers to
If the power output of the crucial arm support oil cylinder of one of detection, then the power output is the equivalent steady state power output, if inspection
What is surveyed is the power output of more than two crucial arm support oil cylinders, then multiple power output is equivalent at one with preset computation rule
A power output, then it at a power output is above-mentioned equivalent steady state power output that this is equivalent.
The cantilever crane of engineering machinery also typically includes rotary motor, for driving cantilever crane to turn round；And the arm of certain engineering machinery
Frame may include two or more rotary motor to realize specific operation movement.
When hydraulic actuator is rotary motor, step 102 is specially：According to relational expression T (Fwi)*ωmaxj n=P2j,
Determine the maximum output angular speed of rotary motor；Wherein, FwiFor the stable state power output of crucial arm support oil cylinder, T (Fwi) it is at least one
The equivalent steady state output torque of a key arm support oil cylinder, ωmaxjFor the maximum output angular speed of rotary motor, n is maximum output
Angular speed index, P2jFor the corresponding system power constant of rotary motor, the corresponding system power constant of different rotary motors is not
Together, for example, in the case where there is multiple rotary motors, the corresponding power constant of multiple rotary motors can be respectively P21、P22Deng
Deng.T(Fwi) be at least one crucial arm support oil cylinder equivalent steady state output torque, equivalent steady state output torque herein is root
Corresponding torque is calculated according to above-mentioned equivalent steady state power output correspondence.
The maximum output speed V of arm support oil cylindermaxjWith the equivalent steady state power output F of at least one crucial arm support oil cylinder
(Fwi) corresponding relationship signal it is as shown in Figure 3.As can be seen that when the equivalent steady state output of at least one crucial arm support oil cylinder
Power F (Fwi) it is larger when, for prevent cantilever crane self-excitation disturbance and system power overload, the maximum output speed V of arm support oil cylindermaxjIt answers
Control is in lesser value；As the equivalent steady state power output F (F of at least one crucial arm support oil cylinderwi) it is smaller when, can be appropriate
Increase the maximum output speed V of arm support oil cylindermaxj, to improve the sport efficiency of cantilever crane.For those skilled in the art it is found that passing through
Solenoid valve limits the output flow of arm support oil cylinder, namely limits the output speed of arm support oil cylinder.
Similarly, as the equivalent steady state output torque T (F of at least one crucial arm support oil cylinderwi) it is larger when, be preventing arm
The self-excitation disturbance of frame and system power overload, the maximum output angular velocity omega of rotary motormaxjIt should control in lesser value；Work as institute
State the equivalent steady state output torque T (F of at least one crucial arm support oil cylinderwi) it is smaller when, can suitably increase rotary motor most
Big output angular velocity ωmaxj, to improve the rotary motion efficiency of cantilever crane.For those skilled in the art it is found that passing through solenoid valve pair
The output flow of rotary motor is limited, namely is limited the output angular velocity of rotary motor.
It should be noted that on the same device, above-mentioned hydraulic actuator both can be arm support oil cylinder；It can also be with
Only rotary motor；It can also simultaneously not only include arm support oil cylinder but also include rotary motor, i.e., according at least one crucial cantilever crane oil
The power output of cylinder is not only as the movement foundation of control arm support oil cylinder but also as the foundation for controlling rotary motor movement.
In one embodiment of this invention, the full posture stress model of cantilever crane can be pre-established, i.e., at least one described pass
The corresponding relationship of the equivalent arm appearance information of the stable state power output and cantilever crane of key arm support oil cylinder.It can be used as according to the corresponding relationship above-mentioned
The foundation that maximum output Rate Index m and maximum output angular speed index n is established.
In a preferred embodiment of the invention, step 101 is specially：Obtain the output of each arm support oil cylinder of cantilever crane
Power.Relevant calculation is carried out according to the power output of each arm support oil cylinder of cantilever crane, control accuracy is higher.
As shown in figure 4, being based on identical inventive concept, the embodiment of the invention also provides a kind of motion control of cantilever crane dresses
It sets, including：
Acquiring unit 31, the power output of at least one crucial arm support oil cylinder for obtaining cantilever crane；
Determination unit 32, for being directed to each hydraulic actuator of cantilever crane, according at least one described crucial cantilever crane
The power output of oil cylinder determines the maximum output speed of hydraulic actuator；
Monitoring unit 33 is no more than corresponding maximum output for controlling the speed of each hydraulic actuator of cantilever crane
Speed.
As preferable scheme, monitoring unit 33 is determined specifically for the maximum output speed according to hydraulic actuator
The flow rate upper limit value of hydraulic actuator；And the flow of each hydraulic actuator of control cantilever crane is no more than corresponding flow
Upper limit value.
Preferably, determination unit 32, specifically for the power output according at least one crucial arm support oil cylinder,
Determine the stable state power output of at least one crucial arm support oil cylinder；Stable state according at least one crucial arm support oil cylinder is defeated
Power output, determines the maximum output speed of hydraulic actuator.
On the basis of above-mentioned preferred embodiment, determination unit 32 is specifically used for when hydraulic actuator is arm support oil cylinder,
According to relational expression F (Fwi)*Vmaxj m=P1j, determine the maximum output speed of arm support oil cylinder；Wherein, FwiFor crucial arm support oil cylinder
Stable state power output, F (Fwi) be at least one crucial arm support oil cylinder equivalent steady state power output, VmaxjIt is defeated for the maximum of arm support oil cylinder
Speed out, m are maximum output Rate Index, P1jFor the corresponding boom system power constant of arm support oil cylinder；And
When hydraulic actuator is rotary motor, according to relational expression T (Fwi)*ωmaxj n=P2j, determine rotary motor
Maximum output angular speed；Wherein, FwiFor the stable state power output of crucial arm support oil cylinder, T (Fwi) it is at least one crucial arm support oil cylinder
Equivalent steady state output torque, ωmaxjFor the maximum output angular speed of rotary motor, n is maximum output angular speed index, P2jFor
The corresponding boom system power constant of rotary motor.
Preferably, acquiring unit 31, the power output of each arm support oil cylinder specifically for obtaining cantilever crane.
Using the motion control device of the cantilever crane, fully considered cantilever crane arm joint own load and extraneous load, can be with
The self-excitation disturbance and system power overload of cantilever crane are prevented, this improves the safeties of cantilever crane movement, have ensured construction safety.
As shown in figure 5, the embodiment of the invention also provides a kind of kinetic control systems of cantilever crane, including：
Sensor 41a, the 41b installed in crucial arm support oil cylinder 44a, 44b of at least one of cantilever crane (is only illustrated in figure
Sensor in two crucial arm support oil cylinders, but crucial arm support oil cylinder and the quantity of sensor are without being limited thereto, it can be according to cantilever crane
Specific structure determines), each sensor is used to detect the power output of corresponding crucial arm support oil cylinder；
Equipment 43 is controlled, is connect with each sensor signal, for being directed to each hydraulic actuator of cantilever crane, according to
The power output of at least one crucial arm support oil cylinder, determines the maximum output speed of hydraulic actuator；Control each of cantilever crane
The speed of hydraulic actuator is no more than corresponding maximum output speed.
As preferable scheme, equipment 43 is controlled, specifically for the maximum output speed according to hydraulic actuator, is determined
The flow rate upper limit value of hydraulic actuator；And the flow of each hydraulic actuator of control cantilever crane is no more than corresponding flow
Upper limit value.
Preferably, control equipment 43 includes low-pass filter circuit 42, and low-pass filter circuit 42 is used for each biography
The testing result of sensor carries out low-pass filtering treatment, obtains the stable state power output of at least one crucial arm support oil cylinder；Control
Equipment 43, specifically for being directed to each hydraulic actuator of cantilever crane, according to the steady of at least one crucial arm support oil cylinder
State power output determines the maximum output speed of hydraulic actuator.
The hydraulic actuator of cantilever crane can be these above-mentioned crucial arm support oil cylinders 44a, 44b, be also possible to non-key
Arm support oil cylinder 44c can also be rotary motor (not shown) etc..
Preferably, being mounted on sensor in each arm support oil cylinder of cantilever crane；The hydraulic actuator of cantilever crane is arm support oil cylinder
And/or rotary motor.
In the preferred embodiment of the embodiment of the present invention, the system may also include the output connecting with control device signal and set
It is standby, information of the output equipment for the maximum output speed of output hydraulic pressure executive component, to prompt operator.The tool of output equipment
Body type is unlimited, such as can be display device to show specific numerical value；It is also possible to loudspeaker apparatus；Or color difference
One group of signal lamp, etc. of corresponding friction speed value.For example, it may be representing different speed with the display light bulb of different colours
Region, such as red represent high velocity, and blue represents middling speed area, and yellow represents low regime, are shown as yellow when operator reaches
When color, being known that should be operated at this time with smaller speed, when operator does not see the display device before the procedure, and with
When biggish gear is operated, since system has limited maximum output speed at this time, even if using larger shelves
Position, operation object also only can slowly carry out below maximum output speed, if operator sees the display device at this time, just
It can be appreciated that, this phenomenon is not due to system and failure occurs, but since system limits maximum speed,
Achieve the purpose that prompt operator with this.
Using the kinetic control system of the cantilever crane, the self-excitation disturbance and system power overload of cantilever crane can be prevented, therefore, is mentioned
The high safety of cantilever crane movement, has ensured construction safety.
The embodiment of the invention also provides a kind of engineering machinery, the kinetic control system including preceding solution cantilever crane,
The safety of the cantilever crane of the engineering machinery at work is higher, to provide guarantee for construction safety.Engineering machinery it is specific
It is similar unlimited, such as can be pump truck, water tower fire truck etc..
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (15)
1. a kind of motion control method of cantilever crane, which is characterized in that including：
Obtain the power output of at least one crucial arm support oil cylinder of cantilever crane；
Institute is determined according to the power output of at least one crucial arm support oil cylinder for each hydraulic actuator of cantilever crane
The maximum output speed of hydraulic actuator is stated, the hydraulic actuator is arm support oil cylinder and/or rotary motor；
The speed for controlling each hydraulic actuator of cantilever crane is no more than corresponding maximum output speed.
2. the method as described in claim 1, which is characterized in that the speed of each hydraulic actuator of the control cantilever crane
No more than corresponding maximum output speed, including：
According to the maximum output speed of the hydraulic actuator, the flow rate upper limit value of the hydraulic actuator is determined；
The flow for controlling each hydraulic actuator of cantilever crane is no more than corresponding flow rate upper limit value.
3. the method as described in claim 1, which is characterized in that the output of at least one crucial arm support oil cylinder according to
Power determines the maximum output speed of the hydraulic actuator, including：
According to the power output of at least one crucial arm support oil cylinder, determine that the stable state of at least one crucial arm support oil cylinder is defeated
Power output；
According to the stable state power output of at least one crucial arm support oil cylinder, the maximum output speed of the hydraulic actuator is determined
Degree.
4. method as claimed in claim 3, which is characterized in that
When hydraulic actuator is arm support oil cylinder, the stable state power output of at least one crucial arm support oil cylinder according to,
Determine the maximum output speed of the hydraulic actuator, including：
According to relational expression F (Fwi)*Vmaxj m=P1j, determine the maximum output speed of the arm support oil cylinder；Wherein, FwiFor crucial arm
The stable state power output of frame oil cylinder, F (Fwi) the equivalent steady state power output of at least one crucial arm support oil cylinder, V for described inmaxjIt is described
The maximum output speed of arm support oil cylinder, m are maximum output Rate Index, P1jFor the corresponding boom system function of the arm support oil cylinder
Rate constant；
When hydraulic actuator is rotary motor, the stable state power output of at least one crucial arm support oil cylinder according to,
Determine the maximum output speed of the hydraulic actuator, including：
According to relational expression T (Fwi)*ωmaxj n=P2j, determine the maximum output angular speed of the rotary motor；Wherein, FwiFor key
The stable state power output of arm support oil cylinder, T (Fwi) the equivalent steady state output torque of at least one crucial arm support oil cylinder, ω for described inmaxj
For the maximum output angular speed of the rotary motor, n is maximum output angular speed index, P2jIt is corresponding for the rotary motor
Boom system power constant.
5. such as the described in any item methods of Claims 1 to 4, which is characterized in that described at least one crucial arm for obtaining cantilever crane
The power output of frame oil cylinder, including：Obtain the power output of each arm support oil cylinder of cantilever crane.
6. a kind of motion control device of cantilever crane, which is characterized in that including：
Acquiring unit, the power output of at least one crucial arm support oil cylinder for obtaining cantilever crane；
Determination unit, for being directed to each hydraulic actuator of cantilever crane, according at least one crucial arm support oil cylinder
Power output, determines the maximum output speed of the hydraulic actuator, and the hydraulic actuator is arm support oil cylinder and/or revolution
Motor；
Monitoring unit is no more than corresponding maximum output speed for controlling the speed of each hydraulic actuator of cantilever crane.
7. device as claimed in claim 6, which is characterized in that
The monitoring unit determines the hydraulic execution specifically for the maximum output speed according to the hydraulic actuator
The flow rate upper limit value of element；And the flow of each hydraulic actuator of control cantilever crane is no more than corresponding flow rate upper limit value.
8. device as claimed in claim 6, which is characterized in that the determination unit is specifically used at least one described in basis
The power output of crucial arm support oil cylinder determines the stable state power output of at least one crucial arm support oil cylinder；According to described at least one
The stable state power output of a key arm support oil cylinder, determines the maximum output speed of the hydraulic actuator.
9. device as claimed in claim 8, which is characterized in that the determination unit, specifically for being when hydraulic actuator
When arm support oil cylinder, according to relational expression F (Fwi)*Vmaxj m=P1j, determine the maximum output speed of the arm support oil cylinder；Wherein, Fwi
For the stable state power output of crucial arm support oil cylinder, F (Fwi) the equivalent steady state power output of at least one crucial arm support oil cylinder for described in,
VmaxjFor the maximum output speed of the arm support oil cylinder, m is maximum output Rate Index, P1jFor the corresponding arm of the arm support oil cylinder
Frame system power constant；And
When hydraulic actuator is rotary motor, according to relational expression T (Fwi)*ωmaxj n=P2j, determine the rotary motor
Maximum output angular speed；Wherein, FwiFor the stable state power output of crucial arm support oil cylinder, T (Fwi) it is at least one described crucial cantilever crane
The equivalent steady state output torque of oil cylinder, ωmaxjFor the maximum output angular speed of the rotary motor, n is maximum output angular speed
Index, P2jFor the corresponding boom system power constant of the rotary motor.
10. such as the described in any item devices of claim 6~9, which is characterized in that the acquiring unit is specifically used for obtaining arm
The power output of each arm support oil cylinder of frame.
11. a kind of kinetic control system of cantilever crane, which is characterized in that including：
The sensor installed in the crucial arm support oil cylinder of at least one of cantilever crane, each sensor is for detecting corresponding crucial cantilever crane
The power output of oil cylinder；
Control equipment including low-pass filter circuit, connect with sensor signal described in each, for each sensor
Testing result carries out low-pass filtering treatment, the stable state power output of at least one crucial arm support oil cylinder is obtained, for cantilever crane
Each hydraulic actuator determines the hydraulic execution according to the stable state power output of at least one crucial arm support oil cylinder
The maximum output speed of element；The speed for controlling each hydraulic actuator of cantilever crane is no more than corresponding maximum output speed
Degree.
12. system as claimed in claim 11, which is characterized in that the control equipment, specifically for hydraulic being held according to described
The maximum output speed of units determines the flow rate upper limit value of the hydraulic actuator；And each of control cantilever crane is hydraulic
The flow of executive component is no more than corresponding flow rate upper limit value.
13. such as the described in any item systems of claim 11~12, which is characterized in that pacify in each arm support oil cylinder of the cantilever crane
Equipped with the sensor；The hydraulic actuator of the cantilever crane is arm support oil cylinder and/or rotary motor.
14. system as claimed in claim 11, which is characterized in that the system also includes connect with the control device signal
Output equipment, the output equipment be used for export the hydraulic actuator maximum output speed information.
15. a kind of engineering machinery, which is characterized in that the motion control including the described in any item cantilever cranes of such as claim 11~14
System.
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| CN201510511424.9A CN106468903B (en) | 2015-08-19 | 2015-08-19 | Motion control method, device, system and the engineering machinery of cantilever crane |
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| CN101417771A (en) * | 2008-12-08 | 2009-04-29 | 三一重工股份有限公司 | Crane lifting speed control method and device |
| CN102108790A (en) * | 2010-12-24 | 2011-06-29 | 三一重工股份有限公司 | Concrete pumping equipment and arm support state control system thereof |
| CN102145857A (en) * | 2011-01-31 | 2011-08-10 | 徐州重型机械有限公司 | Crane, and revolution controlling system and method thereof |
| CN102591221A (en) * | 2012-02-07 | 2012-07-18 | 三一重工股份有限公司 | Controller, control system and method of multi-section arm support equipment, and engineering machinery equipment |
| WO2014026454A1 (en) * | 2012-08-17 | 2014-02-20 | 中联重科股份有限公司 | Concrete-placing equipment, and vibration suppression method, controller and device for boom thereof |
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| CN101417771A (en) * | 2008-12-08 | 2009-04-29 | 三一重工股份有限公司 | Crane lifting speed control method and device |
| CN102108790A (en) * | 2010-12-24 | 2011-06-29 | 三一重工股份有限公司 | Concrete pumping equipment and arm support state control system thereof |
| CN102145857A (en) * | 2011-01-31 | 2011-08-10 | 徐州重型机械有限公司 | Crane, and revolution controlling system and method thereof |
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| WO2014026454A1 (en) * | 2012-08-17 | 2014-02-20 | 中联重科股份有限公司 | Concrete-placing equipment, and vibration suppression method, controller and device for boom thereof |
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