CN106599544B - Method for calculating counterforce of support leg of overhead working truck and method for leveling and controlling rotary table - Google Patents

Method for calculating counterforce of support leg of overhead working truck and method for leveling and controlling rotary table Download PDF

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CN106599544B
CN106599544B CN201611040834.0A CN201611040834A CN106599544B CN 106599544 B CN106599544 B CN 106599544B CN 201611040834 A CN201611040834 A CN 201611040834A CN 106599544 B CN106599544 B CN 106599544B
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徐蕾
田志坚
姚占磊
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Xuzhou Construction Machinery Group Co Ltd XCMG
XCMG Fire Fighting Safety Equipment Co Ltd
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Abstract

本发明公开了一种高空作业车支腿反力计算方法及转台调平控制方法，先推导转台调平车辆在任意驻车坡度、方位角及回转角度下支腿反力的一般计算公式，在此基础上，提供了一种转台调平工况下高空作业车辆的稳定性控制方法，首先根据双轴倾角传感器计算出车辆驻车坡度及方位角，然后根据臂架回转方位与驻车斜面的相对位置关系，实现车辆幅度的分区域控制。本发明弥补了现有方法仅适用水平面作业高空作业车辆，无法计算转台调平车辆斜坡作业工况的不足，为转台调平车辆整车稳定性的计算和控制提供了依据；将任意方位角和回转角度下的复杂作业工况简化为斜坡作业和水平面作业两个区域控制，解决了转台调平工况下整车稳定性影响变量多、控制复杂的问题。

Figure 201611040834

The invention discloses a method for calculating the leg reaction force of an aerial work vehicle and a turntable leveling control method. Firstly, the general calculation formula for the leg reaction force of the turntable leveling vehicle at any parking slope, azimuth angle and rotation angle is deduced. On this basis, a stability control method for high-altitude vehicles under the condition of turntable leveling is provided. Firstly, the parking slope and azimuth of the vehicle are calculated according to the dual-axis inclination sensor, and then according to the rotation azimuth of the boom and the parking slope The relative positional relationship realizes the regional control of the vehicle range. The present invention makes up for the deficiency that the existing method is only suitable for high-altitude operation vehicles operating on the horizontal surface, and cannot calculate the slope operation conditions of the turntable leveling vehicle, and provides a basis for the calculation and control of the stability of the turntable leveling vehicle; any azimuth and The complex operation conditions under the turning angle are simplified to two areas of slope operation and horizontal surface operation, which solves the problem of many variables affecting the stability of the vehicle and complex control under the leveling condition of the turntable.

Figure 201611040834

Description

一种高空作业车支腿反力计算方法及转台调平控制方法Calculation method of outrigger reaction force of aerial work vehicle and leveling control method of turntable

技术领域technical field

本发明涉及一种高空作业车支腿反力计算方法及转台调平控制方法。The invention relates to a method for calculating the reaction force of an outrigger of an aerial work vehicle and a leveling control method for a turntable.

背景技术Background technique

高空作业车辆是一类具有高空救援、高空运输物料及高空工程作业等功能的特种车辆，在工程建设及抢险救援中有着广泛的应用。为提高车辆场地适用性，高空作业车辆通常具有支腿调平能力，即通过控制垂直支腿的不同伸长量，使车辆在斜坡驻车时转台下底面(上车安装平面)仍保持水平，由此保证车辆作业部分(工作平台)保持水平，实现安全作业。由于支腿跨距较大，而垂直支腿伸长量有限，因此支腿调平仅适用于小坡度斜面作业工况。我国幅员辽阔、地形复杂，在丘陵、山地等地区，车辆经常需要停驻在较大坡度的倾斜面上进行作业，因此近年来逐渐有厂家研发出调平范围更大的转台调平方式。High-altitude operation vehicle is a kind of special vehicle with the functions of high-altitude rescue, high-altitude transportation of materials and high-altitude engineering operations. It is widely used in engineering construction and emergency rescue. In order to improve the applicability of the vehicle site, aerial work vehicles usually have outrigger leveling capabilities, that is, by controlling the different elongation of the vertical outriggers, the lower bottom surface of the turntable (the installation plane of the vehicle) remains horizontal when the vehicle is parked on a slope , thus ensuring that the operating part (working platform) of the vehicle remains level and realizes safe operation. Due to the large span of the outriggers and the limited elongation of the vertical outriggers, outrigger leveling is only suitable for working conditions on small slopes. my country has a vast territory and complex terrain. In areas such as hills and mountains, vehicles often need to park on slopes with large slopes for operations. Therefore, in recent years, manufacturers have gradually developed turntable leveling methods with a larger leveling range.

为防止作业时发生倾翻危险，整车稳定性是高空作业车辆设计过程中必须涉及的重要内容，对于不同形式的高空作业车辆，判断整车稳定性的标准略有区别，但均是基于支腿反力的正确计算。因此，正确计算车辆的支腿反力，是判断整车稳定性，进而实现车辆安全作业控制的基础。In order to prevent the danger of overturning during operation, the stability of the whole vehicle is an important content that must be involved in the design process of the aerial work vehicle. For different types of aerial work vehicles, the standards for judging the stability of the whole vehicle are slightly different, but they are all based on the support Correct calculation of leg reaction forces. Therefore, the correct calculation of the outrigger reaction force of the vehicle is the basis for judging the stability of the vehicle and realizing the safe operation control of the vehicle.

采用支腿调平方式的车辆，尽管其支撑面为倾斜面，但支腿反力方向仍为竖直方向，因此支腿调平车辆驻车坡度对整车稳定性并无影响，其支腿反力与水平支撑面车辆计算方法相同。然而对于采用转台调平方式的车辆，其调平功能由副车架以上的转台结构实现，因此在斜坡作业时副车架不再保持水平状态，而支腿反力垂直于副车架上平面为倾斜方向，因此无法正确计算整车稳定性。因此，推导转台调平工况下支腿反力的一般计算方法，并提出相对应的控制策略，对确保转台调平车辆的整车稳定性，防止其在斜坡作业时发生倾翻危险具有十分重要的意义。For vehicles using the outrigger leveling method, although the supporting surface is an inclined surface, the reaction force direction of the outrigger is still in the vertical direction, so the outrigger leveling vehicle parking slope has no effect on the stability of the vehicle. The reaction force is calculated in the same way as that of a vehicle on a horizontal support surface. However, for vehicles using the turntable leveling method, the leveling function is realized by the turntable structure above the subframe, so the subframe no longer maintains a horizontal state when working on a slope, and the reaction force of the outriggers is perpendicular to the upper plane of the subframe is the direction of inclination, so the vehicle stability cannot be calculated correctly. Therefore, deriving the general calculation method of the outrigger reaction force under the leveling condition of the turntable, and proposing the corresponding control strategy are very important for ensuring the stability of the vehicle for leveling the turntable and preventing it from tipping over when operating on a slope. Significance.

发明内容Contents of the invention

针对上述现有技术存在的问题，本发明提供一种高空作业车支腿反力计算方法及转台调平控制方法，弥补了现有支腿反力计算方法仅适用于水平面作业高空作业车辆，无法计算转台调平车辆斜坡作业工况的不足，转台调平控制方法简单，便于实现。In view of the problems existing in the above-mentioned prior art, the present invention provides a method for calculating the reaction force of the outriggers of the aerial work vehicle and a method for leveling the turntable, which makes up for the fact that the existing calculation method for the reaction force of the outriggers is only applicable to aerial work vehicles operating on the horizontal plane, and cannot Calculating the deficiencies of the turntable leveling vehicle operating conditions on slopes, the turntable leveling control method is simple and easy to implement.

为了实现上述目的，本发明采用的技术方案是：一种高空作业车支腿反力计算方法，根据平行移轴定理将上车受力平移至回转中心，并等效为重力G0与力矩M，G0为上车重力，M为上车倾翻力矩；In order to achieve the above object, the technical solution adopted by the present invention is: a method for calculating the reaction force of the outriggers of the aerial work vehicle, which translates the force on the vehicle to the center of rotation according to the parallel axis shift theorem, and is equivalent to the gravity G 0 and the moment M , G 0 is the gravity of the boarding car, M is the overturning moment of the boarding car;

由于下车倾斜，此时G0与G2作用线不再经过OO’，G2为下车重力，OO’为底盘纵向中面与支撑面的交线；Due to the inclination of getting off the car, the line of action of G 0 and G 2 no longer passes through OO' at this time, G 2 is the gravity of getting off the car, and OO' is the intersection line between the longitudinal middle plane of the chassis and the supporting surface;

因此上车重力可根据副车架平面方向分解为G0sinθ与G0cosθ，下车重力分解为G2sinθ与G2cosθ，其中G0cosθ和G2cosθ与支腿受力方向一致，而G0sinθ和G2sinθ对交线OO’有附加力矩：Therefore, the gravity of getting on the car can be decomposed into G 0 sinθ and G 0 cosθ according to the plane direction of the sub-frame, and the gravity of getting off the car can be decomposed into G 2 sinθ and G 2 cosθ, where G 0 cosθ and G 2 cosθ are consistent with the force direction of the legs, And G 0 sinθ and G 2 sinθ have additional moments on the intersection line OO':

M′＝(G0h+G2h2)·sinθM′＝(G 0 h+G 2 h 2 )·sinθ

式中M’为整车重力对交线OO’附加力矩；In the formula, M' is the additional moment of gravity of the whole vehicle on the intersection line OO';

h为回转中心距支撑面高度；h is the height from the center of rotation to the support surface;

h2为下车重心距支撑面高度；h 2 is the height from the center of gravity of the vehicle to the support surface;

θ为副车架平面与水平面夹角；θ is the angle between the subframe plane and the horizontal plane;

当车辆在斜坡驻车工作时，上车倾翻力矩法向与副车架平面夹角为

Figure BDA0001160481600000021
因此上车倾翻力矩M可根据副车架平面方向分解为
Figure BDA0001160481600000022
与
Figure BDA0001160481600000023
其中力矩分量
Figure BDA0001160481600000024
作用于副车架平面内，因此对支腿反力不产生影响，θ为副车架平面与水平面夹角，γ为车头方位角γ∈[-180°,180°]，
Figure BDA0001160481600000025
为上车回转角度
Figure BDA0001160481600000026
When the vehicle is parked on a slope, the included angle between the normal direction of the overturning moment of the vehicle and the plane of the sub-frame is
Figure BDA0001160481600000021
Therefore, the overturning moment M of the upper vehicle can be decomposed according to the plane direction of the sub-frame as
Figure BDA0001160481600000022
and
Figure BDA0001160481600000023
where the moment component
Figure BDA0001160481600000024
Acts in the plane of the sub-frame, so it has no effect on the reaction force of the outriggers, θ is the angle between the plane of the sub-frame and the horizontal plane, γ is the azimuth angle of the front γ∈[-180°,180°],
Figure BDA0001160481600000025
is the turning angle of the car
Figure BDA0001160481600000026

车辆的整车受力可等效为垂直于副车架平面的力G0cosθ和G2cosθ，平行于副车架平面的力G0sinθ和G2sinθ，法向垂直于副车架平面的力矩

Figure BDA0001160481600000027
法向平行于副车架平面的力矩
Figure BDA0001160481600000028
和(G0h+G2h2)sinθ，其中，平行于副车架平面的力与法向垂直于副车架平面的力矩仅影响支脚盘与地面之间的切向力，与支腿反力无关，由此，车辆在任意驻车坡度及车头方位角下的支腿反力计算公式为：The force of the whole vehicle can be equivalent to the force G 0 cosθ and G 2 cosθ perpendicular to the plane of the subframe, the forces G 0 sinθ and G 2 sinθ parallel to the plane of the subframe, and the normal direction perpendicular to the plane of the subframe moment of
Figure BDA0001160481600000027
Moment normal to subframe plane
Figure BDA0001160481600000028
and (G 0 h+G 2 h 2 )sinθ, where the force parallel to the subframe plane and the moment normal to the subframe plane only affect the tangential force between the foot plate and the ground, and the outrigger The reaction force is irrelevant. Therefore, the formula for calculating the outrigger reaction force of the vehicle at any parking slope and head azimuth is:

Figure BDA0001160481600000031
Figure BDA0001160481600000031

式中FA、FB、FC和FD为各支腿反力；In the formula, F A , F B , F C and F D are the reaction forces of each leg;

G0为上车重力；G 0 is the gravity of the vehicle;

G2为下车重力；G 2 is the gravity of getting off the car;

e0为回转中心到支腿中心的水平距离；e 0 is the horizontal distance from the center of rotation to the center of the outrigger;

e2为支腿中心到下车重心的水平距离； e2 is the horizontal distance from the center of the outrigger to the center of gravity of the vehicle;

a为支腿横向跨距的一半；a is half of the lateral span of the outrigger;

b为支腿纵向跨距的一半；b is half of the longitudinal span of the outrigger;

M为上车倾翻力矩；M is the overturning moment of the boarding vehicle;

Figure BDA0001160481600000032
为臂架变幅平面与车辆纵向对称轴的夹角。
Figure BDA0001160481600000032
is the angle between the luffing plane of the jib and the longitudinal axis of symmetry of the vehicle.

一种高空作业车转台调平控制方法，整车稳定性应满足受载后减小负载的二支腿剩余载荷之和不小于整车整备质量的6％，因此，A control method for leveling the turntable of an aerial work vehicle. The stability of the whole vehicle should meet the requirement that the sum of the residual loads of the two outriggers that reduce the load after being loaded is not less than 6% of the curb weight of the whole vehicle. Therefore,

Figure BDA0001160481600000033
Figure BDA0001160481600000033

式中G为整车整备质量，n为稳定性裕度，g为重力加速度；将公式一代入公式二，得In the formula, G is the curb weight of the whole vehicle, n is the stability margin, and g is the gravitational acceleration; put formula 1 into formula 2, and get

Figure BDA0001160481600000034
Figure BDA0001160481600000034

Figure BDA0001160481600000041
Figure BDA0001160481600000041

Figure BDA0001160481600000042
Figure BDA0001160481600000042

将车辆参数及最大允许调平角度代入公式三～公式五并对M进行求解，即可求得不同方位、不同回转角度及车头方位角时满足整车稳定性要求的上车最大允许倾翻力矩，进一步对对所求出的倾翻力矩取最小值，即为在斜坡作业时稳定性最恶劣工况的上车最大允许倾翻力矩，在此基础上，根据上车质量及尺寸参数，即可求出各变幅角度下臂架最大伸长量，即斜坡作业安全范围。Substituting the vehicle parameters and the maximum allowable leveling angle into formulas 3 to 5 and solving for M, the maximum permissible overturning moment of the boarding vehicle that meets the stability requirements of the vehicle can be obtained at different orientations, different turning angles, and azimuth angles of the vehicle head , and further take the minimum value of the calculated overturning moment, that is, the maximum allowable overturning moment of the boarding vehicle under the worst stability condition when working on a slope. On this basis, according to the quality and size parameters of the boarding vehicle, that is The maximum elongation of the boom under each luffing angle can be obtained, that is, the safe range of slope operation.

与现有技术相比本发明所提供的高空作业车支腿反力计算方法，弥补了现有支腿反力计算方法仅适用于水平面作业高空作业车辆，无法计算转台调平车辆斜坡作业工况的不足，为转台调平车辆整车稳定性的准确计算和控制提供了理论依据；本发明所提供的高空作业车转台调平控制方法，通过判断臂架相对于斜坡的作业方向，将任意方位角和回转角度下的复杂作业工况简化为斜坡作业和水平面作业两个区域控制，解决了转台调平工况下整车稳定性影响变量多、控制复杂的问题，便于工程实现。Compared with the prior art, the calculation method of the outrigger reaction force of the aerial work vehicle provided by the present invention makes up for the existing calculation method of the outrigger reaction force which is only applicable to the aerial work vehicle working on the horizontal plane, and cannot calculate the slope operation condition of the turntable leveling vehicle Insufficiency of the deficiencies provides a theoretical basis for the accurate calculation and control of the vehicle stability of the turntable leveling vehicle; the leveling control method of the turntable of the aerial work vehicle provided by the present invention, by judging the working direction of the boom relative to the slope, any orientation The complex operating conditions under the angle of rotation and rotation angle are simplified into two areas of slope operation and horizontal surface operation, which solves the problem of many variables affecting the stability of the vehicle and complex control under the leveling condition of the turntable, which is convenient for engineering realization.

附图说明Description of drawings

图1所示为支腿反力计算示意图；Figure 1 is a schematic diagram of the calculation of outrigger reaction force;

图2所示为转台调平车辆受力示意图；Figure 2 shows a schematic diagram of the force on the turntable leveling vehicle;

图3所示为转台调平车辆驻车方位示意图；Figure 3 shows a schematic diagram of the parking position of the turntable leveling vehicle;

图4所示为转台调平车辆整车稳定性控制流程图；Figure 4 shows the flow chart of the vehicle stability control for the turntable leveling vehicle;

具体实施方式Detailed ways

下面结合附图对本发明作进一步说明。The present invention will be further described below in conjunction with accompanying drawing.

下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

对于在水平支撑面作业及在倾斜面采用支腿调平的高空作业车辆，其支腿反力计算方法为：For aerial work vehicles operating on a horizontal support surface and using outriggers for leveling on an inclined surface, the calculation method for the reaction force of the outriggers is:

Figure BDA0001160481600000051
Figure BDA0001160481600000051

Figure BDA0001160481600000052
Figure BDA0001160481600000052

Figure BDA0001160481600000053
Figure BDA0001160481600000053

Figure BDA0001160481600000054
(公式零)。
Figure BDA0001160481600000054
(formula zero).

一种高空作业车支腿反力计算方法，根据平行移轴定理将上车受力平移至回转中心，并等效为重力G0与力矩M，G0为上车工作平台、梯架、转台等重力，单位为N，M为上车倾翻力矩，单位N·mm；A method for calculating the reaction force of the outriggers of an aerial work vehicle. According to the theorem of parallel shifting, the force on the upper vehicle is translated to the center of rotation, and is equivalent to gravity G 0 and moment M. G 0 is the working platform, ladder frame, and turntable of the upper vehicle Equal gravity, the unit is N, M is the overturning moment of the boarding vehicle, the unit is N mm;

如图1和图2所示，由于下车倾斜，此时G0与G2作用线不再经过OO’，G2为下车重力，单位为N，OO’为底盘纵向中面与支撑面的交线；As shown in Figure 1 and Figure 2, due to the inclination of getting off the car, the action lines of G 0 and G 2 no longer pass through OO' at this time, G 2 is the gravity of getting off the car, the unit is N, and OO' is the longitudinal midplane and support surface of the chassis the line of intersection;

因此上车重力可根据副车架平面方向分解为G0sinθ与G0cosθ，下车重力分解为G2sinθ与G2cosθ，其中G0cosθ和G2cosθ与支腿受力方向一致，而G0sinθ和G2sinθ对交线OO’有附加力矩：Therefore, the gravity of getting on the car can be decomposed into G 0 sinθ and G 0 cosθ according to the plane direction of the sub-frame, and the gravity of getting off the car can be decomposed into G 2 sinθ and G 2 cosθ, where G 0 cosθ and G 2 cosθ are consistent with the force direction of the legs, And G 0 sinθ and G 2 sinθ have additional moments on the intersection line OO':

M′＝(G0h+G2h2)·sinθM′＝(G 0 h+G 2 h2 ) sinθ

式中M’为整车重力对交线OO’附加力矩，单位N·mm；In the formula, M' is the additional moment of gravity of the whole vehicle on the intersection line OO', in N mm;

h为回转中心距支撑面高度，单位mm；h is the height from the center of rotation to the support surface, in mm;

h2为下车重心距支撑面高度，单位mm；h 2 is the height from the center of gravity of the vehicle to the support surface, in mm;

θ为副车架平面与水平面夹角；θ is the angle between the subframe plane and the horizontal plane;

当车辆在斜坡驻车工作时，上车倾翻力矩法向与副车架平面夹角为

Figure BDA0001160481600000055
因此上车倾翻力矩M可根据副车架平面方向分解为
Figure BDA0001160481600000056
与
Figure BDA0001160481600000057
其中力矩分量
Figure BDA0001160481600000058
作用于副车架平面内，因此对支腿反力不产生影响，如图3所示，车辆方位参数θ为副车架平面与水平面夹角，γ为车头方位角γ∈[-180°,180°]，
Figure BDA0001160481600000059
为上车回转角度
Figure BDA0001160481600000061
When the vehicle is parked on a slope, the included angle between the normal direction of the overturning moment of the vehicle and the plane of the sub-frame is
Figure BDA0001160481600000055
Therefore, the overturning moment M of the boarding vehicle can be decomposed according to the plane direction of the sub-frame as
Figure BDA0001160481600000056
and
Figure BDA0001160481600000057
where the moment component
Figure BDA0001160481600000058
It acts in the plane of the sub-frame, so it has no effect on the reaction force of the outriggers. As shown in Figure 3, the vehicle orientation parameter θ is the angle between the sub-frame plane and the horizontal plane, and γ is the azimuth angle of the front of the vehicle γ∈[-180°, 180°],
Figure BDA0001160481600000059
is the turning angle of the car
Figure BDA0001160481600000061

车辆的整车受力可等效为垂直于副车架平面的力G0cosθ和G2cosθ，平行于副车架平面的力G0sinθ和G2sinθ，法向垂直于副车架平面的力矩

Figure BDA0001160481600000062
法向平行于副车架平面的力矩
Figure BDA0001160481600000066
和(G0h+G2h2)sinθ，其中，平行于副车架平面的力与法向垂直于副车架平面的力矩仅影响支脚盘与地面之间的切向力，与支腿反力无关，由此，车辆在任意驻车坡度及车头方位角下的支腿反力计算公式由公式零相应变为：The force of the whole vehicle can be equivalent to the force G 0 cosθ and G 2 cosθ perpendicular to the plane of the subframe, the forces G 0 sinθ and G 2 sinθ parallel to the plane of the subframe, and the normal direction perpendicular to the plane of the subframe moment of
Figure BDA0001160481600000062
Moment normal to subframe plane
Figure BDA0001160481600000066
and (G 0 h+G 2 h 2 )sinθ, where the force parallel to the plane of the subframe and the moment normal to the plane of the subframe only affect the tangential force between the foot plate and the ground, and the force between the outrigger The reaction force is irrelevant, thus, the calculation formula of the outrigger reaction force of the vehicle at any parking slope and the azimuth angle of the vehicle is changed from the formula zero to:

Figure BDA0001160481600000063
Figure BDA0001160481600000063

式中FA、FB、FC和FD为各支腿反力，单位N；In the formula, F A , F B , F C and F D are the reaction forces of each leg, in N;

G0为上车重力，单位N；G 0 is the gravity of the boarding vehicle, unit N;

G2为下车重力，单位N；G 2 is the gravity of getting off the car, the unit is N;

e0为回转中心到支腿中心的水平距离，单位mm；e 0 is the horizontal distance from the center of rotation to the center of the outrigger, in mm;

e2为支腿中心到下车重心的水平距离，单位mm；e 2 is the horizontal distance from the center of the outrigger to the center of gravity of the vehicle, in mm;

a为支腿横向跨距的一半，单位mm；a is half of the lateral span of the outrigger, in mm;

b为支腿纵向跨距的一半，单位mm；b is half of the longitudinal span of the outrigger, in mm;

M为上车倾翻力矩，单位N·mm；M is the overturning moment of the boarding vehicle, in N mm;

Figure BDA0001160481600000064
为臂架变幅平面与车辆纵向对称轴的夹角，单位°。
Figure BDA0001160481600000064
is the included angle between the luffing plane of the jib and the longitudinal axis of symmetry of the vehicle, in °.

一种高空作业车转台调平控制方法，整车稳定性应满足受载后减小负载的二支腿剩余载荷之和不小于整车整备质量的6％，因此，A control method for leveling the turntable of an aerial work vehicle. The stability of the whole vehicle should meet the requirement that the sum of the residual loads of the two outriggers that reduce the load after being loaded is not less than 6% of the curb weight of the whole vehicle. Therefore,

Figure BDA0001160481600000065
Figure BDA0001160481600000065

式中G为整车整备质量，n为稳定性裕度，g为重力加速度；将公式一代入公式二，得In the formula, G is the curb weight of the whole vehicle, n is the stability margin, and g is the gravitational acceleration; put formula 1 into formula 2, and get

Figure BDA0001160481600000071
Figure BDA0001160481600000071

Figure BDA0001160481600000072
Figure BDA0001160481600000072

Figure BDA0001160481600000073
Figure BDA0001160481600000073

将车辆参数及最大允许调平角度代入公式三～公式五并对M进行求解，即可求得不同方位、不同回转角度及车头方位角时满足整车稳定性要求的上车最大允许倾翻力矩，进一步对对所求出的倾翻力矩取最小值，即为在斜坡作业时稳定性最恶劣工况的上车最大允许倾翻力矩，在此基础上，根据上车质量及尺寸参数，即可求出各变幅角度下臂架最大伸长量，即斜坡作业安全范围。Substituting the vehicle parameters and the maximum allowable leveling angle into formulas 3 to 5 and solving for M, the maximum permissible overturning moment of the boarding vehicle that meets the stability requirements of the vehicle can be obtained at different orientations, different turning angles, and azimuth angles of the vehicle head , and further take the minimum value of the calculated overturning moment, that is, the maximum allowable overturning moment of the boarding vehicle under the worst stability condition when working on a slope. On this basis, according to the quality and size parameters of the boarding vehicle, that is The maximum elongation of the boom under each luffing angle can be obtained, that is, the safe range of slope operation.

如图4所示，转台调平车辆稳定性控制方法具体控制流程为：As shown in Figure 4, the specific control process of the vehicle stability control method for leveling the turntable is as follows:

(1)在副车架平面布置双轴倾角传感器，车辆到达作业位置停车后，传感器测量车辆纵轴与横轴倾角分别为θ1和θ2，按照公式六计算车辆坡度角θ与车头方位角γ；(1) A dual-axis inclination sensor is arranged on the plane of the sub-frame. After the vehicle arrives at the working position and stops, the sensor measures the inclination angles of the longitudinal axis and the transverse axis of the vehicle as θ 1 and θ 2 respectively. Calculate the vehicle slope angle θ and the azimuth angle of the vehicle according to formula 6 gamma;

Figure BDA0001160481600000074
Figure BDA0001160481600000074

(2)判断坡度角是否超过最大支腿调平角度，若不超过，则直接进行支腿调平，并采用水平面作业安全范围控制即可；(2) Judging whether the slope angle exceeds the maximum outrigger leveling angle, if not, then directly perform outrigger leveling, and use the safe range of horizontal plane operation to control;

(3)若坡度角已超过最大支腿调平角度，则判断其是否超出转台调平范围，若超出，则斜坡角度过大无法作业，若不超出，则进行转台调平；(3) If the slope angle exceeds the maximum outrigger leveling angle, judge whether it exceeds the leveling range of the turntable. If it exceeds, the slope angle is too large to work, and if it does not exceed the leveling range of the turntable;

(4)由公式三～公式五可知，斜坡作业时上车最大允许倾翻力矩随车头方位角γ及回转角度

Figure BDA0001160481600000075
变化而不同，整车稳定性控制十分复杂，因此为简化控制流程，可分区域的整车稳定性控制方法，当车头方位角γ在不同范围内时，通过计算车头方位角γ与回转角度
Figure BDA0001160481600000076
之和，判断臂架与斜坡的相对位置：当臂架朝向斜坡上方作业时，此区域整车稳定性优于水平面作业工况，因此仍采用水平面安全作业范围进行控制；当臂架朝向斜坡下方作业时，此区域整车稳定性较水平面作业工况有不同程度的降低，因此采用前文所计算出的斜坡作业稳定性最恶劣工况进行控制，由此实现了车辆在任意驻车坡度、任意方位角及回转角度下的整车稳定性控制。(4) From formulas 3 to 5, it can be seen that the maximum allowable overturning moment of the vehicle when working on a slope varies with the azimuth angle γ of the vehicle front and the rotation angle
Figure BDA0001160481600000075
The vehicle stability control is very complicated. Therefore, in order to simplify the control process, the vehicle stability control method can be divided into regions. When the head azimuth γ is in different ranges, by calculating the head azimuth γ and the rotation angle
Figure BDA0001160481600000076
The sum is used to determine the relative position of the boom and the slope: when the boom is working toward the top of the slope, the stability of the vehicle in this area is better than that of the horizontal plane, so the safe operating range of the horizontal plane is still used for control; when the boom is facing down the slope During operation, the stability of the whole vehicle in this area is lower to varying degrees than that of the horizontal plane operation condition. Therefore, the worst condition of slope operation stability calculated above is used for control, thus realizing the vehicle at any parking slope, any Vehicle stability control under azimuth and turning angles.

对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其它的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

以上所述，仅为本发明的较佳实施例，并不用以限制本发明，凡是依据本发明的技术实质对以上实施例所作的任何细微修改、等同替换和改进，均应包含在本发明技术方案的保护范围之内。The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Any minor modifications, equivalent replacements and improvements made to the above embodiments according to the technical essence of the present invention shall be included in the technical aspects of the present invention. within the scope of protection of the program.

Claims (2)

1. A method for calculating the counterforce of a support leg of an overhead working truck is characterized in that,
according to the parallel shift theorem, the upper vehicle is forced to shift to the rotation center and is equivalent to the gravity G 0 And moments M, G 0 The gravity of the vehicle, M is the tipping moment of the vehicle;
due to the tilting of the lower vehicle, at this time G 0 And G 2 The line of action no longer passes through OO', G 2 OO' is the intersection line of the longitudinal middle plane of the chassis and the supporting plane for the gravity of the lower vehicle;
therefore, the gravity of getting on the vehicle can be decomposed into G according to the plane direction of the auxiliary frame 0 sin theta and G 0 cos θ, gravity of alighting into G 2 sin theta and G 2 cos θ, wherein G 0 cos θ and G 2 cos θ is aligned with the leg force direction, and G 0 sin theta and G 2 sin θ has an additional moment to the intersection line OO':
M'＝(G 0 h+G 2 h 2 )·sinθ
in the formula, M 'is the additional moment of the gravity of the whole vehicle on the intersection line OO';
h is the height from the rotation center to the supporting surface;
h 2 the height between the center of gravity of the lower car and the supporting surface is set;
theta is an included angle between the plane of the auxiliary frame and the horizontal plane;
when the vehicle is parked on a slope, the included angle between the normal direction of the upper vehicle tilting moment and the plane of the auxiliary frame is
Figure FDA0003838763390000012
The roll moment M can be decomposed into
Figure FDA0003838763390000013
And with
Figure FDA0003838763390000014
In which the moment component
Figure FDA0003838763390000015
Acting on the plane of the auxiliary frame, so that the counterforce of the landing leg is not influenced, theta is an included angle between the plane of the auxiliary frame and the horizontal plane, and gamma is a vehicle head azimuth angle gamma epsilon [ -180 DEG, and DEG is 180 DEG]，
Figure FDA0003838763390000016
For turning angle for getting on
Figure FDA0003838763390000017
The whole stress of the vehicle can be equivalent to the force G vertical to the plane of the auxiliary frame 0 cos θ and G 2 cos θ, force G parallel to the subframe plane 0 sin theta and G 2 sin θ, moment normal to the plane of the subframe
Figure FDA0003838763390000018
Moment normal to plane parallel to subframe
Figure FDA0003838763390000019
And (G) 0 h+G 2 h 2 ) sin θ, wherein the force parallel to the sub-frame plane and the normal force perpendicular to the sub-frame plane only affect the tangential force between the leg disc and the ground, independent of the leg reaction force, and thus the leg reaction force calculation formula of the vehicle at any parking slope and at any nose azimuth angle is:
Figure FDA0003838763390000011
Figure FDA0003838763390000021
in the formula F A 、F B 、F C And F D Counterforce is provided for each supporting leg;
G 0 is the upper vehicle gravity;
G 2 is the gravity of the lower vehicle;
e 0 the horizontal distance from the center of rotation to the center of the supporting leg;
e 2 the horizontal distance from the center of the supporting leg to the center of gravity of the lower vehicle;
a is half of the transverse span of the support leg;
b is half of the longitudinal span of the support leg;
m is the roll-over moment of getting on the vehicle;
Figure FDA0003838763390000023
the included angle between the luffing plane of the arm support and the longitudinal symmetric axis of the vehicle is shown.
2. An overhead working truck turntable leveling control method based on the overhead working truck support leg reaction force calculation method as defined in claim 1,
the stability of the whole vehicle is required to meet the condition that the sum of the residual loads of the two support legs which reduce the load after loading is not less than 6 percent of the whole vehicle service mass, therefore,
Figure FDA0003838763390000022
wherein G is the overall vehicle servicing mass, n is the stability margin, and G is the gravity acceleration; substituting the first formula into the second formula to obtain
Figure FDA0003838763390000031
Figure FDA0003838763390000032
Figure FDA0003838763390000033
Substituting the vehicle parameters and the maximum allowable leveling angle into a formula three-formula five and solving M to obtain the maximum allowable roll-over moment of getting on the vehicle which meets the requirement of the stability of the whole vehicle when different directions, different rotation angles and a vehicle head azimuth angle, further taking the minimum value of the obtained roll-over moment, namely the maximum allowable roll-over moment of getting on the vehicle under the worst working condition of the stability during slope operation, and on the basis, obtaining the maximum elongation of the lower arm support at each amplitude-variable angle, namely the safety range of the slope operation according to the mass and the size parameters of the getting on the vehicle.
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