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 PDFInfo
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Abstract
The invention discloses a method for calculating the counterforce of support legs of an aerial work vehicle and a method for leveling a rotary table, which are characterized in that a general calculation formula of the counterforce of the support legs of the aerial work vehicle under any parking gradient, azimuth angle and rotation angle is firstly deduced, and on the basis, a method for controlling the stability of the aerial work vehicle under the working condition of leveling the rotary table is provided. The invention makes up the defect that the prior method is only suitable for a horizontal plane operation overhead working vehicle and cannot calculate the slope operation working condition of the turntable leveling vehicle, and provides a basis for the calculation and control of the whole vehicle stability of the turntable leveling vehicle; the complex operation working condition under any azimuth angle and rotation angle is simplified into two area controls of slope operation and horizontal plane operation, and the problems of more influence variables and complex control of the stability of the whole vehicle under the working condition of turntable leveling are solved.
Description
Technical Field
The invention relates to a method for calculating the counterforce of a support leg of an overhead working truck and a turntable leveling control method.
Background
The high-altitude operation vehicle is a special vehicle with functions of high-altitude rescue, high-altitude material transportation, high-altitude engineering operation and the like, and is widely applied to engineering construction and emergency rescue. In order to improve the field applicability of vehicles, the aerial work vehicle usually has the support leg leveling capability, namely, the lower bottom surface (upper vehicle mounting plane) of a rotary table is kept horizontal when the vehicle is parked on a slope by controlling different elongation of a vertical support leg, so that the work part (work platform) of the vehicle is kept horizontal, and safe work is realized. Because the span of the supporting leg is large and the extension amount of the vertical supporting leg is limited, the supporting leg leveling is only suitable for the working condition of the small-gradient inclined plane operation. In the areas such as hills and mountains, vehicles often need to be parked on inclined planes with larger slopes for operation, so that manufacturers gradually develop rotary table leveling modes with larger leveling ranges in recent years.
In order to prevent the risk of rollover during operation, the stability of the whole vehicle is an important content which must be involved in the design process of the aerial work vehicle, and for different forms of aerial work vehicles, the standards for judging the stability of the whole vehicle are slightly different, but are all based on correct calculation of counterforce of supporting legs. Therefore, the accurate calculation of the leg reaction force of the vehicle is the basis for judging the stability of the whole vehicle and further realizing the safe operation control of the vehicle.
The vehicle adopting the supporting leg leveling mode has the advantages that although the supporting surface is the inclined surface, the reaction direction of the supporting leg is still the vertical direction, so that the parking slope of the supporting leg leveling vehicle has no influence on the stability of the whole vehicle, and the calculation method of the supporting leg reaction is the same as that of the vehicle adopting the horizontal supporting surface. However, in the vehicle adopting the turntable leveling method, the leveling function is realized by the turntable structure above the subframe, so that the subframe does not keep a horizontal state during slope operation, and the counterforce of the support leg is perpendicular to the upper plane of the subframe and is in an inclined direction, so that the stability of the whole vehicle cannot be accurately calculated. Therefore, a general calculation method for the counterforce of the lower leg under the working condition of turntable leveling is deduced, and a corresponding control strategy is provided, so that the method has very important significance for ensuring the stability of the whole turntable leveling vehicle and preventing the vehicle from tipping when the vehicle works on a slope.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method for calculating the counterforce of the support leg of the overhead working truck and a method for controlling the leveling of the rotary table, which make up the defect that the conventional method for calculating the counterforce of the support leg is only suitable for the overhead working truck for horizontal plane operation and cannot calculate the slope operation condition of the rotary table leveling truck, and the method for controlling the leveling of the rotary table is simple and is convenient to realize.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for calculating the counterforce of supporting leg of high-altitude operation car features that the force applied to upper car is translated to the rotation center by parallel axle-moving theorem and equivalent to 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 coincides with the leg force direction, 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
The roll moment M can be decomposed into
And with
Wherein the moment component
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]，
For turning angle for getting on
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
Moment normal to plane parallel to subframe
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:
in the formula F A 、F B 、F C And F D The counter force of each supporting leg is set;
G 0 is the upper vehicle gravity;
G 2 is the weight of the lower vehicle;
e 0 the horizontal distance from the rotation center 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 the longitudinal span of the leg;
m is the roll-over moment of getting on the vehicle;
The method for controlling the leveling of the turntable of the overhead working truck has the stability of the whole truck 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 truck preparation quality, therefore,
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
Substituting the vehicle parameters and the maximum allowable leveling angle into a formula three-formula five and solving the M to obtain the maximum allowable roll-over moment of the upper vehicle meeting the requirement of the stability of the whole vehicle when the vehicle is in different directions, different rotation angles and the azimuth angle of the head of the vehicle, further taking the minimum value of the obtained roll-over moment, namely the maximum allowable roll-over moment of the upper vehicle under the working condition with the worst 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 upper vehicle.
Compared with the prior art, the method for calculating the counterforce of the support leg of the overhead working truck overcomes the defects that the conventional method for calculating the counterforce of the support leg is only suitable for a horizontal plane operation overhead working truck and cannot calculate the slope operation condition of the turntable leveling truck, and provides a theoretical basis for accurate calculation and control of the stability of the whole turntable leveling truck; according to the leveling control method for the turntable of the overhead working truck, the complex working conditions under any azimuth angle and rotation angle are simplified into two area controls of slope operation and horizontal plane operation by judging the working direction of the arm support relative to the slope, so that the problems of more influence variables and complex control of the stability of the whole truck under the working condition of the turntable leveling are solved, and the engineering is conveniently realized.
Drawings
FIG. 1 is a schematic diagram illustrating the calculation of the reaction force of the leg;
FIG. 2 is a force diagram of the turntable leveling vehicle;
FIG. 3 is a schematic view showing the parking orientation of the turntable leveling vehicle;
FIG. 4 is a flowchart illustrating a control process for the stability of the entire turntable-leveled vehicle;
Detailed Description
The invention will be further described with reference to the accompanying drawings.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the aerial work vehicle which works on a horizontal supporting surface and adopts the leg leveling on an inclined surface, the leg reaction force calculation method comprises the following steps:
A method for calculating the counterforce of supporting leg of high-altitude operation car features that the parallel shift theorem is usedTranslating the force applied to the upper vehicle to the center of rotation, and equivalent to the gravity G 0 And moments M, G 0 The unit is N, M is the roll-over moment of the boarding vehicle and the unit is N.mm;
as shown in fig. 1 and 2, G is now due to the lower car tilt 0 And G 2 The line of action no longer passes through OO', G 2 The unit is N for the gravity of the lower vehicle, OO' is the intersection line of the longitudinal middle plane of the chassis and the supporting plane;
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 θ and G 2 sin θ has an additional moment to the intersection line OO':
M′＝(G 0 h+G 2 h2 ) ·sinθ
in the formula, M 'is the additional moment of the gravity of the whole vehicle on the intersecting line OO', and the unit is N.mm;
h is the height of the rotation center from the supporting surface, and the unit is mm;
h 2 the height of the center of gravity of the lower car from the supporting surface is unit mm;
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
The roll moment M can be decomposed into
And with
In which the moment component
Acting in the plane of the subframe and thus having no effect on the reaction of the legs, as shown in the figure3, the vehicle orientation parameter 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 degrees and 180 degrees]，
For turning angle of getting on
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 θ and G 2 sin θ, moment normal to the plane of the subframe
Moment normal to plane parallel to subframe
And (G) 0 h+G 2 h 2 ) sin θ, wherein the force parallel to the sub-frame plane and the moment normal to the sub-frame plane only affect the tangential force between the leg disc and the ground, independent of the leg reaction force, whereby the leg reaction force calculation formula of the vehicle at any parking slope and nose azimuth angle becomes from formula zero accordingly:
in the formula F A 、F B 、F C And F D The unit N is the counterforce of each supporting leg;
G 0 is the upper vehicle gravity, unit N;
G 2 the unit is the gravity of the lower vehicle;
e 0 the horizontal distance from the rotation center to the center of the supporting leg is unit mm;
e 2 the horizontal distance from the center of the supporting leg to the gravity center of the lower vehicle is in unit mm;
a is half of the transverse span of the supporting leg and is in unit mm;
b is half of the longitudinal span of the supporting leg and is in unit mm;
m is the roll-over moment of the vehicle, and the unit is N.mm;
The method for controlling the leveling of the turntable of the overhead working truck has the stability of the whole truck 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 truck preparation quality, therefore,
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
Substituting the vehicle parameters and the maximum allowable leveling angle into a formula III-a formula V, and solving M to obtain the maximum allowable tilting moment of the upper vehicle meeting the stability requirement of the whole vehicle in different directions, different rotation angles and different azimuth angles of the vehicle head, and further taking the minimum value of the obtained tilting moment to obtain the maximum allowable tilting moment of the upper vehicle in the worst stability working condition during slope operation.
As shown in fig. 4, the specific control flow of the method for controlling the stability of the turntable leveling vehicle is as follows:
(1) A double-shaft inclination angle sensor is arranged on the plane of the auxiliary frame, and after the vehicle arrives at a working position and stops, the sensors measure the inclination angles theta of the longitudinal shaft and the transverse shaft of the vehicle respectively 1 And theta 2 Calculating a vehicle slope angle theta and a vehicle head azimuth angle gamma according to a formula six;
(2) Judging whether the slope angle exceeds the maximum supporting leg leveling angle, if not, directly leveling the supporting leg, and controlling by adopting a horizontal plane operation safety range;
(3) If the slope angle exceeds the maximum support leg leveling angle, judging whether the slope angle exceeds the turntable leveling range, if so, if not, leveling the turntable, and if not, leveling the turntable;
(4) According to the third to fifth formulas, the azimuth angle gamma and the gyration angle of the head of the vehicle with the maximum allowed tipping moment of the vehicle during slope operation
The stability control of the whole vehicle is very complex due to different changes, so that in order to simplify the control process, the whole vehicle stability control method can be divided into regions, and when the nose azimuth gamma is in different ranges, the nose azimuth gamma and the rotation angle are calculated
And (4) judging the relative position of the arm support and the slope: when the arm support operates towards the upper part of the slope, the whole vehicle stability of the region is superior to the horizontal plane operation working condition, so that the horizontal plane safe operation range is still adopted for control; when the arm support works towards the lower part of the slope, the whole vehicle stability in the region is reduced to different degrees compared with the horizontal plane working condition, so that the worst working condition of the slope working stability calculated by the previous step is adopted for controlling, and the vehicle can be parked at any gradient and at any placeAnd controlling the stability of the whole vehicle under the azimuth angle and the rotation angle.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
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
The roll moment M can be decomposed into
And with
In which the moment component
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]，
For turning angle for getting on
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
Moment normal to plane parallel to subframe
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:
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;
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,
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
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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| CN109292652A (en) * | 2018-12-10 | 2019-02-01 | 中联重科股份有限公司 | Crane supporting leg supporting force monitoring system and method |
| CN109826908A (en) * | 2018-12-31 | 2019-05-31 | 武汉理工大学 | High-altitude operation vehicle counterweight determines method and determining device |
| CN112526592B (en) * | 2019-12-28 | 2022-03-11 | 吉林大学 | Automatic adjusting system for controllable seismic source counter-force gravity center |
| CN113108970B (en) * | 2021-03-03 | 2021-10-22 | 徐州工程学院 | Supporting leg counter-force measuring device and measuring method |
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