CN108241382A - Adjust mast control method and its device - Google Patents
Adjust mast control method and its device Download PDFInfo
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- CN108241382A CN108241382A CN201711482020.7A CN201711482020A CN108241382A CN 108241382 A CN108241382 A CN 108241382A CN 201711482020 A CN201711482020 A CN 201711482020A CN 108241382 A CN108241382 A CN 108241382A
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- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 2
- 235000008434 ginseng Nutrition 0.000 claims description 2
- 238000005553 drilling Methods 0.000 abstract description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B15/00—Supports for the drilling machine, e.g. derricks or masts
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Abstract
Tune mast control method provided by the invention and its device, are related to rotary drilling rig technical field.The tune mast control method is acted including handle, judges useful direction；Demarcate the matching current curve on useful direction；Draw the electric current curve of output on useful direction；According to aperture ratio of the handle on useful direction, electric current output parameter is selected from electric current curve of output, and control output current output valve, to adjust mast angle.The tune mast control method can be with the demand parameter during automatic identification equipment use, and changes automatically and meet use condition using parameter.By using mast the accurate control of parameter, control that can be gentle when adjusting mast manually so as to fulfill mast realizes quick vertical adjustment at 0 degree.Tune mast control device provided by the invention, state modulator is accurate, and when can realize that mast adjusts mast manually, control that can be gentle is at 0 degree, quick vertical adjustment.
Description
Technical field
The present invention relates to rotary drilling rig technical field, in particular to a kind of tune mast control method and its device.
Background technology
At present, the method for the mast manual control system of rotary drilling rig is commonly using dual potentineter formula handle to controller
X-direction, Y direction action control input signal are transmitted, controller carries out the judgement of execution action according to the signal received,
The solenoid valve of left and right mast oil cylinder is finally controlled to perform corresponding actions, to complete the accurate adjustment of mast angle.
Such method the problem is that do not calibrated to the control accuracy for adjusting mast manually, mast real-time angular it is big
The small basis for estimation without as output causes manual control accuracy insufficient, the bad control of mast speed, is especially leveling off to 0
It cannot gently be controlled when spending and stop output at 0 degree.
Invention content
The purpose of the present invention is to provide a kind of tune mast control methods, can be with the demand during automatic identification equipment use
Parameter, and change automatically and meet use condition using parameter, the control accuracy for adjusting mast manually is calibrated, and with mast reality
When angle size not as output basis for estimation, the tune mast control method can realize mast use parameter accurate control
System, control that can be gentle when adjusting mast manually so as to fulfill mast is at 0 degree.
The present invention also aims to provide a kind of tune mast control device, including controller, handle, obliquity sensor and electricity
Valve group is controlled, the controller is connect respectively with the handle, the obliquity sensor and the automatically controlled valve group.Tune mast control dress
It puts and can guarantee that movement speed is gentler when mast is near 0 degree, easily controls mast to plumbness.
The present invention, which improves its technical problem, to be realized using following technical solution.
A kind of tune mast control method provided by the invention, includes the following steps：
Judge the useful direction of handle.
Demarcate the matching current curve on the useful direction.
Draw the electric current curve of output on the useful direction.
According to aperture ratio of the handle on the useful direction, select electric current defeated from the electric current curve of output
Go out parameter, and control output current output valve, to adjust mast angle.
Further, in the judgement useful direction step, the aperture amplitude of the handle in a first direction
With the aperture amplitude size of the handle in a second direction, there are efficacious prescriptions in the direction where choosing aperture amplitude the greater to be described
To.
Further, it further includes：
Set the dead zone range and effective signal area of the handle in said first direction.
Set the dead zone range and effective signal area of the handle in this second direction.
Aperture amplitude of the handle in the effective signal area is subjected to data conversion, corresponding simulated operation number
0 to 100%.
Further, calibration base current is further included；In the electric current curve of output step drawn on the useful direction
Before rapid, the calibration base current step is performed.
Further, the method for the calibration base current is：
In section of preset testing time, first angle and preservation of the mast at the first moment are detected, detects institute
State second angle and preservation of the mast at the second moment, the first angle and the second angle.
When the first angle and the second angle are equal, the base current of the matching current curve adds certainly.
When the first angle and the second angle are in zero degree double swerve, the base current of the matching current curve
From subtracting.
Further, if judging the first direction for the useful direction, in mast implementation procedure is adjusted, the handle exists
In the second direction effectively, effective aperture ratio of the handle in the second direction is converted into the first direction
On output current coefficient of rectifying deviation.
Further, the first direction is useful direction, and the current output value includes the first electric current and the second electric current.
First electric current I1=(Imax-Imin) the * A+Imin.
Second electric current I2=((Imax-Imin) * A+Imin) the * B.
Wherein, Imax is maximum output current；Imin is minimum output current；A is the aperture amplitude of the handle；B is
The coefficient of rectifying deviation.
Further, the second direction is useful direction, and the current output value includes third electric current and the 4th electric current.
The third electric current I3=A*C；
The 4th electric current I4=A*C；
Wherein, A is the aperture amplitude of the handle；C is the electric current output parameter.
Further, it further includes：Judge the extreme position of the handle and the anticollision angle of the mast；When the hand
For the aperture amplitude of handle beyond the extreme position or the position of the anticollision angle, the current output value is zero.
A kind of tune mast control device provided by the invention, including controller, handle, obliquity sensor and automatically controlled valve group, institute
Controller is stated to connect with the handle, the obliquity sensor and the automatically controlled valve group respectively.
The handle adjusts mast signal for sending out, and the obliquity sensor is used to detect the angle of the mast, the control
Device processed is chosen described in electric current output parameter and control according to the aperture amplitude of the handle from preset electric current curve of output
The current output value of automatically controlled valve group, the automatically controlled valve group are used to adjust the angle of the mast.
Tune mast control method and its device, advantage provided by the invention are：It can be used with automatic identification equipment
Demand parameter in journey, and change automatically and meet use condition using parameter, the control accuracy for adjusting mast manually is calibrated, and
And using the size of mast real-time angular not as the basis for estimation of output, which can realize that mast uses ginseng
Several accurate control, control that can be gentle when adjusting mast manually so as to fulfill mast easily control mast to vertical configuration at 0 degree
State.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the step block diagram of tune mast control method that the specific embodiment of the invention provides；
Fig. 2 is the control flow chart of tune mast control method that the specific embodiment of the invention provides；
Fig. 3 is the enlarged drawing at K1 in Fig. 2；
Fig. 4 is the enlarged drawing at K2 in Fig. 2；
Fig. 5 is the enlarged drawing at K3 in Fig. 2.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be configured to arrange and design with a variety of different.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained without creative efforts belong to the model that the present invention protects
It encloses.
In the description of the present invention, it is to be understood that the orientation or position relationship of the instructions such as term " on ", " under " are base
In orientation shown in the drawings or position relationship or product of the present invention using when the orientation usually put or position relationship or
Person is the orientation or position relationship that those skilled in the art usually understand, is for only for ease of the description present invention and simplifies description,
Rather than instruction or imply signified equipment or element must have specific orientation, with specific azimuth configuration and operation, because
This is not considered as limiting the invention.
" first ", " second " etc. of the present invention, is only used to distinguish between description, has no special meaning.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；Can be
It is connected directly, can also be indirectly connected by intermediary.It for the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
Fig. 1 is the step block diagram of tune mast control method that the specific embodiment of the invention provides, and please refers to Fig. 1.
Tune mast control method provided in this embodiment, includes the following steps：
S1：Judge useful direction.According to the action of handle, the useful direction of handle is judged.
S2：Calibration current curve.Demarcate the matching current curve on useful direction.
S3：Draw electric current curve of output.Draw the electric current curve of output on useful direction.
S4：Control output current output valve.According to aperture ratio of the handle on useful direction, from electric current curve of output
Electric current output parameter is selected, and controls output current output valve, to adjust mast angle.It, can be real by the tune mast control method
It is now accurate manually to adjust mast, mast is made gently to be controlled at 0 degree during adjusting, is quickly adjusted to plumbness.It can reduce
The number that mast nearby shakes back and forth at 0 degree improves vertical adjustment efficiency, shortens the vertical adjustment time.
In useful direction step is judged, compare handle aperture amplitude in a first direction and handle in a second direction
Aperture amplitude size, it is preferential choose aperture amplitude the greater where direction be useful direction.
S21：Divide dead zone range and effective signal area.
Set the dead zone range and effective signal area of handle in a first direction.Set handle in a second direction dead
Area's range and effective signal area.When handle is in the dead zone range of adjusting, the accuracy control method of the tune mast is invalid, only
When handle is in the effective signal area of adjusting, the accurate adjustment of mast can be realized.
Aperture amplitude of the handle in effective signal area is subjected to data conversion, corresponding simulated operation number 0 to
100%, convenient for the calculating of current output value.
S22：Demarcate base current.Before electric current curve of output step on useful direction is drawn, calibration basis is performed
Current step.
Specifically, the method for demarcating base current is：
In section of preset testing time, first angle and preservation of the detection mast at the first moment, detection mast exist
Second angle and preservation during the second moment, compare first angle and second angle.
When first angle and second angle are equal, show that electric current output parameter mismatches, illustrate mast be not adjusted or
Person's adjustment amplitude is too small, needs to increase the output current of automatically controlled valve group, increases the movement range of the right and left oil cylinder of mast.Cause
This, needs the base current of matching current curve to adjust base current from adding to meet the practical adjustment needs of mast.
When first angle and second angle are in zero degree double swerve, show that electric current output parameter also mismatches, illustrate mast
Adjustment amplitude is too big, needs to reduce the output current of automatically controlled valve group, reduces the movement range of the right and left oil cylinder of mast.Cause
This, the base current of matching current curve subtracts certainly.
Preferably, with two seconds to judge the period, if in the timing time of two seconds, mast is motionless, then matching current curve
Base current from plus.It is further continued for judging from after adding, until adjusting mast effective.
If judging first direction for useful direction, in mast implementation procedure is adjusted, handle is effective in a second direction, by second
Effective aperture ratio of handle on direction is converted to the coefficient of rectifying deviation of the output current on first direction.
Handle acts, and first direction is useful direction, and current output value includes the first electric current and the second electric current.
First electric current I1=(Imax-Imin) * A+Imin.
Second electric current I2=((Imax-Imin) * A+Imin) * B.
Wherein, Imax is maximum output current；Imin is minimum output current；A is the aperture amplitude of handle, and is data
The 0 to 100% of simulated operation number is corresponded to after conversion；B is coefficient of rectifying deviation.
Handle acts, and second direction is useful direction, and current output value includes third electric current and the 4th electric current.
Third electric current I3=A*C；4th electric current I4=A*C.
Wherein, A is the aperture amplitude of handle, and to correspond to the 0 to 100% of simulated operation number after data conversion；C is electric current
Output parameter, " * " represent multiplication relationship.
Fig. 2 is the control flow chart of tune mast control method that the specific embodiment of the invention provides, and Fig. 3 is in Fig. 2 at K1
Enlarged drawing please refers to Fig. 2 and Fig. 3.
Specifically, in the present embodiment, the control principle of the tune mast control method is as follows：
Fig. 3 discloses the determination method of useful direction.After mast regulation and control start, the right and left of mast angle will be controlled
Automatically controlled valve group carries out initializing set, the electric current that control left side oil cylinder stretches out, and electric current is stretched on an abbreviation left side, and so on.Initialization
Power-up state is：It is 0 that electric current is stretched on a left side, and left contracting electric current is 0, and it is 0 that electric current is stretched on the right side, and right contracting electric current is 0.Then judge equipment whether be
2 grades of lock machine states：Initialization power-up state is then returned if lock machine state；If not lock machine state, then judge whether manual
In the effective range of vertical adjustment.When handle amplitude is in vertical adjustment effective range, judge handle in the amplitude of X axis and in Y-axis
To amplitude, and both compare the size of amplitude.When handle amplitude is not in vertical adjustment effective range, then handle is in X axis
It is not exported, and return to initialization power-up state with the amplitude in Y-axis.
It should be noted that when handle amplitude is in vertical adjustment effective range, need to judge respectively handle X axis whether
In dead zone, if handle is located at dead zone in X axis, handle is 0 in the amplitude of X axis；If handle does not have position in X axis
In dead zone, then amplitude of the handle in X axis is calculated.Similarly, if handle is located at dead zone in Y-axis, handle is in the width of Y-axis
Spend is 0；If handle is not at dead zone in Y-axis, amplitude of the handle in Y-axis is calculated.Compare handle X axis and
The absolute value of the amplitude of Y-axis, the direction for taking the absolute value of handle amplitude larger are useful direction.
Fig. 4 is the enlarged drawing at K2 in Fig. 2, discloses the control flow chart that Y-axis is useful direction, please refers to Fig. 4.
In the present embodiment, for ease of description, direction is unified for：People is sitting in the driver's cabin of rotary drilling rig, left and right directions, that is, X
Axis direction, the left side are the negative direction of X-axis, and the right is the positive direction of X-axis.Front-rear direction is Y direction, forward for Y-axis just
Direction is backward the negative direction of Y-axis.
When handle the amplitude of Y-axis absolute value be more than X axis amplitude absolute value, then effectively carried out with Y-axis
Matching current calibration curve, it is to being pushed forward or to pusher to judge handle.When handle is to being pushed forward, if handle amplitude is not or not dead zone
Range, accuracy controlling is effective, and the oil cylinder of the right and left of mast stretches out simultaneously at this time, regulates and controls the direction of action one of direction and handle
It causes.And it is left stretch electric current output size be：
Stretch minimum current in (stretch maximum current-left side and stretch minimum current in a left side) * handles amplitude+left side；
The output size that electric current is stretched on the right side is：
[stretch minimum current in (stretch maximum current-right side and stretch minimum current in the right side) * handles amplitude+right side)] * coefficient of rectifying deviation；
If handle amplitude, in dead zone range, it is 0 that electric current is stretched on a left side, it is 0 that electric current is stretched on the right side.
If handle to pusher, handle Y-axis amplitude not in dead zone range, accuracy controlling is effective, at this time mast
The oil cylinder of the right and left is retracted simultaneously, and regulation and control direction is consistent with the direction of action of handle.And the output size of left contracting electric current is：
(left contracting maximum current-left contracting minimum current) * handles amplitude+left contracting minimum current；
The output size of right contracting electric current is：
[(right contracting maximum current-right contracting minimum current) * handles amplitude+right contracting minimum current)] * coefficient of rectifying deviation；
If handle amplitude, in dead zone range, left contracting electric current is 0, right contracting electric current is 0.
It should be noted that in the accuracy controlling to mast, the judgement to extreme position is further included, that is, judges first party
Extreme position to (Y-axis) and judge the anticollision angle of mast, in the present embodiment, if the handle amplitude of Y-axis is more than 5
Degree then goes beyond the limit of position (i.e. more than or equal to 5 degree), and it is 0 that a left side is controlled to stretch electric current at this time, and it is 0 that electric current is stretched on the right side.If Y-axis
Handle amplitude is more than -58 degree (be less than or equal to -58 degree), then has the danger collided with driver's cabin, controls the left contracting electric current to be at this time
0, right contracting electric current is 0, has the function of automatic collision.
Fig. 5 is the enlarged drawing at K3 in Fig. 2, discloses the control flow chart that X axis is useful direction, please refers to Fig. 5.
When handle the amplitude of X axis absolute value be more than Y-axis amplitude absolute value, then effectively carried out with X-axis
Matching current calibration curve, it is to push away or push away to the right to the left to judge handle.
When handle pushes away to the right, the extreme position of second direction is judged, if handle amplitude (does not exceed right pole in dead zone range
Limit range), accuracy controlling is effective, and the cylinder action of the right and left of mast is at this time：Left side oil cylinder stretches out, the contracting of the right oil cylinder
It returns, i.e., right contracting is stretched on a left side, and regulation and control direction is consistent with the direction of action of handle.And it is left stretch electric current output size be：Handle is in X axis
Amplitude and curve coefficients product.The output size of right contracting electric current is：Handle is in the amplitude of X axis and multiplying for curve coefficients
Product.Wherein, curve coefficients are the electric current output parameter selected from electric current curve of output.If handle amplitude is in dead zone range
In (exceeding limit on the right-right-hand limit range), then it is 0 that electric current is stretched on the left side exported, and right contracting electric current is 0.
When handle pushes away to the left, the extreme position of second direction is judged, if handle amplitude (does not exceed left pole in dead zone range
Limit range), accuracy controlling is effective, and the cylinder action of the right and left of mast is at this time：Left side oil cylinder is retracted, and the right oil cylinder is stretched
Go out, i.e., the left contracting right side is stretched, and regulation and control direction is consistent with the direction of action of handle.And the output size of left contracting electric current is：Handle is in X axis
Amplitude and curve coefficients product.The output size that electric current is stretched on the right side is：Handle is in the amplitude of X axis and multiplying for curve coefficients
Product.Wherein, curve coefficients are the electric current output parameter selected from electric current curve of output.If handle amplitude is in dead zone range
In (exceeding limit on the left range), then the left contracting electric current exported is 0, and it is 0 that electric current is stretched on the right side.
It is easily understood that control principle of the above-mentioned control methods for an accuracy controlling period, when primary accurate tune
After control, next regulation and control cycle is gone successively to, until mast angle meets practical adjustment demand position, regulation and control terminate.It should
Mast control method is adjusted to be applicable not only to that mast is adjusted to operate manually, is also applied for the operation of electric adjustable mast, it is adaptable.
A kind of tune mast control device provided in this embodiment, including controller, handle, obliquity sensor and automatically controlled valve group,
Controller is connect respectively with handle, obliquity sensor, display and automatically controlled valve group.
Handle adjusts mast signal for sending out, and obliquity sensor is used to detect the angle of mast, and controller is opened according to handle
Amplitude is spent, electric current output parameter is chosen from preset electric current curve of output and controls the current output value of automatically controlled valve group, control
Device can with but be not limited only to using PLC controller.Display is joined for showing the current angle of mast and showing that electric current exports
The relevant informations such as number, automatically controlled valve group are used to adjust the angle of mast.
In conclusion provided by the invention adjust mast control method and its device to have the advantageous effect of the following aspects：
Tune mast control method provided by the invention and its device, can be joined with the demand during automatic identification equipment use
Number, and change automatically and meet use condition using parameter, the control accuracy for adjusting mast manually is calibrated, and real-time with mast
The basis for estimation as output, guarantee do not adjust work and maintain on optimal electric current curve of output the size of angle.Pass through
Curve transform and coefficient of rectifying deviation collective effect ensure output current according to the actual demand execution that actual act is according to handle.
The tune mast control method and its device can realize that mast uses the accurate control of parameter, can when adjusting mast manually so as to fulfill mast
With gentle control at 0 degree, easily mast is controlled to plumbness.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the present invention can have various changes, combination and variation.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc. should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of tune mast control method, which is characterized in that include the following steps：
Judge the useful direction of handle；
Demarcate the matching current curve on the useful direction；
Draw the electric current curve of output on the useful direction；
According to aperture ratio of the handle on the useful direction, electric current output ginseng is selected from the electric current curve of output
Number, and output current output valve is controlled, to adjust mast angle.
2. tune mast control method according to claim 1, which is characterized in that in the judgement useful direction step,
Compare the aperture amplitude size of the aperture amplitude and the handle of the handle in a first direction in a second direction, select
Direction where degree of taking away amplitude the greater is the useful direction.
3. tune mast control method according to claim 2, which is characterized in that further include：
Set the dead zone range and effective signal area of the handle in said first direction；
Set the dead zone range and effective signal area of the handle in this second direction；
Aperture amplitude of the handle in the effective signal area is subjected to data conversion, corresponding simulated operation number 0 to
100%.
4. tune mast control method according to claim 3, which is characterized in that further include calibration base current；It is painted described
Before making the electric current curve of output step on the useful direction, the calibration base current step is performed.
5. it is according to claim 4 tune mast control method, which is characterized in that it is described calibration base current method be：
In section of preset testing time, first angle and preservation of the mast at the first moment are detected, detects the mast
Second angle and preservation of the bar at the second moment, the first angle and the second angle；
When the first angle and the second angle are equal, the base current of the matching current curve adds certainly；
When the first angle and the second angle are in zero degree double swerve, the base current of the matching current curve from
Subtract.
6. tune mast control method according to claim 2, which is characterized in that if judging the first direction to be described effective
Direction, in mast implementation procedure is adjusted, the handle is effective in this second direction, by the handle in the second direction
Effective aperture ratio be converted to the coefficient of rectifying deviation of the output current on the first direction.
7. tune mast control method according to claim 6, which is characterized in that the first direction is useful direction, described
Current output value includes the first electric current and the second electric current；
First electric current I1=(Imax-Imin) the * A+Imin；
Second electric current I2=((Imax-Imin) * A+Imin) the * B；
Wherein, Imax is maximum output current；Imin is minimum output current；A is the aperture amplitude of the handle；B is described
Coefficient of rectifying deviation.
8. tune mast control method according to claim 2, which is characterized in that the second direction is useful direction, described
Current output value includes third electric current and the 4th electric current；
The third electric current I3=A*C；
The 4th electric current I4=A*C；
Wherein, A is the aperture amplitude of the handle；C is the electric current output parameter.
9. tune mast control method according to claim 2, which is characterized in that further include：
Judge the extreme position of the handle and the anticollision angle of the mast；When the aperture amplitude of the handle is beyond described
Extreme position or the anticollision angle, the current output value are zero.
10. a kind of tune mast control device, which is characterized in that described including controller, handle, obliquity sensor and automatically controlled valve group
Controller is connect respectively with the handle, the obliquity sensor and the automatically controlled valve group；
The handle adjusts mast signal for sending out, and the obliquity sensor is used to detecting the angle of mast, the controller according to
The aperture amplitude of the handle chooses electric current output parameter from preset electric current curve of output and controls the automatically controlled valve group
Current output value, the automatically controlled valve group is used to adjust the angle of the mast.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711482020.7A CN108241382B (en) | 2017-12-29 | 2017-12-29 | Mast adjusting control method and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711482020.7A CN108241382B (en) | 2017-12-29 | 2017-12-29 | Mast adjusting control method and device |
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| CN108241382A true CN108241382A (en) | 2018-07-03 |
| CN108241382B CN108241382B (en) | 2020-09-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109594966A (en) * | 2018-11-23 | 2019-04-09 | 上海中联重科桩工机械有限公司 | Rotary drilling rig movable mast control system and control method |
| CN110485937A (en) * | 2019-08-22 | 2019-11-22 | 北京三一智造科技有限公司 | Movable mast method and rotary drilling rig |
| CN116006150A (en) * | 2022-12-14 | 2023-04-25 | 上海中联重科桩工机械有限公司 | Extrusion-prevention monitoring method, controller and engineering machinery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102616660A (en) * | 2012-03-20 | 2012-08-01 | 三一汽车起重机械有限公司 | Dead weight drop amplitude compensating hydraulic system, crane and control system thereof |
| CN104847113A (en) * | 2014-12-12 | 2015-08-19 | 北汽福田汽车股份有限公司 | Arm rest control method |
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| CN102616660A (en) * | 2012-03-20 | 2012-08-01 | 三一汽车起重机械有限公司 | Dead weight drop amplitude compensating hydraulic system, crane and control system thereof |
| CN104847113A (en) * | 2014-12-12 | 2015-08-19 | 北汽福田汽车股份有限公司 | Arm rest control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109594966A (en) * | 2018-11-23 | 2019-04-09 | 上海中联重科桩工机械有限公司 | Rotary drilling rig movable mast control system and control method |
| CN109594966B (en) * | 2018-11-23 | 2022-05-06 | 上海中联重科桩工机械有限公司 | Control system and control method for mast falling of rotary drilling rig |
| CN110485937A (en) * | 2019-08-22 | 2019-11-22 | 北京三一智造科技有限公司 | Movable mast method and rotary drilling rig |
| CN116006150A (en) * | 2022-12-14 | 2023-04-25 | 上海中联重科桩工机械有限公司 | Extrusion-prevention monitoring method, controller and engineering machinery |
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