CN109516420A - Speed control device and control method and aerial work platform - Google Patents
Speed control device and control method and aerial work platform Download PDFInfo
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- CN109516420A CN109516420A CN201811534731.9A CN201811534731A CN109516420A CN 109516420 A CN109516420 A CN 109516420A CN 201811534731 A CN201811534731 A CN 201811534731A CN 109516420 A CN109516420 A CN 109516420A
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- 238000001514 detection method Methods 0.000 claims abstract description 34
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- 230000003028 elevating effect Effects 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 5
- 238000011897 real-time detection Methods 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- Life Sciences & Earth Sciences (AREA)
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The embodiment of the invention provides a speed control device, a speed control method and an aerial work platform, wherein the speed control device comprises: the gradient detection unit is used for detecting the current gradient of the chassis of the aerial work platform relative to the horizontal plane; the first acquiring unit is used for acquiring the current speed of the aerial work platform; and the control unit is used for dividing the current gradient detected by the gradient detection unit into a plurality of gradient intervals, wherein each gradient interval has a safe vehicle speed and a speed limit strategy which are pre-configured by combining the current working condition of the aerial work platform, and the walking speed of the aerial work platform is controlled according to the current vehicle speed and the safe vehicle speed and the speed limit strategy corresponding to the gradient interval where the current gradient is located. Through the technical scheme, when the aerial work platform is in different working conditions, corresponding speed limit control is adopted according to different slopes of the aerial work platform, and the working efficiency of the equipment is guaranteed while the aerial work platform is guaranteed to run safely.
Description
Technical field
The present invention relates to aerial work platforms, more particularly to speed control unit and control method, aerial work platform.
Background technique
Electricity drives scissor aerial work platform and refers to using battery as complete machine power source, is directly driven using direct current generator
The scissor aerial work platform of dynamic walking.Electricity common at present drives the walking function of scissor aerial work platform by walking electricity
Machine driving, hoisting system drive hydraulic pump to drive by another independent motor.
Electricity drives in scissor aerial work platform driving process, by operating platform handle, controls the driving direction of complete machine
And travel speed.But operating platform handle is relied on merely, it is flat that the stroke by manually adjusting platform handle controls high altitude operation
The speed of travel of platform is difficult to control speed in ideal safe range, especially in the biggish descending operating condition of running gradient,
It is easy to cause speed excessive because of misoperation, and then sends out the peril for causing equipment out of control.In addition, either level land or oblique
On slope, in the case that travel speed is too fast, if equipment emergency brake or speed is greatly reduced suddenly, movable motor is from high revolving speed
In the state of emergent stopping, it is very big to the impact of movable motor in this way, can accelerate inside motor and the abrasion of brake block, increase
Maintenance cost, in some instances it may even be possible to the danger that vehicle body is toppled over occur because aerial work platform equipment of itself height is higher, thus right
Vehicle and personnel cause very major injury.
Summary of the invention
The technical issues of in order to solve in the prior art, just the embodiment of the present invention provided a kind of speed control unit, used
In aerial work platform, and the speed control unit includes: slope detection unit, for detecting the aerial work platform
The current hill grade of chassis with respect to the horizontal plane；First acquisition unit, for obtaining the current vehicle speed of the aerial work platform；Control
Unit processed is connect with the slope detection unit and the first acquisition unit signal, for the current hill grade to be divided into
Several gradient sections are pre-configured with wherein each gradient section has in conjunction with the operating condition that the aerial work platform is presently in
A safe speed and a speed limit strategy, and the current vehicle speed according to first acquisition unit, locating for the current hill grade
The corresponding safe speed in gradient section and speed limit strategy, control the speed of travel of the aerial work platform.
Preferably, described control unit gradient section according to locating for the current vehicle speed, the current hill grade is corresponding
Safe speed and speed limit strategy, the speed of travel for controlling the aerial work platform include: in the current vehicle speed greater than described
When safe speed, takes and control the high-altitude work less than or equal to the brake torque of the brake speed limit torque in the speed limit strategy
The brake gear of industry platform brakes, to control the speed of travel of the aerial work platform, wherein each speed limit strategy quilt
It is preconfigured to the speed of travel based on aerial work platform described in the brake speed limit Torque Control.
Preferably, described control unit corresponding safety in gradient section according to locating for the current vehicle speed, current hill grade
Speed and speed limit strategy, control the speed of travel of the aerial work platform further include: control the row of the aerial work platform
Output power of motor is walked less than or equal to the movable motor limitation power in the speed limit strategy, is put down with controlling the high altitude operation
The speed of travel of platform, wherein each speed limit strategy is preconfigured to be the limitation function of the movable motor based on the aerial work platform
Rate controls the speed of travel of the aerial work platform.
Preferably, the movable motor output power that described control unit controls the aerial work platform is less than or equal to institute
Stating movable motor limitation power includes: to take zeroth order to keep when the current hill grade is in the critical point in the gradient section
Device mode controls the movable motor output power of the aerial work platform；Stablize in the current hill grade in the gradient section
When, the walking electricity of the aerial work platform is limited according to speed limit strategy corresponding with gradient section locating for the current hill grade
Machine output power.
According to another aspect of an embodiment of the present invention, a kind of method for control speed is also provided, which is characterized in that be used for high-altitude
Job platform, and the method for control speed includes: to obtain the chassis of the aerial work platform with respect to the horizontal plane current
The gradient；Obtain the current vehicle speed of the aerial work platform；The current hill grade is divided into several gradient sections, wherein often
One gradient section has the preconfigured safe speed of operating condition being presently in conjunction with the aerial work platform and a speed limit
Strategy；And the corresponding safe speed in gradient section and speed limit strategy according to locating for the current vehicle speed, the current hill grade
Control the speed of travel of the aerial work platform.
Preferably, the corresponding safe speed in gradient section according to locating for the current vehicle speed, the current hill grade
With the speed of travel of aerial work platform described in speed limit policy control further include: be greater than the safe speed in the current vehicle speed
When, it is carried out using the brake gear that the brake torque for being less than or equal to the brake speed limit torque controls the aerial work platform
Brake, to control the speed of travel of the aerial work platform, wherein each speed limit strategy is configured as limiting based on the brake
The speed of travel of aerial work platform described in fast Torque Control.
Preferably, the corresponding safe speed in gradient section according to locating for the current vehicle speed, the current hill grade
The speed of travel of aerial work platform described in speed limit policy control further include: the movable motor for controlling the aerial work platform is defeated
Power is less than or equal to movable motor limitation power out, to control the speed of travel of the aerial work platform, wherein often
One speed limit strategy is preconfigured to be high altitude operation described in the limitation power control of the movable motor based on the aerial work platform
The speed of travel of platform.
Preferably, described in the limitation of the corresponding speed limit strategy in described control unit gradient section according to locating for current hill grade
The output power of motor of aerial work platform includes: to take when the current hill grade is in the critical point in the gradient section
Zero-order holder mode controls the movable motor output power of the aerial work platform；Stablize in the current hill grade described
When gradient section, the aerial work platform is limited according to speed limit strategy corresponding with gradient section locating for the current hill grade
Movable motor output power.
According to a third aspect of the embodiments of the present invention, a kind of aerial work platform, the aerial work platform packet are also provided
Include above-mentioned speed control unit.
On the other hand, the embodiment of the present invention also provides a kind of machine readable storage medium, on the machine readable storage medium
It is stored with instruction, which is used for so that machine executes above-mentioned method for control speed.
Through the above technical solutions, when aerial work platform is in different operating conditions, for the current institute of aerial work platform
The gradient at place is different, takes corresponding Control for Speed Limitation, while guaranteeing aerial work platform safety traffic, ensure that equipment
Working efficiency.
The other feature and advantage of the embodiment of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is to further understand for providing to the embodiment of the present invention, and constitute part of specification, under
The specific embodiment in face is used to explain the present invention embodiment together, but does not constitute the limitation to the embodiment of the present invention.Attached
In figure:
Fig. 1 is conventional electric drive scissor aerial work platform structural schematic diagram；
Fig. 2 is the structural schematic diagram of speed control unit provided in an embodiment of the present invention；
Fig. 3 is specific slope detection device for applying example to provide provided in an embodiment of the present invention and first acquisition unit
Schematic view of the mounting position on aerial work platform；
Fig. 4 is the relative position schematic diagram of aerial work platform and ground under different operating conditions provided in an embodiment of the present invention；
Fig. 5 is the exemplary structure of concrete application provided in an embodiment of the present invention and schematic illustration；
Fig. 6 is the flow chart of method for control speed provided in an embodiment of the present invention.
Description of symbols
1, slope detection unit 2, first acquisition unit 3, control unit
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the embodiment of the present invention.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, is not intended to restrict the invention embodiment.
In embodiments of the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, left and right " be
Refer to the relative position in attached drawing, advance refers to be moved towards headstock direction, and retrogressing refers to that facing tailstock direction moves, and upward slope refers to
Aerial work platform complete machine refers to aerial work platform complete machine court towards the higher direction movement of with respect to the horizontal plane topography, descending
It is moved to the higher direction of with respect to the horizontal plane topography.
Fig. 1 is conventional electric drive scissor aerial work platform structural schematic diagram, as shown in Figure 1, aerial work platform
Vehicle body it is higher, if speed is excessive to be easy to happen waving or even topple over by a relatively large margin.And electric drive common at present is cut
The walking of V shape aerial work platform, elevating function pass through manoeuvring platform handle and realize, when executing walking motion, walking
Speed is controlled by platform handle, and usually one-handed performance handle, and user is more difficult to grasp handle travel, it is also difficult to by handle
Stroke is maintained at fixed position.If platform handle is mobile, speed also can be easy to lead to speed mistake because of misoperation with variation
Greatly, especially vehicle driving is in descending operating condition, and especially when the gradient is larger, car speed is difficult control in safe range,
It is easy to appear to lose control of one's vehicle, there are larger security risks.
Meanwhile either on level land or ramp, in the case that travel speed is too fast, if equipment emergency brake, walking
Motor is very big to the impact of movable motor in this way from emergent stopping under high-revolving state, can accelerate inside motor and brake
The abrasion of piece increases maintenance cost.Therefore rationally control right and wrong are carried out to the speed of travel and brake modes of aerial work platform
Often it is necessary to.
The embodiment of the present invention will be applied to aerial work platform with speed control unit of the present invention and control method
Technical solution of the present invention is introduced for for, it should be noted that speed control unit of the present invention and control method
It can be applied to other any applicable equipment.
Fig. 2 is the structural schematic diagram of speed control unit provided in an embodiment of the present invention；As shown in Fig. 2, speed control fills
It sets including slope detection unit 1, for detecting the current hill grade of the chassis of the aerial work platform with respect to the horizontal plane；First
Acquiring unit 2, for obtaining the current vehicle speed of the aerial work platform；Control unit 3, with the slope detection unit 1 and
2 signal of the first acquisition unit connection, the gradient for detecting the slope detection unit are divided into several slopes
Section is spent, wherein each gradient section has the preconfigured safety of operating condition being presently in conjunction with the aerial work platform
Speed and a speed limit strategy, and the current vehicle speed according to first acquisition unit, gradient section locating for the current hill grade
Corresponding safe speed and speed limit strategy, control the speed of travel of the aerial work platform.
Wherein, gradient monitoring unit 1 is installed on the chassis plane of aerial work platform, can real-time detection high altitude operation it is flat
The gradient (namely chassis inclination in the running direction of aerial work platform) of the chassis of platform with respect to the horizontal plane.Slope detection unit 1
Installation site can adjust according to actual needs, if can preferable detection device chassis tilt angle, Fig. 3 is this hair
Installation of the slope detection unit and first acquisition unit 2 that the concrete application example of bright embodiment provides on aerial work platform
Position view, as shown in figure 3, slope detection unit 1 can be installed in aerial working platform chassis plane by near-car head
The position of position center ofthe.
Preferably, slope detection unit 1 can also be examined while detecting the chassis inclination in the running direction of aerial work platform
Chassis lateral inclination is surveyed, so may be implemented when aerial work platform carries out lifting operation, when inclining for aerial work platform
Warning reminding is carried out when the super more setting gradients of gradient (including inclination in the running direction and lateral inclination) and to limit high altitude operation flat
The lifting function of platform avoids equipment from lifting the excessively high danger for causing to tumble on sloping floor.
For example, slope detection unit 1 is obliquity sensor (not shown), the output simulation of obliquity sensor twin shaft
Signal is measured, referring again to FIGS. 3, the chassis left and right directions of aerial work platform is defined as X-axis, before the chassis of aerial work platform
Rear direction is defined as Y-axis, and obliquity sensor is capable of the tilt signals of care testing device, and X, Y-axis analog signals are distinguished
Feed back to control unit 3, wherein the output signal of obliquity sensor is analog signals and, inclination angle in a linear relationship with the gradient
The X of sensor, Y-axis output signal can be 0~5V DC or 0.5~4.5V DC or 4~20mA DC respectively, measurement range from
0 °~± 90 ° adjustable.Control unit 3 by the output signal of obliquity sensor determine aerial lift device current hill grade and
Lateral inclination.
By taking output signal is 0.5~4.5V DC, measurement range is ± 30 ° as an example, the output of obliquity sensor X and Y-axis is believed
Number with the corresponding relationship of lateral inclination and the current hill grade of aerial work platform as shown in the following table 1, table 2:
Table 1
Table 2
Referring again to FIGS. 3, first acquisition unit 2 is mounted on chassis frame lower part, for detecting aerial work platform complete machine
With the relative velocity on ground, first acquisition unit 2 is connect with 3 signal of control unit, and control unit 3 can obtain single by first
The signal that member 2 is sent to control device 3 obtains the current vehicle speed of aerial work platform in real time, and the signal of first acquisition unit 2 is defeated
Mode is analog quantity or CAN bus out.
For example, first acquisition unit 2 can be vehicle speed sensor (not shown), vehicle speed sensor can be real-time
The speed signal of aerial work platform is sent to control unit 3, control unit 3 passes through the detection output letter of first acquisition unit 2
The speed of complete machine is calculated in number variation, obtains the current vehicle speed of aerial work platform.
In addition, the current working of aerial work platform is combined by control unit 3, slope detection unit 1 is detected to work as scarp slope
Degree is specific as follows to determine: the current direction of travel for determining aerial work platform is direction of advance or direction of retreat, and root
Determine that the current vehicle-state of aerial work platform is upward slope state or descending state according to the gradient；And according to direction of travel and vehicle
State corresponding relationship, determine operating condition that the aerial work platform is presently in be it is following any one: advance and go up a slope, retreat
Descending retreats upward slope, advance descending.
For example, high-altitude can be determined according to the output signal of the platform handle of high altitude operation (showing in figure) first
The current direction of travel of job platform.Control unit 3 is connect with platform handle signal, the analog quantity letter obtained from platform handle
Number, and acquired analog signals are corresponded to the analog signals for controlling the power of motor of aerial work platform, the two was both
It can be one-to-one linear relationship, be also possible to stepped non-linear relation.For example, can be by the output of platform handle
Range of signal is set as 0.5-4.5V, when its reality output is between 0.5-2.5V, determines the row of current aerial work platform
Vehicle direction is to retreat；When its reality output is between 2.5-4.5V, before determining that the direction of traffic of current aerial work platform is
Into.
Secondly, determining the vehicle-state of current aerial work platform in conjunction with the current hill grade detected of slope detection unit 1
For upward slope state or descending state.Fig. 4 is the phase of aerial work platform and ground under different operating conditions provided in an embodiment of the present invention
To position view, as shown in figure 4, the current working of aerial work platform can for it is following any one: advance under going up a slope, retreating
Slope retreats upward slope, advance descending.
It should be noted that the operating condition of aerial work platform is divided into above-mentioned a few persons, but this hair in the embodiment of the present invention
Bright technical solution is not limited to the division methods.Such as the operating condition of aerial work platform can be divided into towards upward slope direction row
It advances into towards direction of fall.
Control unit 3 controls the speed of travel of aerial work platform with the following method:
Firstly, the current hill grade of aerial work platform and level ground is divided into several gradient sections, wherein each
Gradient section has the preconfigured safe speed of operating condition being presently in conjunction with the aerial work platform and a speed limit plan
Slightly, wherein control unit 3 is taken when the current vehicle speed is greater than the safe speed less than or equal to the speed limit strategy
In the brake torque of brake speed limit torque control the brake gear of the aerial work platform and brake, to control the height
The speed of travel of working platform, wherein each speed limit strategy is preconfigured to be based on described in the brake speed limit Torque Control
The speed of travel of aerial work platform.Wherein, it should be noted that control unit 3 works as front truck acquisition aerial work platform
Other speed limit measures are taken to aerial work platform before speed, the current vehicle speed for obtaining aerial work platform is to examine
Survey whether the speed limit measure that control device has taken up has controlled the speed of travel of aerial work platform in safe speed model
In enclosing, it is thusly-formed closed-loop control, realizes better control effect.
Specifically, the current vehicle speed of 2 real-time detection aerial work platform of first acquisition unit and it is sent to control unit
3, control unit 3 judges whether current vehicle speed is less than safe speed, if current vehicle speed is greater than safe speed, control unit 3 is defeated
Brake signal out, the brake gear for controlling aerial work platform brake, so that the speed of travel of aerial work platform reduces
To less than or equal to safe speed.
In the embodiment of the present invention, brake gear is electromagnetic brake, and output braking moment value is up to 20Nm, this is most
The big brake torque generally only use when needing to stop, is in different gradient sections in the current hill grade of aerial work platform
When, brake speed limit torque according to the form below 3 and table 4 can be divided for 10Nm, 8Nm, 6Nm, tetra- kinds of situations of 4Nm, it is general come
It says, as the gradient (tilt angle) increases, brake speed limit moment values are gradually reduced, and prevent emergency brake situation, are reduced to walking
The impact of motor avoids the larger abrasion to motor and brake block, maintenance maintenance cost is effectively reduced.
For example, being as shown in table 5 and table 6 gradient section locating for current hill grade and safe speed and brake speed limit torque
Mapping table.For example, if the chassis of aerial work platform is in 15 °~25 ° relative to the current hill grade of level ground,
The current vehicle speed that first acquisition unit obtains is 2.5km/h, then control unit 3 exports the brake that a brake torque is less than 6Nm
Vehicle signal, control aerial work platform brakes, so that the current vehicle speed of aerial work platform controls within 2km/h.
Table 3
| The gradient | 0 °~5 ° | 5 °~15 ° | 15 °~25 ° | 25 ° of > |
| Safe speed | 4km/h | 3km/h | 2km/h | 1km/h |
| Brake speed limit torque | 10N·m | 8N·m | 6N·m | 4N·m |
Table 4
| The gradient | 5 °~0 ° of ﹣ | 15 °~-5 ° of ﹣ | - 25 °~-15 ° | < -25 ° |
| Safe speed | 4km/h | 3km/h | 2km/h | 1km/h |
| Brake speed limit torque | 10N·m | 8N·m | 6N·m | 4N·m |
Preferably, control device 3 is also configured each speed limit strategy and is limited based on the movable motor of the aerial work platform
The speed of travel of aerial work platform described in power control；When the current vehicle speed is less than or equal to the safe speed, control
The movable motor output power for making the aerial work platform is less than or equal to the movable motor and limits power, described in control
The speed of travel of aerial work platform.
For example, with reference to above-mentioned slope detection unit 1 using the Y-axis output signal of obliquity sensor and obliquity sensor
With the chassis front and rear tilt angle corresponding relationship data as shown in Table 2 of aerial work platform, when control unit 3 detects inclination angle
The output signal of sensor Y-axis when range, illustrates that aerial work platform is in advance and goes up a slope or retreat between 0.5~2.5V
Descending operating condition is drawn the gradient of the chassis of aerial work platform with respect to the horizontal plane using interval division method as shown in table 5 below
It is divided into multiple sections.Gradient section can be divided according to actual needs.
Table 5
When the current hill grade of aerial work platform is in the different sections in table 5, the aerial work platform is controlled
Movable motor output power is less than or equal to movable motor and limits power, to control the speed of travel of the aerial work platform.
When wherein aerial work platform is in advance upward slope operating condition, Control for Speed Limitation is not done, and in the case where aerial work platform is in and retreats
When the operating condition and current hill grade on slope are in 0 °~5 ° of sections, do not do Control for Speed Limitation, current hill grade be in other gradient sections and
It is corresponding with speed limit strategy by gradient section locating for current hill grade in table 2 when aerial work platform is in retrogressing descending operating condition
The speed of travel of relationship control aerial work platform.Hundred-mark system numerical value in table 2 indicates, by the function of the motor of aerial work platform
Rate controls some percentage in motor rated power hereinafter, retreating descending operating condition for example, being in aerial work platform, currently
The gradient is between 5 °~15 °, then the power of motor for controlling aerial work platform is not more than the 50% of its rated power.
Table 6
When control unit 3 detects obliquity sensor Y-axis output signal range between 2.5~4.5V, illustrate high-altitude
Job platform is in advance descending or retreats upward slope operating condition, and the gradient of the chassis of aerial work platform with respect to the horizontal plane is adopted
With interval division method by being divided into multiple sections as shown in table 6 below.
Similarly, when the current hill grade of aerial work platform is in the different sections in table 6, it is flat to control the high altitude operation
The movable motor output power of platform is less than or equal to movable motor and limits power, to control the walking speed of the aerial work platform
Degree.When wherein aerial work platform is in retrogressing upward slope operating condition, Control for Speed Limitation is not done, and be in and advance in aerial work platform
When the operating condition and current hill grade of descending are in -5 °~0 ° of section, Control for Speed Limitation is not done, is in other gradient sections in current hill grade
And aerial work platform is in when retreating descending operating condition, by gradient section locating for current hill grade in table 3 and movable motor power
Corresponding relationship control aerial work platform the speed of travel.Hundred-mark system numerical value in table 3 is indicated the electricity of aerial work platform
The power control of machine motor rated power some percentage hereinafter, for example, aerial work platform be in retreat descending work
Condition, current hill grade are between 5 °~15 °, then control the power of motor of aerial work platform no more than its rated power
50%.
Control unit 3 corresponds to the analog quantity output signals of the power of motor of aerial work platform by controlling, and controls motor
The size of power.Percent value is bigger, and output power of motor is bigger, otherwise smaller.Control unit 3 can be flat according to high altitude operation
The current working of platform is adjusted the limitation power of movable motor by current sync in upper table 5, table 6.
Preferably, when the current hill grade is in the critical point in the gradient section, zero-order holder mode control is taken
Make the movable motor output power of the aerial work platform；Stablize in the current hill grade at the gradient section, according to
Speed limit strategy corresponding with gradient section locating for the current hill grade limits the movable motor output of the aerial work platform
Power.
For example, in order to prevent the speed of travel of aerial work platform speed limit value critical point frequent bounce, for
Critical point ± 5 °, ± 15 °, ± 25 °, control unit 2 is using zero-order holder mode to the power of the motor of aerial work platform
It is controlled, so that the speed of travel of aerial work platform will not occur frequently to beat, keeps the traveling of aerial work platform flat
Stability.
It should be noted that the value in 1~table of table 6 is example value, can be carried out according to the actual situation in practical application
Adjustment.
The other structures and working principle of speed control unit of the present invention are illustrated with the application of specific embodiment below.
Fig. 5 is the exemplary structure of concrete application provided in an embodiment of the present invention and schematic illustration, it should be noted that tool
Control device includes PCU (Platform Control Unit, platform control unit), ECU in body application example
(Electronic Control Unit, electronic control unit) and MCU (Motor Control Unit motor driver), slope
Spending detection device can be an obliquity sensor, and twin shaft exports analog signals, and first acquisition unit is a vehicle speed sensor,
Can real-time detection aerial work platform speed.
As shown in figure 5, the platform handle of aerial work platform is integrated with PCU, it is placed on workbench, before having
Latter two direction of action can be switched between two lifting, walking functions by the key on PCU.It walks when by PCU selection
When function, platform handle pushes forward then aerial work platform complete machine advance, and platform handle pushes then aerial work platform backward
Complete machine retreats.It is analog signals that platform handle, which specifically exports, and handle stirs different trips and corresponds to different signal output, can
The speed or lifting speed of adjustment equipment traveling.Handle can be with position in runback, and when handle is located at middle position, handle no signal is defeated
Out.
PCU is used for the input signal of acquisition platform handle, while having traveling, elevating function selection key.PCU and ECU
Between have communication, can be by the output signal real-time Transmission of the key on platform handle and PCU to ECU.
ECU is set to the inside chassis of aerial work platform, for receive platform handle signal that PCU is sent and by
Key signals, also can receive first acquisition unit, slope detection unit, pressure sensor, scissor angular transducer signal, together
When also output control brake gear 1, brake gear 2, MCU signal.
The inside chassis of MCU setting and aerial work platform, for driving pump motor, movable motor 1, movable motor 2.
MCU by receiving the analog signals of ECU output, control energized circuit, armature circuit electric current control movable motor 1,2
Revolving speed and torque.
The analog signals that ECU is sent to MCU are two-channel independent, wherein using all the way for controlling pump motor all the way
In control movable motor 1, movable motor 2, MCU exports different size of electric current according to the signal for being input to MCU of ECU, controls
The revolving speed of corresponding motor.
The analog input signal of platform handle is exported corresponding to ECU to the analog signals of motor driver, both can be with
It is one-to-one linear (straight line or curve) relationship, is also possible to stepped non-linear relation.
Scissor angular transducer be set in the scissor arms of aerial work platform or scissor arms bottom axis on, for detecting
Scissor arms angle.Pressure sensor is installed on the hydraulic valve of elevating ram, the pressure of system when for detection device lifting.It cuts
Fork angular transducer and pressure sensor are provided commonly for detection workbench and are located at the load undertaken when different height, realize system
The overload warning function of system, wherein scissor angular transducer generally also selects obliquity sensor.Scissor angular transducer and pressure
Sensor and the overload warning function of being realized by this element are the nonessential configuration in technical solution of the present invention, real
It can be not provided in the application of border.
Slope detection device is arranged on the scissor chassis plane of aerial work platform, for measuring the chassis of scissor equipment
Gradient, slope detection device can care testing device chassis X-axis (lateral), the gradient of Y-axis (longitudinal direction) both direction.?
When equipment selects elevating function, when chassis X-axis or Y-axis are tilted beyond certain angle, the lifting of ECU limiting device is acted and is mentioned
Show that device inclined is alarmed, equipment is avoided to lift excessively high on sloping floor and cause the danger tumbled.ECU can also basis simultaneously
The gradient of the chassis of the Y-axis output signal real-time detection aerial work platform of obliquity sensor 2 with respect to the horizontal plane.
Slope detection device twin shaft exports analog signals, and wherein X-axis is consistent with equipment left and right directions, before Y-axis and equipment
Rear direction is consistent.The sensor is capable of the signal that tilts forward and back of real-time detection aerial work platform, and by X, Y-axis analog signals
ECU is fed back to respectively.ECU by the analog input signal of slope detection device determine aerial work platform current hill grade and
Lateral inclination.The X of slope detection device, Y-axis output signal can be respectively 0~5V DC or 0.5~4.5V DC or 4~
20mADC, measurement range are adjustable from 0 °~± 90 °.
First acquisition unit can be vehicle speed sensor, the chassis frame lower part of aerial work platform is set to, for examining
The current vehicle speed for surveying aerial work platform complete machine and ground, can be sent to ECU for current vehicle speed signal in real time, ECU passes through detection
Vehicle speed sensor output signal changes the speed that complete machine is calculated, and realizes the monitoring to the current vehicle speed of aerial work platform.
The mode signal output of vehicle speed sensor is analog quantity or CAN bus.
Movable motor 1, movable motor 2 are two shunt DC machines, before being separately positioned on two of aerial work platform
The inside (depending on equipment using forerunner or rear-guard) of wheel or rear-wheel, can directly drive tyre rotation.Collection inside movable motor
At speed reducer, it can play the role of reducing output revolving speed, increase output torque.Brake gear 1, brake gear 2 also respectively with
Movable motor 1, movable motor 2 integrate, and the analog signals of control brake coil, brake control power are exported by ECU
The analog signals that square size can export control brake coil by ECU are adjusted.
Elevating ram is installed among the scissor arms of aerial work platform, for realizing platform lifting.
Using other exemplary implementation details with above-mentioned speed control unit, details are not described herein again.
Method for control speed provided in an embodiment of the present invention is mainly used in aerial work platform, and Fig. 6 is implementation of the present invention
The flow chart for the method for control speed that example provides.As shown in fig. 6, the method for control speed may comprise steps of:
S101, the current hill grade of the aerial work platform with respect to the horizontal plane is obtained.
By obtaining the analog quantity output signals of ramp detection unit in the embodiment of the present invention, according to ramp detection unit
Output signal determines that the gradient of the chassis of current aerial work platform with respect to the horizontal plane, the output signal of obliquity sensor are mould
Analog quantity signal and in a linear relationship with the gradient.
S102, the current vehicle speed for obtaining the aerial work platform.
The current vehicle speed signal for obtaining aerial work platform in real time by first acquisition unit in the embodiment of the present invention is concurrent
Control device is given, the mode signal output of vehicle speed sensor is analog quantity or CAN bus, and control device converts speed signal
For the current vehicle speed of aerial work platform.
S103, the operating condition that the aerial work platform is presently in is determined.
The operating condition that the aerial work platform is presently in is determined in conjunction with the gradient.Preferably, it is first determined make in high-altitude
The current direction of travel of industry platform is direction of advance or direction of retreat；The gradient on ground is presently according to aerial work platform
Determine that aerial work platform current vehicle condition is upward slope state or descending state；And according to direction of travel and vehicle-state pair
Should be related to, determine operating condition that aerial work platform is presently in be it is following any one: go up a slope advance, descending retreats, go up a slope after
It moves back, descending advances.
S104, the speed of travel for controlling aerial work platform.
According to the corresponding safe speed in gradient section and speed limit strategy locating for the current vehicle speed, the current hill grade,
Control the speed of travel of the aerial work platform.
Specifically, the current hill grade of the chassis of aerial work platform with respect to the horizontal plane is divided into several gradient areas
Between, wherein each gradient section has the preconfigured safe speed of operating condition being presently in conjunction with the aerial work platform
With a speed limit strategy；And the corresponding safe speed in gradient section according to locating for the current vehicle speed, the current hill grade and
The speed of travel of aerial work platform described in speed limit policy control.
Preferably, when the current vehicle speed is greater than the safe speed, using less than or equal to the brake speed limit power
The brake gear that the brake torque of square controls the aerial work platform brakes, to control the row of the aerial work platform
Speed is walked, wherein each speed limit strategy is configured as the walking based on aerial work platform described in the brake speed limit Torque Control
Speed.
Further, the movable motor output power for controlling the aerial work platform is less than or equal to the movable motor
Power is limited, to control the speed of travel of the aerial work platform, wherein each speed limit strategy is preconfigured to be based on institute
State the speed of travel of aerial work platform described in the movable motor limitation power control of aerial work platform.
Wherein, when the current hill grade is in the critical point in the gradient section, zero-order holder mode is taken to control
The movable motor output power of the aerial work platform；The current hill grade stablize at the gradient section, according to
The corresponding speed limit strategy in gradient section locating for the current hill grade limits the movable motor output work of the aerial work platform
Rate.
Other implementation details of method for control speed are with the implementation detail of above-mentioned speed control unit, and details are not described herein again.
The embodiment of the present invention also provides a kind of aerial work platform, and aerial work platform includes above-mentioned speed control unit,
Its specific implementation details is with above-mentioned speed control unit, and details are not described herein again.
Through the above technical solutions, when aerial work platform is in different operating conditions, for the current institute of aerial work platform
The gradient at place is different, takes corresponding Control for Speed Limitation, while guaranteeing aerial work platform safety traffic, ensure that equipment
Working efficiency.
In addition, through the current vehicle speed of detection aerial work platform whether within the scope of safe speed, it is determined whether to height
Working platform takes further Control for Speed Limitation, forms the closed-loop control of the aerial work platform speed of travel, effectively increases
The control precision of the aerial work platform speed of travel.When current vehicle speed is greater than safe speed, takes and work as with aerial work platform
The adaptable brake torque in gradient section locating for the preceding gradient carries out brake control to aerial work platform, further ensure that
The safety of aerial work platform, effectively prevent aerial work platform to tumble.It avoids simultaneously in aerial work platform travel speed
In the case where too fast, equipment emergency brake or it is greatly reduced greater impact of the speed to movable motor suddenly, reduces to walking electricity
The abrasion of machine inside and brake coil, reduces maintenance cost.
In addition, the automatic control controlled entirely the speed of travel of aerial work platform can be achieved in the embodiment of the present invention, subtract
Influence of few manual operation to the speed of travel of aerial work platform avoids in the prior art operating aerial work platform handle
Improper bring is dangerous, guarantees the equipment of aerial work platform and the safety of operator conscientiously.
The optional embodiment of the embodiment of the present invention is described in detail in conjunction with attached drawing above, still, the embodiment of the present invention is simultaneously
The detail being not limited in above embodiment can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection scope of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, it can be combined in any appropriate way.In order to avoid unnecessary repetition, the embodiment of the present invention pair
No further explanation will be given for various combinations of possible ways.
It will be appreciated by those skilled in the art that implementing the method for the above embodiments is that can pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, including some instructions are used so that single
Piece machine, chip or processor (processor) execute all or part of the steps of each embodiment the method for the application.And it is preceding
The storage medium stated includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
In addition, any combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, equally should be considered as disclosure of that of the embodiment of the present invention.
Claims (10)
1. a kind of speed control unit, which is characterized in that be used for aerial work platform, and the speed control unit includes:
Slope detection unit, for detecting the current hill grade of the chassis of the aerial work platform with respect to the horizontal plane；
First acquisition unit, for obtaining the current vehicle speed of the aerial work platform；
Control unit is connect with the slope detection unit and the first acquisition unit signal, is used for the current hill grade
Several gradient sections are divided into, wherein each gradient section has the operating condition being presently in conjunction with the aerial work platform pre-
The safe speed and a speed limit strategy first configured, and the current vehicle speed according to first acquisition unit, the current hill grade
The locating corresponding safe speed in gradient section and speed limit strategy, control the speed of travel of the aerial work platform.
2. speed control unit according to claim 1, which is characterized in that described control unit works as front truck according to
The corresponding safe speed in gradient section and speed limit strategy, control the aerial work platform locating for fast, the described current hill grade
The speed of travel includes:
When the current vehicle speed is greater than the safe speed, take less than or equal to the brake speed limit power in the speed limit strategy
The brake gear that the brake torque of square controls the aerial work platform brakes, to control the row of the aerial work platform
Speed is walked, wherein each speed limit strategy is preconfigured to be based on aerial work platform described in the brake speed limit Torque Control
The speed of travel.
3. speed control unit according to claim 1, which is characterized in that described control unit works as front truck according to
The corresponding safe speed in gradient section and speed limit strategy locating for speed, current hill grade, control the walking of the aerial work platform
Speed includes:
The movable motor output power of the aerial work platform is controlled less than or equal to the movable motor in the speed limit strategy
Power is limited, to control the speed of travel of the aerial work platform, wherein each speed limit strategy is preconfigured to be based on institute
State the speed of travel of aerial work platform described in the movable motor limitation power control of aerial work platform.
4. speed control unit according to claim 3, which is characterized in that described control unit controls the high altitude operation
It includes: to be in institute in the current hill grade that the movable motor output power of platform, which is less than or equal to movable motor limitation power,
When stating the critical point in gradient section, zero-order holder mode is taken to control the movable motor output work of the aerial work platform
Rate；Stablize in the current hill grade at the gradient section, according to corresponding with gradient section locating for the current hill grade
Speed limit strategy limits the movable motor output power of the aerial work platform.
5. a kind of method for control speed, which is characterized in that be used for aerial work platform, and the method for control speed includes:
Obtain the current hill grade of the chassis of the aerial work platform with respect to the horizontal plane；
Obtain the current vehicle speed of the aerial work platform；
The current hill grade is divided into several gradient sections, is put down wherein each gradient section has in conjunction with the high altitude operation
The preconfigured safe speed of the operating condition that platform is presently in and a speed limit strategy；And
According to the corresponding safe speed in gradient section locating for the current vehicle speed, the current hill grade and speed limit policy control institute
State the speed of travel of aerial work platform.
6. method for control speed according to claim 5, which is characterized in that it is described according to the current vehicle speed, described work as
The speed of travel of aerial work platform described in the corresponding safe speed in gradient section and speed limit policy control locating for the preceding gradient is also
Include:
When the current vehicle speed is greater than the safe speed, using the brake torque for being less than or equal to the brake speed limit torque
The brake gear for controlling the aerial work platform brakes, to control the speed of travel of the aerial work platform, wherein
Each speed limit strategy is configured as the speed of travel based on aerial work platform described in the brake speed limit Torque Control.
7. method for control speed according to claim 5, which is characterized in that it is described according to the current vehicle speed, described work as
The speed of travel of aerial work platform described in the corresponding safe speed speed limit policy control in gradient section locating for the preceding gradient is also wrapped
It includes:
The movable motor output power for controlling the aerial work platform is less than or equal to the movable motor and limits power, with control
The speed of travel of the aerial work platform is made, wherein each speed limit strategy is preconfigured to be based on the aerial work platform
Movable motor limitation power control described in aerial work platform the speed of travel.
8. method for control speed according to claim 5, which is characterized in that the row of the control aerial work platform
It includes: to be in the gradient area in the current hill grade that output power of motor, which is walked, less than or equal to movable motor limitation power
Between critical point when, take zero-order holder mode to control the movable motor output power of the aerial work platform；Described
Current hill grade is stablized at the gradient section, is limited according to speed limit strategy corresponding with gradient section locating for the current hill grade
Make the movable motor output power of the aerial work platform.
9. a kind of machine readable storage medium, it is stored with instruction on the machine readable storage medium, which is used for so that machine
Perform claim requires the described in any item method for control speed of 5-8.
10. a kind of aerial work platform, which is characterized in that the aerial work platform includes any one of claim 1-4 institute
The speed control unit stated.
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| CN201811534731.9A CN109516420B (en) | 2018-12-14 | 2018-12-14 | Speed control device and control method and aerial work platform |
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|---|---|---|---|
| CN201811534731.9A CN109516420B (en) | 2018-12-14 | 2018-12-14 | Speed control device and control method and aerial work platform |
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| CN110002341A (en) * | 2019-04-30 | 2019-07-12 | 徐工集团工程机械股份有限公司建设机械分公司 | The method for control speed and system of engineering machinery executing agency execution movement |
| CN111056513A (en) * | 2019-12-31 | 2020-04-24 | 中联重科股份有限公司 | Downhill working condition identification method and system and aerial working equipment |
| CN111152666A (en) * | 2019-12-31 | 2020-05-15 | 中联重科股份有限公司 | Downhill speed control system, downhill speed control method, and aerial work apparatus |
| CN111943095A (en) * | 2020-07-10 | 2020-11-17 | 湖南星邦智能装备股份有限公司 | Method for controlling stability of boom of aerial work platform |
| CN112478040A (en) * | 2020-12-09 | 2021-03-12 | 湖南喜宝达信息科技有限公司 | Downhill speed limiting method for electric bicycle, and computer-readable storage medium |
| CN113233394A (en) * | 2021-06-02 | 2021-08-10 | 江苏汇智高端工程机械创新中心有限公司 | Scissor-fork type aerial work platform control method and system |
| CN113848926A (en) * | 2021-09-30 | 2021-12-28 | 无锡宽慧科技有限公司 | Cross axle handle track scissor fork control system |
| CN113898489A (en) * | 2021-10-27 | 2022-01-07 | 北谷电子有限公司 | Handle proportion and power matching composite control based method and platform |
| US11352243B2 (en) | 2018-09-13 | 2022-06-07 | Crown Equipment Corporation | System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load |
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| CN112478040A (en) * | 2020-12-09 | 2021-03-12 | 湖南喜宝达信息科技有限公司 | Downhill speed limiting method for electric bicycle, and computer-readable storage medium |
| CN113233394A (en) * | 2021-06-02 | 2021-08-10 | 江苏汇智高端工程机械创新中心有限公司 | Scissor-fork type aerial work platform control method and system |
| CN113848926A (en) * | 2021-09-30 | 2021-12-28 | 无锡宽慧科技有限公司 | Cross axle handle track scissor fork control system |
| CN113898489A (en) * | 2021-10-27 | 2022-01-07 | 北谷电子有限公司 | Handle proportion and power matching composite control based method and platform |
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| CN109516420B (en) | 2020-08-21 |
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