CN109516420B - 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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- CN109516420B CN109516420B CN201811534731.9A CN201811534731A CN109516420B CN 109516420 B CN109516420 B CN 109516420B CN 201811534731 A CN201811534731 A CN 201811534731A CN 109516420 B CN109516420 B CN 109516420B
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- 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
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- 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
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- 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
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- 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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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 invention relates to an aerial work platform, in particular to a speed control device, a speed control method and an aerial work platform.
Background
The electrically-driven scissor-type aerial work platform is a scissor-type aerial work platform which utilizes a storage battery as a power source of the whole machine and adopts a direct current motor to directly drive the vehicle to walk. The walking function of the current common electric-driven scissor-type aerial work platform is driven by a walking motor, and a lifting system is driven by another independent motor to drive a hydraulic pump.
During the running process of the electric-driven scissor-type aerial work platform, the running direction and the running speed of the whole machine are controlled by operating the handle of the platform. However, the walking speed of the aerial work platform is controlled by only depending on the operating platform handle and manually adjusting the stroke of the platform handle, so that the vehicle speed is difficult to control in an ideal safety range, and particularly under a downhill working condition with a large driving gradient, the vehicle speed is easy to be overlarge due to improper operation, and further dangerous accidents of out-of-control equipment are caused. In addition, no matter on flat ground or on a slope, if the equipment is braked emergently or the speed of the vehicle is suddenly and greatly reduced under the condition of too high running speed, the running motor is stopped emergently from a high-speed state, so that the impact on the running motor is large, the abrasion of the interior of the motor and a brake pad can be accelerated, the maintenance cost is increased, and even the danger of vehicle body toppling over caused by the fact that the height of the equipment of the aerial work platform is high can be caused, so that the vehicle and personnel are greatly injured.
Disclosure of Invention
In order to solve the technical problems in the prior art, an embodiment of the present invention provides a speed control device for an aerial work platform, and the speed control device includes: 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 acquisition unit is used for acquiring the current speed of the aerial work platform; and the control unit is in signal connection with the gradient detection unit and the first acquisition unit and is used for dividing the current gradient 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 of the first acquisition unit and the safe vehicle speed and the speed limit strategy corresponding to the gradient interval where the current gradient is located.
Preferably, the controlling unit controls the traveling speed of the aerial work platform according to the current vehicle speed, the safe vehicle speed corresponding to the slope section where the current slope is located, and the speed limit strategy, and includes: and when the current vehicle speed is greater than the safe vehicle speed, adopting a braking torque which is less than or equal to a braking speed-limiting torque in the speed-limiting strategies to control a braking device of the aerial work platform to brake so as to control the walking speed of the aerial work platform, wherein each speed-limiting strategy is pre-configured to control the walking speed of the aerial work platform based on the braking speed-limiting torque.
Preferably, the controlling unit controls the traveling speed of the aerial work platform according to the current vehicle speed, the safe vehicle speed corresponding to the slope section where the current slope is located, and the speed limit strategy, and further includes: and controlling the output power of a walking motor of the aerial work platform to be less than or equal to the limit power of the walking motor in the speed limit strategies so as to control the walking speed of the aerial work platform, wherein each speed limit strategy is pre-configured to control the walking speed of the aerial work platform based on the limit power of the walking motor of the aerial work platform.
Preferably, the step of controlling, by the control unit, the output power of the traveling motor of the aerial work platform to be less than or equal to the power limit of the traveling motor includes: when the current gradient is at a critical point of the gradient interval, controlling the output power of a walking motor of the aerial work platform in a zero-order retainer mode; and when the current gradient is stable in the gradient section, limiting the output power of a walking motor of the aerial work platform according to a speed-limiting strategy corresponding to the gradient section where the current gradient is located.
According to another aspect of the embodiments of the present invention, there is also provided a speed control method, for an aerial work platform, and the speed control method includes: acquiring the current gradient of a chassis of the aerial work platform relative to a horizontal plane; acquiring the current speed of the aerial work platform; dividing the current gradient 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 controlling the traveling speed of the aerial work platform according to the current vehicle speed, the safe vehicle speed corresponding to the slope interval where the current slope is located and the speed limit strategy.
Preferably, the controlling the traveling speed of the aerial work platform according to the current vehicle speed, the safe vehicle speed corresponding to the slope interval where the current slope is located and the speed limit strategy further comprises: and when the current vehicle speed is greater than the safe vehicle speed, controlling a brake device of the aerial work platform to brake by adopting a brake torque which is less than or equal to the brake speed-limiting torque so as to control the walking speed of the aerial work platform, wherein each speed-limiting strategy is configured to control the walking speed of the aerial work platform based on the brake speed-limiting torque.
Preferably, the controlling the traveling speed of the aerial work platform according to the current vehicle speed and the safety vehicle speed limit strategy corresponding to the slope interval where the current slope is located further includes: and controlling the output power of a walking motor of the aerial work platform to be less than or equal to the limit power of the walking motor so as to control the walking speed of the aerial work platform, wherein each speed limit strategy is pre-configured to control the walking speed of the aerial work platform based on the limit power of the walking motor of the aerial work platform.
Preferably, the step of limiting the output power of the motor of the aerial work platform by the control unit according to the speed limit strategy corresponding to the gradient section where the current gradient is located includes: when the current gradient is at a critical point of the gradient interval, controlling the output power of a walking motor of the aerial work platform in a zero-order retainer mode; and when the current gradient is stable in the gradient section, limiting the output power of a walking motor of the aerial work platform according to a speed-limiting strategy corresponding to the gradient section where the current gradient is located.
According to a third aspect of embodiments of the present invention, there is also provided an aerial work platform comprising the above speed control apparatus.
In another aspect, an embodiment of the present invention further provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions are used to enable a machine to execute the speed control method.
Through the technical scheme, when the aerial work platform is in different working conditions, corresponding speed limit control is adopted according to different slopes where the aerial work platform is located at present, and the working efficiency of the equipment is guaranteed while the aerial work platform is guaranteed to run safely.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic structural view of a conventional electrically-driven scissor-type aerial work platform;
FIG. 2 is a schematic structural diagram of a speed control apparatus according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an installation position of the slope detection device and the first obtaining unit on the aerial work platform, which is provided by the embodiment of the invention and is provided by the specific application example;
FIG. 4 is a schematic diagram of the relative position of the aerial work platform and the ground under different working conditions provided by the embodiment of the invention;
FIG. 5 is a schematic diagram illustrating the structure and principles of an exemplary application provided by an embodiment of the present invention;
fig. 6 is a flowchart of a speed control method according to an embodiment of the present invention.
Description of the reference numerals
1. Gradient detection unit 2, first acquisition unit 3, control unit
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
In the embodiment of the invention, under the condition that the contrary explanation is not provided, the used direction words such as "up, down, left and right" refer to the relative positions in the drawing, forward movement refers to movement towards the direction of the vehicle head, backward movement refers to movement towards the direction of the vehicle tail, uphill movement refers to movement of the aerial work platform whole machine towards a direction higher than the terrain of a horizontal plane, and downhill movement refers to movement of the aerial work platform whole machine towards a direction higher than the terrain of the horizontal plane.
Fig. 1 is a structural schematic diagram of a conventional electrically-driven scissor-type aerial work platform, and as shown in fig. 1, the aerial work platform is high in body height, and large-amplitude swinging and even toppling are easy to occur if the vehicle speed is too high. And at present, the walking and lifting functions of the common electrically-driven scissor-fork type aerial work platform are realized by operating a platform handle, when the walking action is executed, the walking speed is controlled by the platform handle, and the handle is generally operated by a single hand, so that a user can hardly grasp the handle stroke and can hardly keep the handle stroke at a fixed position. If the platform handle removes, the speed of a motor vehicle also can be along with the change, leads to the speed of a motor vehicle too big because of misoperation easily, especially the vehicle goes at the downhill path operating mode, and especially when the slope is great, vehicle speed is difficult to control in the safety range, appears the vehicle out of control easily, has great potential safety hazard.
Meanwhile, on the flat ground or on a slope, if the equipment is braked emergently under the condition of too high running speed, the walking motor is stopped emergently from a high-rotating-speed state, so that the impact on the walking motor is large, the abrasion of the inside of the motor and a brake pad is accelerated, and the maintenance cost is increased. Therefore, the walking speed and the braking mode of the aerial work platform are very necessary to be reasonably controlled.
In the embodiment of the present invention, the technical solution of the present invention is described by taking the speed control device and the control method of the present invention as an example of applying to an aerial work platform, and it should be noted that the speed control device and the control method of the present invention may also be applied to any other applicable devices.
FIG. 2 is a schematic structural diagram of a speed control apparatus according to an embodiment of the present invention; as shown in fig. 2, the speed control apparatus includes a gradient detecting unit 1 for detecting a current gradient of a chassis of the aerial work platform with respect to a horizontal plane; the first acquiring unit 2 is used for acquiring the current speed of the aerial work platform; and the control unit 3 is in signal connection with the gradient detection unit 1 and the first acquisition unit 2 and is used for dividing the gradient detected by the gradient detection unit into a plurality of gradient intervals, wherein each gradient interval has a safety vehicle speed and a speed limit strategy which are pre-configured by combining the current working condition of the aerial work platform, and controlling the walking speed of the aerial work platform according to the current vehicle speed of the first acquisition unit and the safety vehicle speed and the speed limit strategy corresponding to the gradient interval where the current gradient is located.
The gradient monitoring unit 1 is installed on a chassis plane of the aerial work platform, and can detect the gradient of the chassis of the aerial work platform relative to a horizontal plane in real time (namely the front and back gradient of the chassis of the aerial work platform). The installation position of the slope detection unit 1 can be adjusted according to actual requirements as long as the inclination angle of the chassis of the device can be better detected, fig. 3 is a schematic view of the installation positions of the slope detection unit and the first acquisition unit 2 on the aerial work platform provided by a specific application example of the embodiment of the invention, and as shown in fig. 3, the slope detection unit 1 can be installed at a position close to the left and right centers of the head part on the plane of the chassis of the aerial work platform.
Preferably, the gradient detection unit 1 can detect the front and back gradient of the chassis of the aerial work platform and the left and right gradient of the chassis at the same time, so that when the aerial work platform is lifted, when the gradient (including the front and back gradient and the left and right gradient) of the aerial work platform exceeds a set gradient, an alarm is given and a lifting function of the aerial work platform is limited, and the risk of tipping caused by overhigh lifting of the equipment on the inclined ground is avoided.
For example, the slope detection unit 1 is an inclination sensor (not shown in the figure), the inclination sensor outputs an analog signal in a double-axis manner, referring to fig. 3 again, the left-right direction of the chassis of the aerial work platform is defined as an X-axis, the front-back direction of the chassis of the aerial work platform is defined as a Y-axis, the inclination sensor can detect an inclination signal of the device in real time, and respectively feed back X, Y-axis analog signals to the control unit 3, wherein the output signal of the inclination sensor is an analog signal and is in a linear relationship with the slope, the X, Y-axis output signal of the inclination sensor can be respectively 0-5V DC, 0.5-4.5V DC, or 4-20 mA DC, and the measurement range is adjustable from 0 ° -90 °. The control unit 3 determines the current gradient and the left-right inclination of the aerial work equipment through the output signal of the inclination angle sensor.
Taking the output signal of 0.5-4.5V DC and the measuring range of +/-30 degrees as an example, the corresponding relation between the output signals of the inclination angle sensors X and Y and the left-right inclination and the current gradient of the aerial work platform is shown in the following tables 1 and 2:
TABLE 1
TABLE 2
Referring to fig. 3 again, the first obtaining unit 2 is installed at the lower portion of the chassis frame and used for detecting the relative speed of the whole machine of the aerial work platform and the ground, the first obtaining unit 2 is in signal connection with the control unit 3, the control unit 3 CAN obtain the current speed of the aerial work platform in real time through signals sent to the control device 3 by the first obtaining unit 2, and the signal output mode of the first obtaining unit 2 is analog quantity or a CAN bus.
For example, the first obtaining unit 2 may be a vehicle speed sensor (not shown in the figure), the vehicle speed sensor may send a vehicle speed signal of the aerial work platform to the control unit 3 in real time, and the control unit 3 obtains the vehicle speed of the aerial work platform by detecting a change of the signal output by the first obtaining unit 2 and calculating the current vehicle speed of the aerial work platform.
In addition, the current working condition of the aerial work platform is determined by the control unit 3 in combination with the current gradient detected by the gradient detection unit 1, which is as follows: determining that the current traveling direction of the aerial work platform is a forward direction or a backward direction, and determining that the current vehicle state of the aerial work platform is an uphill state or a downhill state according to the gradient; and determining the current working condition of the aerial work platform to be any one of the following working conditions according to the corresponding relation between the walking direction and the vehicle state: forward uphill, backward downhill, backward uphill, forward downhill.
For example, the current walking direction of the aerial work platform may be determined first from the output signal of the aerial work platform handle (not shown). The control unit 3 is in signal connection with the platform handle, acquires an analog quantity signal from the platform handle, and corresponds the acquired analog quantity signal to an analog quantity signal for controlling the motor power of the aerial work platform, wherein the analog quantity signal and the analog quantity signal can be in a one-to-one corresponding linear relationship or a stepped nonlinear relationship. For example, the output signal range of the platform handle can be set to be 0.5-4.5V, and when the actual output is between 0.5-2.5V, the driving direction of the current aerial work platform is determined to be backward; and when the actual output is between 2.5 and 4.5V, judging that the driving direction of the current aerial work platform is forward.
And secondly, determining that the vehicle state of the current high-altitude operation platform is an uphill state or a downhill state by combining the current gradient detected by the gradient detection unit 1. Fig. 4 is a schematic diagram of the relative position of the aerial work platform and the ground under different working conditions, which is provided by the embodiment of the present invention, and as shown in fig. 4, the current working condition of the aerial work platform may be any one of the following: forward uphill, backward downhill, backward uphill, forward downhill.
It should be noted that, in the embodiment of the present invention, the working conditions of the aerial work platform are divided into the above-mentioned working conditions, but the technical solution of the present invention is not limited to this division method. For example, the working conditions of the aerial work platform may be divided into uphill travel and downhill travel.
The control unit 3 controls the walking speed of the aerial work platform by adopting the following method:
firstly, dividing the current gradient of an aerial work platform and a horizontal ground into a plurality of gradient sections, wherein each gradient section is provided with a safe vehicle speed and a speed-limiting strategy which are configured in advance by combining the current working condition of the aerial work platform, and when the current vehicle speed is greater than the safe vehicle speed, a control unit 3 adopts a braking moment which is less than or equal to the braking speed-limiting moment in the speed-limiting strategy to control a braking device of the aerial work platform to brake so as to control the walking speed of the aerial work platform, wherein each speed-limiting strategy is configured in advance to control the walking speed of the aerial work platform based on the braking speed-limiting moment. It should be noted that the control unit 3 takes other speed-limiting measures to the aerial work platform before acquiring the current speed of the aerial work platform, and the current speed of the aerial work platform is acquired to detect whether the speed-limiting measures taken by the control device control the traveling speed of the aerial work platform within the safe speed range, so that closed-loop control is formed and a better control effect is achieved.
Specifically, the first obtaining unit 2 detects the current speed of the aerial work platform in real time and sends the current speed to the control unit 3, the control unit 3 judges whether the current speed is smaller than the safe speed, if the current speed is larger than the safe speed, the control unit 3 outputs a brake signal to control a brake device of the aerial work platform to brake, and the walking speed of the aerial work platform is reduced to be smaller than or equal to the safe speed.
In the embodiment of the invention, the brake device is an electromagnetic brake, the maximum output brake torque value of the electromagnetic brake is 20 N.m, the maximum brake torque is generally used only when parking is needed, when the current gradient of the aerial work platform is in different gradient sections, the brake speed-limiting torque can be divided into four conditions of 10 N.m, 8 N.m, 6 N.m and 4 N.m according to the following table 3 and table 4, generally speaking, along with the increase of the gradient (inclination angle), the brake speed-limiting torque value is gradually reduced, the emergency brake condition is prevented, the impact on a traveling motor is reduced, the large abrasion on the motor and a brake pad is avoided, and the maintenance cost is effectively reduced.
For example, as shown in tables 5 and 6, the corresponding relationship table between the gradient zone of the current gradient and the safe vehicle speed and the braking speed limiting torque is shown. For example, if the current gradient of the chassis of the aerial work platform relative to the horizontal ground is 15 to 25 degrees, and the current vehicle speed acquired by the first acquisition unit is 2.5km/h, the control unit 3 outputs a brake signal with a brake moment smaller than 6N · m to control the aerial work platform to brake, so that the current vehicle speed of the aerial work platform is controlled within 2 km/h.
TABLE 3
| Slope of slope | 0°～5° | 5°～15° | 15°～25° | ＞25° |
| Safe vehicle speed | 4km/h | 3km/h | 2km/h | 1km/h |
| Braking speed limiting moment | 10N·m | 8N·m | 6N·m | 4N·m |
TABLE 4
| Slope of slope | ﹣5°～0° | ﹣15°～-5° | -25°～-15° | ＜-25° |
| Safe vehicle speed | 4km/h | 3km/h | 2km/h | 1km/h |
| Braking speed limiting moment | 10N·m | 8N·m | 6N·m | 4N·m |
Preferably, the control device 3 is also configured with each speed limit strategy to control the walking speed of the aerial work platform based on the walking motor limit power of the aerial work platform; and when the current vehicle speed is less than or equal to the safe vehicle speed, controlling the output power of a walking motor of the aerial work platform to be less than or equal to the limited power of the walking motor so as to control the walking speed of the aerial work platform.
For example, referring to the data that the inclination detection unit 1 adopts the inclination sensor and the corresponding relationship between the Y-axis output signal of the inclination sensor and the front and rear inclination angles of the chassis of the aerial work platform is shown in table 2, when the control unit 3 detects that the Y-axis output signal of the inclination sensor is in the range of 0.5 to 2.5V, it indicates that the aerial work platform is in the working condition of forward ascending or backward descending, and the inclination of the chassis of the aerial work platform relative to the horizontal plane is divided into a plurality of sections by using a section division method as shown in the following table 5. The gradient section can be divided according to actual needs.
TABLE 5
And when the current gradient of the aerial work platform is in different intervals in the table 5, controlling the output power of a walking motor of the aerial work platform to be less than or equal to the limited power of the walking motor so as to control the walking speed of the aerial work platform. When the aerial work platform is in a working condition of forward ascending, the speed limit control is not carried out, when the aerial work platform is in a working condition of backward descending and the current gradient is in an interval of 0-5 degrees, the speed limit control is not carried out, and when the current gradient is in other gradient intervals and the aerial work platform is in a working condition of backward descending, the walking speed of the aerial work platform is controlled according to the corresponding relation between the gradient interval where the current gradient is located and the speed limit strategy in the table 2. The percentile system numerical values in table 2 indicate that the power of the motor of the aerial work platform is controlled to be below a certain percentage of the rated power of the motor, for example, when the aerial work platform is in a backward downhill working condition, and the current gradient is between 5 and 15 degrees, the power of the motor of the aerial work platform is controlled to be not more than 50 percent of the rated power of the aerial work platform.
TABLE 6
When the control unit 3 detects that the Y-axis output signal of the tilt sensor is in the range of 2.5-4.5V, the high-altitude operation platform is in the working condition of advancing downhill or retreating uphill, and the chassis of the high-altitude operation platform is divided into a plurality of sections by adopting a section division method relative to the gradient of the horizontal plane according to the following table 6.
Similarly, when the current gradient of the aerial work platform is in different intervals in the table 6, the output power of the walking motor of the aerial work platform is controlled to be smaller than or equal to the limited power of the walking motor so as to control the walking speed of the aerial work platform. When the aerial work platform is in a backward ascending working condition, the speed limiting control is not carried out, when the aerial work platform is in a forward descending working condition and the current gradient is in a range of-5 degrees to 0 degrees, the speed limiting control is not carried out, and when the current gradient is in other gradient ranges and the aerial work platform is in a backward descending working condition, the walking speed of the aerial work platform is controlled according to the corresponding relation between the gradient range where the current gradient is located and the power of the walking motor in the table 3. The percentile system value in table 3 indicates that the power of the motor of the aerial work platform is controlled to be below a certain percentage of the rated power of the motor, for example, when the aerial work platform is in a backward downhill working condition, and the current gradient is between 5 and 15 degrees, the power of the motor of the aerial work platform is controlled to be not more than 50 percent of the rated power of the aerial work platform.
The control unit 3 controls the magnitude of the motor power by controlling the analog quantity output signal of the motor power corresponding to the aerial work platform. The larger the percentage value is, the larger the motor output power is, and vice versa. The control unit 3 may adjust the limit power of the traveling motor according to the current working condition of the aerial work platform according to the current synchronization in tables 5 and 6.
Preferably, when the current gradient is at a critical point of the gradient interval, a zero-order retainer mode is adopted to control the output power of a walking motor of the aerial work platform; and when the current gradient is stable in the gradient section, limiting the output power of a walking motor of the aerial work platform according to a speed-limiting strategy corresponding to the gradient section where the current gradient is located.
For example, in order to prevent the walking speed of the aerial work platform from frequently jumping at the critical point of the speed limit value, for the critical points of ± 5 °, ± 15 °, ± 25 °, the control unit 2 controls the power of the motor of the aerial work platform in a zero-order retainer mode, so that the walking speed of the aerial work platform does not frequently jump, and the running stability of the aerial work platform is maintained.
The values in tables 1 to 6 are all exemplary values, and may be adjusted according to actual conditions in practical applications.
Further configurations and operating principles of the speed control device according to the invention are explained below by way of example of application of specific embodiments.
Fig. 5 is a schematic structural and schematic diagram of a specific application example provided by an embodiment of the present invention, it should be noted that the Control device in the specific application example includes a PCU (Platform Control Unit), an ECU (Electronic Control Unit), and an MCU (Motor Control Unit Motor driver), the gradient detection device may be a tilt sensor, and outputs an analog signal in two axes, and the first obtaining Unit is a vehicle speed sensor, and can detect the vehicle speed of the aerial work Platform in real time.
As shown in figure 5, a platform handle of the aerial work platform is integrated with the PCU, is placed on the work platform, has two action directions of front and back, and can be switched between two functions of lifting and walking through a key on the PCU. When the PCU selects a walking function, the platform handle pushes forwards to enable the aerial work platform to move forwards, and the platform handle pushes backwards to enable the aerial work platform to move backwards. The platform handle outputs analog quantity signals, the handle stirs different strokes to output corresponding to different signals, and the running speed or the lifting speed of the equipment can be adjusted. The handle can reset from the neutral position, and when the handle is located at the neutral position, the handle does not output signals.
The PCU is used for acquiring input signals of a platform handle and is provided with a running and lifting function selection key. The PCU is communicated with the ECU, and output signals of the platform handle and the keys on the PCU can be transmitted to the ECU in real time.
The ECU is arranged in a chassis of the aerial work platform and is used for receiving a platform handle signal and a key signal transmitted by the PCU, receiving signals of the first acquisition unit, the gradient detection unit, the pressure sensor and the scissor angle sensor and outputting signals for controlling the brake device 1, the brake device 2 and the MCU.
The MCU is arranged in the chassis of the aerial work platform and used for driving the pump motor, the walking motor 1 and the walking motor 2. The MCU controls the rotating speed and the torque of the walking motors 1 and 2 by receiving analog quantity signals output by the ECU and controlling the currents of the excitation loop and the armature loop.
The analog quantity signal sent to the MCU by the ECU is two independent signals, wherein one signal is used for controlling the pump motor, the other signal is used for controlling the walking motor 1 and the walking motor 2, and the MCU outputs currents with different sizes according to the signal input to the MCU by the ECU to control the rotating speed of the corresponding motor.
The analog input signal of the platform handle corresponds to the analog signal output by the ECU to the motor driver, and can be in a one-to-one corresponding linear (straight line or curve) relationship or a stepped nonlinear relationship.
The scissor angle sensor is arranged on a scissor arm of the aerial work platform or on a bottom shaft of the scissor arm and used for detecting the angle of the scissor arm. The pressure sensor is arranged on a hydraulic valve of the lifting oil cylinder and used for detecting the pressure of the system when the equipment is lifted. The scissor angle sensor and the pressure sensor are jointly used for detecting the load borne by the working platform when the working platform is positioned at different heights, so that the overload alarm function of the system is realized, wherein the scissor angle sensor is usually also used as an inclination angle sensor. The scissor angle sensor, the pressure sensor and the overload warning function realized by the elements are not necessary to be configured in the technical scheme of the invention, and the overload warning function can be omitted in practical application.
The gradient detection device is arranged on a scissor chassis plane of the aerial work platform and used for measuring the chassis gradient of scissor equipment, and the gradient detection device can detect the gradients of the equipment chassis in two directions, namely X axis (lateral direction) and Y axis (longitudinal direction) in real time. When the equipment selects the lifting function, when the X axis or the Y axis of the chassis inclines beyond a certain angle, the ECU limits the lifting action of the equipment and prompts the equipment to incline for alarming, thereby avoiding the danger of tipping caused by overhigh lifting of the equipment on the inclined ground. Meanwhile, the ECU can also detect the gradient of the chassis of the aerial work platform relative to the horizontal plane in real time according to the Y-axis output signal of the inclination angle sensor 2.
The slope detection device outputs analog quantity signals in a double-shaft mode, wherein the X axis is consistent with the left and right directions of the equipment, and the Y axis is consistent with the front and back directions of the equipment. The sensor can detect front and back inclination signals of the aerial work platform in real time and respectively feed back X, Y axis analog quantity signals to the ECU. And the ECU determines the current gradient and the left-right gradient of the aerial work platform through analog quantity input signals of the gradient detection device. The X, Y axis output signals of the gradient detection device can be 0-5V DC, 0.5-4.5V DC or 4-20 mADC respectively, and the measurement range can be adjusted from 0 DEG to +/-90 deg.
The first acquisition unit can be a vehicle speed sensor, is arranged at the lower part of a chassis frame of the aerial work platform and is used for detecting the current vehicle speed of the whole aerial work platform and the ground, and can send a current vehicle speed signal to the ECU in real time, and the ECU calculates the vehicle speed of the whole aerial work platform by detecting the change of the output signal of the vehicle speed sensor, so that the current vehicle speed of the aerial work platform is monitored. The signal output mode of the vehicle speed sensor is analog quantity or CAN bus.
The walking motor 1 and the walking motor 2 are two shunt excitation direct current motors which are respectively arranged at the inner sides of two front wheels or rear wheels of the aerial work platform (front driving or rear driving is adopted depending on equipment), and can directly drive tires to rotate. The speed reducer is integrated in the walking motor, and the effects of reducing the output rotating speed and increasing the output torque can be achieved. The brake device 1 and the brake device 2 are integrated with the walking motor 1 and the walking motor 2 respectively, analog quantity signals for controlling the brake coils are output through the ECU, and the magnitude of brake braking torque can be adjusted by outputting the analog quantity signals for controlling the brake coils through the ECU.
The lifting oil cylinder is arranged in the middle of a scissor arm of the aerial work platform and used for lifting the platform.
Other implementation details of the application example are the same as those of the speed control device, and are not described herein again.
The speed control method provided by the embodiment of the invention is mainly applied to an aerial work platform, and fig. 6 is a flow chart of the speed control method provided by the embodiment of the invention. As shown in fig. 6, the speed control method may include the steps of:
s101, obtaining the current gradient of the aerial work platform relative to a horizontal plane.
In the embodiment of the invention, the analog quantity output signal of the ramp detection unit is obtained, the gradient of the chassis of the current aerial work platform relative to the horizontal plane is determined according to the output signal of the ramp detection unit, and the output signal of the inclination angle sensor is the analog quantity signal and has a linear relation with the gradient.
And S102, acquiring the current speed of the aerial work platform.
In the embodiment of the invention, the current vehicle speed signal of the aerial work platform is acquired in real time through the first acquisition unit and is sent to the control device, the signal output mode of the vehicle speed sensor is analog quantity or CAN bus, and the control device converts the vehicle speed signal into the current vehicle speed of the aerial work platform.
S103, determining the current working condition of the aerial work platform.
And determining the current working condition of the aerial work platform by combining the gradient. Preferably, the current walking direction of the aerial work platform is determined to be a forward direction or a backward direction; determining the current vehicle state of the aerial work platform as an ascending state or a descending state according to the gradient of the ground where the aerial work platform is located; and determining the current working condition of the aerial work platform to be any one of the following working conditions according to the corresponding relation between the walking direction and the vehicle state: uphill forward, downhill backward, uphill backward, downhill forward.
And S104, controlling the traveling speed of the aerial work platform.
And controlling the traveling speed of the aerial work platform according to the current vehicle speed, the safe vehicle speed corresponding to the gradient interval where the current gradient is located and the speed limit strategy.
Specifically, the current gradient of a chassis of the aerial work platform relative to a horizontal plane is divided into a plurality of gradient intervals, wherein each gradient interval is provided with 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 controlling the traveling speed of the aerial work platform according to the current vehicle speed, the safe vehicle speed corresponding to the slope interval where the current slope is located and the speed limit strategy.
Preferably, when the current vehicle speed is greater than the safe vehicle speed, a braking torque less than or equal to the braking speed limiting torque is adopted to control a braking device of the aerial work platform to brake so as to control the walking speed of the aerial work platform, wherein each speed limiting strategy is configured to control the walking speed of the aerial work platform based on the braking speed limiting torque.
Further, the output power of a walking motor of the aerial work platform is controlled to be smaller than or equal to the limit power of the walking motor so as to control the walking speed of the aerial work platform, wherein each speed limit strategy is pre-configured to control the walking speed of the aerial work platform based on the limit power of the walking motor of the aerial work platform.
When the current gradient is at a critical point of the gradient interval, controlling the output power of a walking motor of the aerial work platform in a zero-order retainer mode; and when the current gradient is stable in the gradient section, limiting the output power of a walking motor of the aerial work platform according to a speed-limiting strategy corresponding to the gradient section where the current gradient is located.
Other implementation details of the speed control method are the same as those of the speed control device, and are not described herein again.
The embodiment of the invention also provides an aerial work platform which comprises the speed control device, and the specific implementation details of the aerial work platform are the same as those of the speed control device, and are not described again.
Through the technical scheme, when the aerial work platform is in different working conditions, corresponding speed limit control is adopted according to different slopes where the aerial work platform is located at present, and the working efficiency of the equipment is guaranteed while the aerial work platform is guaranteed to run safely.
In addition, whether the current speed of the aerial work platform is within the safe speed range or not is detected, whether further speed-limiting control is carried out on the aerial work platform or not is determined, closed-loop control of the walking speed of the aerial work platform is formed, and control accuracy of the walking speed of the aerial work platform is effectively improved. When the current vehicle speed is greater than the safe vehicle speed, the braking torque which is adaptive to the gradient interval where the current gradient of the aerial work platform is located is adopted to brake and control the aerial work platform, so that the safety of the aerial work platform is further ensured, and the aerial work platform is effectively prevented from tipping over. Meanwhile, under the condition that the running speed of the aerial work platform is too high, the equipment is prevented from emergently braking or suddenly and greatly reducing the large impact of the speed of the vehicle on the walking motor, the abrasion to the inside of the walking motor and a brake coil is reduced, and the maintenance cost is reduced.
In addition, the embodiment of the invention can realize automatic control of full control of the walking speed of the aerial work platform, reduce the influence of manual operation on the walking speed of the aerial work platform, avoid the danger caused by improper operation of the aerial work platform handle in the prior art and practically ensure the safety of equipment and operators of the aerial work platform.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A speed control apparatus for an aerial work platform, the speed control apparatus comprising:
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 acquisition unit is used for acquiring the current speed of the aerial work platform;
the control unit is in signal connection with the gradient detection unit and the first acquisition unit and is used for dividing the current gradient into a plurality of gradient intervals, wherein each gradient interval is provided with 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 of the first acquisition unit and the safe vehicle speed and the speed limit strategy corresponding to the gradient interval where the current gradient is located;
the current working condition of the aerial work platform is any one of forward ascending, backward descending, backward ascending and forward descending determined according to the corresponding relation between the vehicle traveling direction and the vehicle state; wherein each speed limit strategy is pre-configured to:
controlling the walking speed of the aerial work platform based on the limit power of a walking motor of the aerial work platform; and/or
And controlling the traveling speed of the aerial work platform based on the braking speed limiting moment corresponding to the gradient section.
2. The speed control device of claim 1, wherein when each speed limit strategy is preconfigured to control the walking speed of the aerial work platform based on a braking speed limit torque of the aerial work platform, the controlling unit controls the walking speed of the aerial work platform according to the current vehicle speed, a safe vehicle speed corresponding to a gradient section where the current gradient is located, and the speed limit strategy, and comprises:
and when the current vehicle speed is greater than the safe vehicle speed, adopting a braking torque which is less than or equal to the braking speed limiting torque in the speed limiting strategy to control a braking device of the aerial work platform to brake so as to control the walking speed of the aerial work platform.
3. The speed control device of claim 1, wherein when each speed limit strategy is preconfigured to control the walking speed of the aerial work platform based on the walking motor limit power corresponding to the slope section, the controlling unit controls the walking speed of the aerial work platform according to the current vehicle speed, a safe vehicle speed corresponding to the slope section where the current slope is located, and the speed limit strategy, and comprises:
and controlling the output power of a walking motor of the aerial work platform to be less than or equal to the limited power of the walking motor in the speed limiting strategy so as to control the walking speed of the aerial work platform.
4. The speed control device of claim 3, wherein the control unit controlling the output power of the travel motor of the aerial work platform to be less than or equal to the travel motor limit power comprises: when the current gradient is at a critical point of the gradient interval, controlling the output power of a walking motor of the aerial work platform in a zero-order retainer mode; and when the current gradient is stable in the gradient section, limiting the output power of a walking motor of the aerial work platform according to a speed-limiting strategy corresponding to the gradient section where the current gradient is located.
5. A speed control method for an aerial work platform, the speed control method comprising:
acquiring the current gradient of a chassis of the aerial work platform relative to a horizontal plane;
acquiring the current speed of the aerial work platform;
dividing the current gradient into a plurality of gradient sections, wherein each gradient section 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 current working condition of the aerial work platform is any one of an advancing ascending slope, a retreating descending slope, a retreating ascending slope and an advancing descending slope which are determined according to the corresponding relation between the vehicle traveling direction and the vehicle state; and
controlling the walking speed of the aerial work platform according to the current vehicle speed, the safe vehicle speed corresponding to the gradient interval where the current gradient is located and a speed limit strategy, wherein each speed limit strategy is configured in advance as follows: controlling the walking speed of the aerial work platform based on the limit power of a walking motor of the aerial work platform; and
and controlling the traveling speed of the aerial work platform based on the braking speed limiting moment corresponding to the gradient section.
6. The speed control method of claim 5, wherein when each speed limit strategy is preconfigured to control the walking speed of the aerial work platform based on a braking speed limit torque of the aerial work platform, the controlling the walking speed of the aerial work platform according to the current vehicle speed, a safe vehicle speed corresponding to a gradient interval in which the current gradient is located, and the speed limit strategy further comprises:
and when the current vehicle speed is greater than the safe vehicle speed, controlling a brake device of the aerial work platform to brake by adopting a brake torque which is less than or equal to the brake speed-limiting torque so as to control the walking speed of the aerial work platform.
7. The speed control method of claim 5, wherein when each speed limit strategy is preconfigured to control the walking speed of the aerial work platform based on the walking motor limit power corresponding to the slope interval, the controlling the walking speed of the aerial work platform according to the current vehicle speed and the safe vehicle speed limit strategy corresponding to the slope interval in which the current slope is located further comprises:
and controlling the output power of a walking motor of the aerial work platform to be less than or equal to the limit power of the walking motor so as to control the walking speed of the aerial work platform.
8. The speed control method of claim 5, wherein the controlling the output power of the travel motor of the aerial work platform to be less than or equal to the travel motor limit power comprises: when the current gradient is at a critical point of the gradient interval, controlling the output power of a walking motor of the aerial work platform in a zero-order retainer mode; and when the current gradient is stable in the gradient section, limiting the output power of a walking motor of the aerial work platform according to a speed-limiting strategy corresponding to the gradient section where the current gradient is located.
9. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the speed control method of any of claims 5-8.
10. An aerial work platform comprising a speed control device as claimed in any one of claims 1 to 4.
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| WO2020055677A1 (en) | 2018-09-13 | 2020-03-19 | Crown Equipment Corporation | System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load |
| 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 |
| CN111152666B (en) * | 2019-12-31 | 2021-03-30 | 湖南中联重科智能高空作业机械有限公司 | Downhill speed control system, downhill speed control method, and aerial work apparatus |
| CN111056513B (en) * | 2019-12-31 | 2021-03-23 | 湖南中联重科智能高空作业机械有限公司 | Downhill working condition identification method and system and aerial working equipment |
| CN111943095B (en) * | 2020-07-10 | 2021-10-01 | 湖南星邦智能装备股份有限公司 | Method for controlling stability of boom of aerial work platform |
| CN112478040B (en) * | 2020-12-09 | 2021-11-30 | 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 |
| CN113233394B (en) * | 2021-06-02 | 2022-04-22 | 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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Effective date of registration: 20201228 Address after: 410010 room 4110, 4th floor, office building, 677 Lugu Avenue, high tech Development Zone, Changsha City, Hunan Province Patentee after: Hunan Zoomlion intelligent aerial work machinery Co.,Ltd. Address before: 410013 No. 361 South silver basin, Changsha, Hunan, Yuelu District Patentee before: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. |