CN110282562A - Elevating fire truck arm support control method, system and elevating fire truck - Google Patents
Elevating fire truck arm support control method, system and elevating fire truck Download PDFInfo
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- CN110282562A CN110282562A CN201910478489.6A CN201910478489A CN110282562A CN 110282562 A CN110282562 A CN 110282562A CN 201910478489 A CN201910478489 A CN 201910478489A CN 110282562 A CN110282562 A CN 110282562A
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- cantilever crane
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Control And Safety Of Cranes (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention proposes a kind of elevating fire truck arm support control method, system and elevating fire truck, the vibration that can be eliminated cantilever crane starting and/or occur when stopping improves the stationarity and safety of cantilever crane in operation.This method includes operation performed when controlling cantilever crane starting and/or when control cantilever crane stopping.When controlling cantilever crane starting, the desired motion speed signal v of the cantilever crane is determined0, and cantilever crane is calculated with desired motion speed signal v0Corresponding drive cylinder flow L when stable motion0；Flow L needed for obtaining the starting of cantilever crane described in the drive cylinder constant-speed drive1；Obtain the flow L1The t that holds time1；And the flow of the control drive cylinder meets the flow L1, and reach the t that holds time in holding time for the flow1In the case where, the flow for controlling the drive cylinder meets the flow L0。
Description
Technical field
The present invention relates to engineering machinery fields, more specifically, are related to a kind of elevating fire truck arm support control method, elevate
Fire fighting truck arm support control system and elevating fire truck comprising the system.
Background technique
Since field condition is critical when elevating fire truck executes rescue task, stationarity when to cantilever crane start and stop has higher
It is required that.Present elevating fire truck cantilever crane is generally driven by electric-controlled hydraulic oil cylinder, long cantilever crane elevating fire truck due to cantilever crane flexibility,
In electric control system controls drive cylinder rapid starting/stopping, cantilever crane quickly can't move and stop therewith, but can do periodicity
Simple harmonic oscillation is damped, and vibration stops and generally may require that longer time.Such control method will lead to cantilever crane upper end
The shaking of working bucket platform influences rescue efficiency and safety-type, can also reduce operating comfort.
The prior art generally carries out acceleration and deceleration by generating hydraulic fluid flow rate speed ramp, to buffer cantilever crane movement band
The impact come.Specific implementation has through hydraulic way and two kinds of electric appliance mode.
But either hydraulic system increases damping or buffer or electrical system by current ramp come acceleration and deceleration,
All there is the game of stationarity and speed in common slope way to play for time, can not guarantee quick and stationarity simultaneously.
Summary of the invention
The invention proposes a kind of elevating fire truck arm support control method, elevating fire truck arm support control system and include this
The elevating fire truck of system, can eliminate the vibration occurred when cantilever crane start and stop, improve cantilever crane stationarity in operation and
Safety.
An embodiment according to the present invention, the present invention provide one kind and elevate platform fire truck arm support control method, this method packet
It includes: when controlling cantilever crane starting below and/or controlling operation performed when the cantilever crane stops:
When controlling cantilever crane starting,
Determine the desired motion speed signal v of the cantilever crane0, and cantilever crane is calculated with desired motion speed
Spend signal v0Corresponding drive cylinder flow L when stable motion0；
Flow L needed for obtaining the starting of cantilever crane described in the drive cylinder constant-speed drive1；
Obtain the flow L1The t that holds time1；And
The flow for controlling the drive cylinder meets the flow L1, and holding time in the flow
Reach the t that holds time1In the case where, the flow for controlling the drive cylinder meets the flow
L0,
When controlling cantilever crane stopping,
Determine the related present flow rate L of the driving of the cantilever crane2, and calculating at this time stops the cantilever crane
Only required constant-speed drive Flow of Cylinder L3；
Obtain the flow L3The t that holds time2；And
The flow for controlling the drive cylinder meets the flow L3, and holding time in the flow
Reach the t that holds time2In the case where, the flow for controlling the drive cylinder is zero.
Wherein, the desired motion speed signal v of the determination cantilever crane0It include: to elevate platform fire truck described in detection
The signal that is inputted of operation handle；And according to the signal, determine the desired motion speed signal v of the cantilever crane0。
Wherein, described to obtain the required flow L of the starting of cantilever crane described in the drive cylinder constant-speed drive1It include: according to institute
State drive cylinder flow L0, flow L needed for calculating the starting of cantilever crane described in the drive cylinder constant-speed drive1。
Wherein, described to obtain the flow L1The t that holds time1And/or the flow L3The t that holds time2It include: true
Vibration natural period T when the fixed cantilever crane vibrates；And vibration natural period T when according to described vibrating, meter
Calculate the flow L1The t that holds time1And/or the flow L3The t that holds time2。
Wherein, the vibration natural period T when determination cantilever crane vibrates includes: the arm for detecting the cantilever crane
Frame posture；And according to cantilever crane posture, the vibration natural period T when cantilever crane vibrates is determined.
Wherein, the t1For the 0.4~0.6T and/or t2For 0.4~0.6T.
Wherein, the L1For 0.4~0.6L0And/or the L3For 0.4~0.6L2。
An embodiment according to the present invention, the present invention provide one kind and elevate platform fire truck arm support control system, the system packet
It includes: storage device, for storing computer executable instructions；And control device, for executing, the computer is executable to be referred to
It enables, when controlling cantilever crane starting to execute and/or controls operation performed when the cantilever crane stops:
When controlling cantilever crane starting,
Determine the desired motion speed signal v of the cantilever crane0, and cantilever crane is calculated with desired motion speed signal v0Stablize
Corresponding drive cylinder flow L when movement0；
Flow L needed for obtaining the starting of cantilever crane described in the drive cylinder constant-speed drive1；
Obtain the flow L1The t that holds time1；And
The flow for controlling the drive cylinder meets the flow L1, and reach the maintenance in holding time for the flow
Time t1In the case where, the flow for controlling the drive cylinder meets the flow L0,
When controlling cantilever crane stopping,
Determine the related present flow rate L of the driving of the cantilever crane2, and calculate the constant speed needed at this time stopping the cantilever crane
Drive cylinder flow L3；
Obtain the flow L3The t that holds time2；And
The flow for controlling the drive cylinder meets the flow L3, and reach the maintenance in holding time for the flow
Time t2In the case where, the flow for controlling the drive cylinder is zero.
Wherein, the control device for detect it is described elevate the signal that the operation handle of platform fire truck is inputted, and
According to the signal, the desired motion speed signal v of the cantilever crane is determined0。
Wherein, described to obtain the required flow L of the starting of cantilever crane described in the drive cylinder constant-speed drive1It include: according to institute
State drive cylinder flow L0, flow L needed for calculating the starting of cantilever crane described in the drive cylinder constant-speed drive1。
Wherein, described to obtain the flow L1The t that holds time1And/or the flow L3The t that holds time2It include: true
Vibration natural period T when the fixed cantilever crane vibrates；And vibration natural period T when according to described vibrating, meter
Calculate the flow L1The t that holds time1And/or the flow L3The t that holds time2。
Wherein, the system also includes: cantilever crane acceleration sensor detects the cantilever crane posture of the cantilever crane；And the control
Device processed is also used to determine the vibration natural period T when cantilever crane vibrates according to cantilever crane posture.
Wherein, the t1For the 0.4~0.6T and/or t2For 0.4~0.6T.
Wherein, the L1For 0.4~0.6L0And/or the L3For 0.4~0.6L2。
An embodiment according to the present invention, the present invention provide a kind of elevating fire truck, and the elevating fire truck includes according to upper
State control system.
Correspondingly, a kind of machine readable storage medium is stored with instruction on the machine readable storage medium, which is used for
So that machine execution is above-mentioned to elevate platform fire truck arm support control method.
Motion state of the drive cylinder in shutdown process can be controlled by the changes in flow rate in control drive cylinder,
Drive cylinder and cantilever crane is set to cooperate with steady acceleration and deceleration together, final synchronous, cantilever crane reaches stable state at this time, can make cantilever crane
The quick and stable start and stop in amplitude changing process.
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 a kind of work flow diagram for elevating platform fire truck arm support control method that one embodiment of the invention provides；
Fig. 2 be another embodiment of the present invention provides a kind of workflow for elevating platform fire truck arm support control method
Figure；And
Fig. 3 is the schematic diagram for elevating platform fire truck arm support control system that one embodiment of the invention provides.
Description of symbols
10 storage device, 20 control device
30 cantilever crane acceleration transducer, 40 operation handle
50 Flow of Cylinder monitor, 21 data processing unit
22 flow regulating unit, 60 electromagnetic proportional valve
70 display screens
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.
Fig. 1 is a kind of work flow diagram for elevating platform fire truck arm support control method that one embodiment of the invention provides.
As shown in Figure 1, one embodiment of the invention, which provides one kind, elevates platform fire truck arm support control method, this method includes following control
Performed operation when the cantilever crane starts and/or when the control cantilever crane stops.
It is described to elevate operation performed by platform fire truck arm support control method and include: when controlling cantilever crane starting
Determine the desired motion speed signal v of the cantilever crane0, and cantilever crane is calculated with desired motion speed signal v0Institute when stable motion
Corresponding drive cylinder flow L0；Flow L needed for obtaining the starting of cantilever crane described in the drive cylinder constant-speed drive1；Described in acquisition
Flow L1The t that holds time1；And the flow of the control drive cylinder meets the flow L1, and holding time in the flow
Reach the t that holds time1In the case where, the flow for controlling the drive cylinder meets the flow L0, for example, with high platform
The flow control of the drive cylinder is the flow L by the prestissimo that fire fighting truck may be implemented0。
It is described to elevate operation performed by platform fire truck arm support control method and include: when controlling the cantilever crane and stopping
Determine the related present flow rate L of the driving of the cantilever crane2, and calculate the constant-speed drive oil cylinder needed at this time stopping the cantilever crane
Flow L3；Obtain the flow L3The t that holds time2；And the flow of the control drive cylinder meets the flow L3, and
Holding time for the flow reaches the t that holds time2In the case where, the flow for controlling the drive cylinder is zero, for example, with
The flow of the drive cylinder is reduced to zero by the prestissimo that high platform fire fighting truck may be implemented.
Above scheme given by the present invention can be used when cantilever crane starts and/or when cantilever crane stops, as opening for cantilever crane
It is dynamic with the judgement stopped, the present flow rate of the drive cylinder of cantilever crane and/or the operation handle for elevating platform fire truck can be passed through
Handle signal judges.Scheme given by the present invention is different from previous by adding damping, buffer or electric current
Acceleration and deceleration are carried out on slope, can control fortune of the drive cylinder in shutdown process by the changes in flow rate in control drive cylinder
Dynamic state, makes drive cylinder and cantilever crane cooperate with steady acceleration and deceleration together, final synchronous, and cantilever crane reaches stable state at this time, can
So that cantilever crane quick and stable start and stop in amplitude changing process.Structure needed for it is implemented is simple, and response quickly greatly reduces cantilever crane
When starting or stoping to the impact of drive cylinder, the simple harmonic oscillation in cantilever crane movement is reduced.
The desired motion speed signal v of the determination cantilever crane0It include: the operation that platform fire truck is elevated described in detection
The signal that handle is inputted；And according to the signal, determine the desired motion speed signal v of the cantilever crane0.Certainly, of the invention
It is not limited to this, other obtain the desired motion speed signal v of the cantilever crane0Mode be also that can be applicable in, for example, the phase
Hope motion rate signals v0It can be obtained by other human-computer interaction interfaces other than operation handle.
Fig. 2 be another embodiment of the present invention provides a kind of workflow for elevating platform fire truck arm support control method
Figure.The difference is that, refine with embodiment shown in FIG. 1 and " obtained cantilever crane described in the drive cylinder constant-speed drive
Flow L needed for starting1", " obtain the flow L1The t that holds time1" and " obtain the flow L3The t that holds time2”
These three steps.Specifically,
It is described to obtain the required flow L of the starting of cantilever crane described in the drive cylinder constant-speed drive1It include: according to the driving
Flow of Cylinder L0, flow L needed for calculating the starting of cantilever crane described in the drive cylinder constant-speed drive1。
It is described to obtain the flow L1The t that holds time1Comprise determining that the vibration when cantilever crane vibrates is inherently all
Phase T；And vibration natural period T when according to described vibrating, calculate the flow L1The t that holds time1。
It is described to obtain the flow L3The t that holds time2Comprise determining that the vibration when cantilever crane vibrates is inherently all
Phase T；And vibration natural period T when according to described vibrating, calculate the flow L3The t that holds time2。
Cantilever crane generally has a certain vibration natural period, has relationship with cantilever crane self structure and posture.Wherein, described
Determine that the vibration natural period T when cantilever crane vibrates includes: the cantilever crane posture for detecting the cantilever crane；And according to arm
Frame posture determines the vibration natural period T when cantilever crane vibrates.Certainly, the present invention is not limited thereto, other acquisitions
The mode of vibration natural period T when cantilever crane vibrates is also that can be applicable in.The cantilever crane appearance of the detection cantilever crane
State and vibration natural period T when determining that the cantilever crane vibrates according to cantilever crane posture can be real-time perfoming, with
So that the above-mentioned t that holds time1And t2Calculating can as far as possible precisely, meet the current pose of cantilever crane.
Wherein, the t1It can be the 0.4~0.6T and/or t2It can be 0.4~0.6T.Wherein, the L1For 0.4~
0.6L0And/or the L3For 0.4~0.6L2.Described herein 0.4~0.6 is only exemplary, can be according to practical need
Select to can reach other calculations or proportional numerical value range of cantilever crane motion stability start and stop.
It should be noted that the sequence between each step in above-mentioned control method is not restricted to said sequence,
For example, about the flow L1With the t that holds time1Calculating step can be with reversed order, when the cantilever crane vibrates
Vibration natural period T can be determined in above method implementation procedure, and not necessarily method execute the first step it is true
It is fixed.Those skilled in the art the execution to each step sequentially can make appropriate adjustment according to actual needs.
Fig. 3 is the schematic diagram for elevating platform fire truck arm support control system that one embodiment of the invention provides.Such as Fig. 3 institute
Show, one embodiment of the invention provides one kind and elevates platform fire truck arm support control system, which includes: storage device 10, uses
In storage computer executable instructions；And control device 20, for executing the computer executable instructions, to execute control
When the cantilever crane starts and/or control operation performed when the cantilever crane stops:
When controlling cantilever crane starting,
Determine the desired motion speed signal v of the cantilever crane0, and cantilever crane is calculated with desired motion speed signal v0Stablize
Corresponding drive cylinder flow L when movement0；
Flow L needed for obtaining the starting of cantilever crane described in the drive cylinder constant-speed drive1；
Obtain the flow L1The t that holds time1；And
The flow for controlling the drive cylinder meets the flow L1, and reach the maintenance in holding time for the flow
Time t1In the case where, the flow for controlling the drive cylinder meets the flow L0,
When controlling cantilever crane stopping,
Determine the related present flow rate L of the driving of the cantilever crane2(for example, present flow rate L2It can be monitored by Flow of Cylinder
Device 50 detects), and calculate the constant-speed drive Flow of Cylinder L needed at this time stopping the cantilever crane3；
Obtain the flow L3The t that holds time2；And
The flow for controlling the drive cylinder meets the flow L3, and reach the maintenance in holding time for the flow
Time t2In the case where, the flow for controlling the drive cylinder is zero.
It includes data processing unit 21 and flow regulating unit 22, wherein data processing that control device 20 is shown in Fig. 3
The executable related flow L of unit 210、L1、L3With the t that holds time1And t2Calculating, and flow regulating unit 22 can pass through to
Electromagnetic proportional valve 60 exports corresponding control electric current and executes the function of controlling drive cylinder flow and hold time.Certainly, it closes
It can be carried out according to actual needs in the division of specific functional modules in control device 20, be not limited in above-mentioned data processing unit
21 and flow regulating unit 22.
Wherein, described to obtain the required flow L of the starting of cantilever crane described in the drive cylinder constant-speed drive1It include: according to institute
State drive cylinder flow L0, flow L needed for calculating the starting of cantilever crane described in the drive cylinder constant-speed drive1。
Wherein, described to obtain the flow L1The t that holds time1Comprise determining that the vibration when cantilever crane vibrates is solid
There is cycle T；And vibration natural period T when according to described vibrating, calculate the flow L1The t that holds time1。
Wherein, described to obtain the flow L3The t that holds time2Comprise determining that the vibration when cantilever crane vibrates is solid
There is cycle T；And vibration natural period T when according to described vibrating, calculate the flow L3The t that holds time2。
Wherein, the system further include: cantilever crane acceleration sensor 30, for detecting the cantilever crane posture of the cantilever crane, the control
Device 20 processed is used to determine the vibration natural period T when cantilever crane vibrates according to the cantilever crane posture.
Wherein, the control device 20 described elevates the letter that the operation handle 40 of platform fire truck is inputted for detecting
Number, and according to the signal, determine the desired motion speed signal v of the cantilever crane0。
Wherein, the t1For the 0.4~0.6T and/or t2For 0.4~0.6T.
Wherein, the L1For 0.4~0.6L0And/or the L3For 0.4~0.6L2。
Display screen 70 as shown in Figure 3 can be used as a human-computer interaction interface, and display is above-mentioned to elevate platform fire truck cantilever crane control
The some parameters of system processed in the process of running, vibration natural period T, the cantilever crane when such as described cantilever crane vibrates
Desired motion speed signal v0Etc., so that operator understands the operating condition of system.
In relation to the detail and benefit provided by the invention for elevating platform fire truck arm support control system, see above-mentioned
The description for elevating platform fire truck arm support control method, repeats no more in this.
An embodiment according to the present invention, the present invention provide a kind of elevating fire truck, and the elevating fire truck includes according to upper
State control system.
Platform fire truck arm support control method is elevated and system is not merely suitable for lifting it should be noted that of the invention
High fire fighting truck, other instruments for needing to use cantilever crane are also that can be used, such as crane, concrete mixer etc..
The control device for being included in platform fire truck arm support control system that elevates of offer of the invention may include processing
Device and memory, various operations performed by above-mentioned control device can be used as program unit storage in memory, by handling
Device executes above procedure unit stored in memory to realize corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set one
Or more, the control for elevating platform fire truck cantilever crane motion stability start and stop is realized by adjusting kernel parameter.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, if read-only memory (ROM) or flash memory (flash RAM), memory include that at least one is deposited
Store up chip.
The embodiment of the invention provides a kind of storage mediums, are stored thereon with program, real when which is executed by processor
Platform fire truck arm support control method is elevated described in existing.
The embodiment of the invention provides a kind of processor, the processor is for running program, wherein described program operation
Platform fire truck arm support control method is elevated described in Shi Zhihang.
The embodiment of the invention provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, processor is realized when executing program above-mentioned elevates platform fire truck arm support control method.Herein
In equipment can be server, PC, PAD, mobile phone etc..
Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just
Beginningization has the above-mentioned program for elevating the method and step that platform fire truck arm support control method is included.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The above is only embodiments herein, are not intended to limit this application.To those skilled in the art,
Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of the claims of this application.
Claims (15)
1. one kind elevates platform fire truck arm support control method, when this method includes the starting of the following control cantilever crane and/or control
Make operation performed when the cantilever crane stops:
When controlling cantilever crane starting,
Determine the desired motion speed signal v of the cantilever crane0, and cantilever crane is calculated with desired motion speed signal v0Stable motion
When corresponding drive cylinder flow L0；
Flow L needed for obtaining the starting of cantilever crane described in the drive cylinder constant-speed drive1；
Obtain the flow L1The t that holds time1；And
The flow for controlling the drive cylinder meets the flow L1, and reach described in holding time for the flow and hold time
t1In the case where, the flow for controlling the drive cylinder meets the flow L0,
When controlling cantilever crane stopping,
Determine the related present flow rate L of the driving of the cantilever crane2, and calculate the constant-speed drive needed at this time stopping the cantilever crane
Flow of Cylinder L3；
Obtain the flow L3The t that holds time2；And
The flow for controlling the drive cylinder meets the flow L3, and reach described in holding time for the flow and hold time
t2In the case where, the flow for controlling the drive cylinder is zero.
2. control method according to claim 1, wherein the desired motion speed signal v of the determination cantilever crane0Packet
It includes:
The signal that the operation handle of platform fire truck is inputted is elevated described in detection；And
According to the signal, the desired motion speed signal v of the cantilever crane is determined0。
3. control method described in any one of -2 claims according to claim 1, wherein obtaining the drive cylinder constant speed
Flow L needed for driving the cantilever crane starting1Include:
According to the drive cylinder flow L0, flow L needed for calculating the starting of cantilever crane described in the drive cylinder constant-speed drive1。
4. control method described in any one of -2 claims according to claim 1, wherein obtaining the flow L1Maintenance when
Between t1And/or the flow L3The t that holds time2Include:
Determine the vibration natural period T when cantilever crane vibrates；And
Vibration natural period T when according to described vibrating, calculates the flow L1The t that holds time1And/or the flow
L3The t that holds time2。
5. control method according to claim 4, wherein the vibration when determination cantilever crane vibrates is intrinsic
Cycle T includes:
Detect the cantilever crane posture of the cantilever crane；And
According to cantilever crane posture, the vibration natural period T when cantilever crane vibrates is determined.
6. control method according to claim 4, wherein the t1For the 0.4~0.6T and/or t2For 0.4~
0.6T。
7. control method described in any one of -2 claims according to claim 1, wherein the L1For 0.4~0.6L0, and/
Or the L3For 0.4~0.6L2。
8. one kind elevates platform fire truck arm support control system, which includes:
Storage device, for storing computer executable instructions；And
Control device, for executing the computer executable instructions, with execute it is following control the cantilever crane starting when and/or control
Make operation performed when the cantilever crane stops:
When controlling cantilever crane starting,
Determine the desired motion speed signal v of the cantilever crane0, and cantilever crane is calculated with desired motion speed signal v0Stable motion
When corresponding drive cylinder flow L0；
Flow L needed for obtaining the starting of cantilever crane described in the drive cylinder constant-speed drive1；
Obtain the flow L1The t that holds time1；And
The flow for controlling the drive cylinder meets the flow L1, and reach described in holding time for the flow and hold time
t1In the case where, the flow for controlling the drive cylinder meets the flow L0,
When controlling cantilever crane stopping,
Determine the related present flow rate L of the driving of the cantilever crane2, and calculate the constant-speed drive needed at this time stopping the cantilever crane
Flow of Cylinder L3；
Obtain the flow L3The t that holds time2；And
The flow for controlling the drive cylinder meets the flow L3, and reach described in holding time for the flow and hold time
t2In the case where, the flow for controlling the drive cylinder is zero.
9. control system according to claim 8, wherein the control device described elevates platform fire truck for detecting
The signal that is inputted of operation handle determine the desired motion speed signal v of the cantilever crane and according to the signal0。
10. according to control system described in any one of claim 8-9 claim, wherein obtaining the drive cylinder constant speed
Flow L needed for driving the cantilever crane starting1Include:
According to the drive cylinder flow L0, flow L needed for calculating the starting of cantilever crane described in the drive cylinder constant-speed drive1。
11. according to control system described in any one of claim 8-9 claim, wherein obtaining the flow L1Maintenance
Time t1And/or the flow L3The t that holds time2Include:
Determine the vibration natural period T when cantilever crane vibrates；And
Vibration natural period T when according to described vibrating, calculates the flow L1The t that holds time1And/or the flow
L3The t that holds time2。
12. control system according to claim 11, the wherein system further include:
Cantilever crane acceleration sensor detects the cantilever crane posture of the cantilever crane；And
The control device is also used to determine the vibration natural period T when cantilever crane vibrates according to cantilever crane posture.
13. control system according to claim 11, wherein the t1For the 0.4~0.6T and/or t2For 0.4~
0.6T。
14. according to control system described in any one of claim 8-9 claim, wherein the L1For 0.4~0.6L0,
And/or the L3For 0.4~0.6L2。
15. a kind of elevating fire truck, the elevating fire truck includes according to any one of claim 8-14 claim
Control system.
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Address after: 410200 No. 997, Section 2, Tengfei Road, Wangcheng District, Changsha City, Hunan Province Patentee after: Hunan Zoomlion emergency equipment Co., Ltd Address before: 410200 No. 997, Jinxing Road, Wangcheng District, Changsha City, Hunan Province Patentee before: Changsha Zhonglian fire fighting Machinery Co., Ltd |