CN110872058A - Control method of arm support movement, aerial work equipment and readable storage medium - Google Patents
Control method of arm support movement, aerial work equipment and readable storage medium Download PDFInfo
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- CN110872058A CN110872058A CN201911152713.9A CN201911152713A CN110872058A CN 110872058 A CN110872058 A CN 110872058A CN 201911152713 A CN201911152713 A CN 201911152713A CN 110872058 A CN110872058 A CN 110872058A
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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Abstract
The invention provides a control method of arm support movement, high-altitude operation equipment and a computer readable storage medium. The control method comprises the following steps: receiving a control signal of arm support movement; generating an S-shaped output curve of the control current of the arm support control valve along with the change of the movement time according to the control signal and a current output curve formula prestored in the controller; and controlling the control current output to the arm support control valve according to the S-shaped output curve. According to the method for controlling the movement of the arm support, the S-shaped output curve of the control current of the arm support control valve changing along with the movement time is generated by operating the primary handle or the remote control device, a plurality of gears do not need to be arranged for the handle or the remote control device, a plurality of operation curves do not need to be arranged, manual curve matching and other operations are carried out, the control mode is simpler, more convenient and more flexible, and the impact effect when the arm support is started and stopped during movement is greatly reduced through the S-shaped output curve, so that the movement process of the arm support is more stable.
Description
Technical Field
The invention relates to the technical field of control of aerial work machinery, in particular to a control method of arm support movement, aerial work equipment and a computer readable storage medium.
Background
The fire truck controls the action of the arm support through a handle or a remote control device, and the opening degree of the handle or the remote controller corresponds to the control current value output by the control valve, so that the movement speed of the arm support is controlled. In the effective working range, the larger the output control current value is, the faster the movement speed of the arm support is, and the smaller the output control current value is, the slower the movement speed of the arm support is.
At present, the control of the arm frame of the fire engine is realized by changing the output control current mainly in a straight line with a fixed slope, a plurality of gears are required to be arranged under the condition that the applicable control current needs to adopt different slopes, each gear corresponds to an operation curve, the gears need to be replaced by a manual operation handle or a remote control device in the operation process, the operation is not flexible due to the fact that the gears are adapted to different slopes.
Disclosure of Invention
In order to solve at least one of the above technical problems, an object of the present invention is to provide a method for controlling arm support movement.
Another object of the present invention is to provide an aerial work apparatus using the above control method.
Another object of the present invention is to provide a computer-readable storage medium capable of implementing the above-described control method.
In order to achieve the above object, a technical solution of a first aspect of the present invention provides a method for controlling a boom movement, including: receiving a control signal of arm support movement; generating an S-shaped output curve of the control current I of the arm support control valve along with the change of the motion time t according to the control signal and a current output curve formula prestored in the controller; and controlling the control current output to the arm support control valve according to the S-shaped output curve.
The method for controlling the movement of the arm support provided by the invention generates a control signal of the movement of the arm support by operating the primary handle or the remote control device, and after receiving the control signal of the movement of the arm support, the controller controls the control current output to the arm support control valve according to the control signal and a current output curve formula prestored in the controller. Compared with the prior art, the control method has the advantages that a plurality of gears do not need to be arranged on the handle or the remote control device, a plurality of operation curves corresponding to different gears do not need to be arranged, namely control signals of the movement of the arm support are not needed, the S-shaped output curve of the control current I of the arm support control valve changing along with the movement time t can be automatically generated, manual operation such as curve switching or curve matching is not needed, and the control mode is simpler, more convenient and more flexible. And the variation of the control current is close to zero at the initial end and the termination end of the S-shaped output curve, so that the soft start and stop of the boom can be realized in the motion process of the boom, the motion of the boom is more stable, and the impact effect of the boom during the motion start and stop is greatly reduced.
The controller can be an independent controller such as a PLC (programmable logic controller) or an embedded controller installed on the arm support.
In addition, the control method in the above technical solution provided by the present invention may further have the following additional technical features:
in the above technical solution, the step of generating an S-shaped output curve of the control current I of the boom control valve along with the change of the movement time t according to the control signal and a current output curve formula prestored in the controller includes: acquiring a target current In according to the control signal; determining an initial current Im; setting a coefficient k; obtaining a motion period tz according to the target current In, the initial current Im and the coefficient k; and substituting the target current In, the initial current Im and the movement period tz into the current output curve formula to obtain a corresponding S-shaped output curve.
In the above technical solution, the step of "obtaining the target current In according to the control signal" includes: acquiring the opening L of the arm support control valve; acquiring the maximum input current Imax and the minimum input current Imin allowed by the input end of the boom control valve under the current opening degree; according to the formula: the target current In is Imin + (Imax-Imin) × L, and is determined.
In the above technical solution, the step of determining the initial current Im includes: acquiring an initial current Im; judging the magnitude relation between the initial current Im and the dead zone current Id; and if the initial current Im is less than or equal to the dead zone current Id, enabling the initial current Im to be equal to the dead zone current Id.
In the above technical solution, the control method further includes: setting a coefficient k according to the scanning period change of the controller and the characteristics of the arm support control valve; the step of obtaining the movement period tz according to the target current In and the initial current Im includes: according to the formula: -In-Im |/k, determining the movement period tz.
In any of the above technical solutions, the control method further includes: receiving a further control signal within the movement period tz; according to another control signal and a current output curve formula prestored in the controller, an S-shaped output curve of the control current I of the arm support control valve changing along with the movement time t is regenerated, and the initial current Im of the regenerated S-shaped output curve is equal to the current control current I; or when the movement time t reaches a value corresponding to the movement period tz, keeping the control current I equal to the target current In.
In any of the above technical solutions, the S-shaped output curve includes a uniform acceleration stage and a uniform deceleration stage; in the uniform acceleration stage, the acceleration a of the control current I is gradually increased along with the movement time t; in the uniform deceleration phase, the acceleration a of the control current I is gradually reduced with the movement time t.
In the above technical solution, for the case that the target current In is greater than the initial current Im, the uniform acceleration stage is before the uniform deceleration stage, the initial value of the acceleration a of the control current I is 0 In the uniform acceleration stage, and the final value of the acceleration a of the control current I is 0 In the uniform deceleration stage; and when the initial current Im is larger than the target current In, the uniform deceleration stage is before the uniform acceleration stage, the initial value of the acceleration a of the control current I is 0 In the uniform deceleration stage, and the final value of the acceleration a of the control current I is 0 In the uniform acceleration stage.
The technical scheme of the second aspect of the invention provides high-altitude operation equipment, which comprises: a boom; the controller is electrically connected with the arm support; the controller includes a memory, a processor, and a boom control program stored in the memory and capable of running on the processor, and when the control program of the boom is executed by the processor, the method for controlling the movement of the boom according to any one of the technical solutions of the first aspect is implemented.
The aerial work equipment comprises a fire truck, a lifting platform and the like, wherein the aerial work equipment is provided with an arm support. The arm support comprises a single-section arm or a multi-section arm. The controller is used for controlling the movement speed of the boom, so that the method for controlling the movement of the boom according to any one of the technical solutions of the first aspect can be implemented, and therefore the aerial working equipment provided by the technical solution has all the beneficial effects of any one of the technical solutions, which are not described herein again.
Further, the aerial working equipment comprises a human-computer interaction device, the human-computer interaction device is not limited to a handle, a remote control device and the like, an operator sends a control signal of arm support movement to the controller through operating the human-computer interaction device, so that the controller outputs a control current to the arm support control valve under the instruction of the control signal to drive the arm support to act, and the arm support works at the movement speed corresponding to the control current I in the S-shaped output curve.
A third aspect of the present invention provides a computer-readable storage medium, where a boom control program is stored in the computer-readable storage medium, and when the boom control program is executed by a processor, the method for controlling the movement of a boom according to any one of the first aspect of the present invention is implemented.
The computer-readable storage medium according to the third aspect of the present invention can implement the control method according to any one of the first aspect of the present invention, so that all the advantages of any one of the above-mentioned technical solutions are achieved, and details are not repeated herein.
In summary, the method for controlling the movement of the boom, the aerial work device and the computer-readable storage medium provided by the invention have at least the following advantages:
1. the output curve of the control current I along with the change of the motion time t is an S-shaped output curve, so that the cantilever crane realizes soft start and stop, the motion is stable, and the impact effect during start and stop is greatly reduced.
2. By reasonably setting the movement period tz of the control current I from the value corresponding to the initial current Im to the value corresponding to the target current In, the influence of the scanning period change of the controller and the characteristics of the boom control valve on the output control current I is reduced.
3. An operator generates a control signal of arm support movement only by operating the handle or the remote control device once, and after the target current In is obtained, an S-shaped output curve can be automatically generated to obtain the value of each point of the output current I.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flow chart of a method for controlling arm support movement according to an embodiment of the present invention;
FIG. 2 is a block diagram of a process for generating a sigmoid output curve according to an embodiment of the present invention;
FIG. 3 is a block diagram of a process for obtaining relevant parameters of a sigmoid output curve according to an embodiment of the present invention;
fig. 4 is a flowchart of a method for controlling arm support movement according to an embodiment of the present invention;
fig. 5 is a flowchart of a method for controlling arm support movement according to an embodiment of the present invention;
FIG. 6 is a graph of the sigmoidal output of the control current I according to one embodiment of the present invention;
FIG. 7 is a graph showing the variation of the acceleration a corresponding to the control current I in FIG. 6;
FIG. 8 is a graph of the sigmoidal output of the control current I according to one embodiment of the present invention;
FIG. 9 is a graph showing the variation of the acceleration a corresponding to the control current I in FIG. 8;
fig. 10 is a logic flow diagram of a method for controlling arm support movement according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A control method of boom movement, an aerial work apparatus, and a computer-readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 10.
Example one
As shown in fig. 1, the embodiment provides a method for controlling the movement of a boom, which includes: step S10, receiving a control signal of arm support movement; step S20, generating an S-shaped output curve of the control current I of the arm support control valve along with the change of the movement time t according to the control signal and a current output curve formula prestored in the controller; and step S30, controlling the control current output to the arm support control valve according to the S-shaped output curve.
The method for controlling the movement of the arm support comprises the steps of firstly receiving a control signal of the movement of the arm support, wherein the control signal is from a handle or a remote control device connected with the arm support, and sending the control signal by operating the handle or the remote control device by an operator. And secondly, after the controller receives the control signal, generating and obtaining relevant parameters in the current output curve formula according to the control signal. The relevant parameters include parameters that can be directly obtained, such as the initial current Im and the target current In, and parameters that can be indirectly obtained, that is, parameters obtained by the initial current Im and the target current In, so as to obtain an S-shaped output curve adapted to the operation signal by substituting the relevant parameters into a current output curve formula. Therefore, a plurality of control currents which change along with the movement time t are obtained according to the control signals, so that one operation trend of the arm support can be obtained by operating the handle or the remote control device once, the movement trend comprises a process that the movement speed of the arm support changes for a plurality of times, the arm support can realize soft start and stop, the movement process of the arm support is stable, and the impact effect of the arm support during movement start and stop is greatly reduced.
It can be understood by those skilled in the art that, compared with the related art, the control method provided by the present embodiment does not require setting multiple gears for the handle or the remote control device, and thus does not require setting multiple operation curves corresponding to each gear. In the control method provided by the embodiment, after the target current In is obtained by operating the handle or the remote control device once, an S-shaped output curve of the control current I of the arm support control valve along with the change of the motion time t can be automatically generated to obtain the values of each point of the output current I.
In other embodiments, the current output curve formula can also control the arm support by using output polynomial curve current to form a plurality of curved S-shaped curves, so that the control mode is more flexible and can be adapted to different working scenes. For example, the sigmoid curve formula may be a unitary cubic equation, or even a binary cubic equation.
It can be understood that a plurality of current output curve formulas can be prestored in the controller, and different curve formulas can be selected according to different working scenes. Compared with the related technology, the control method provided by the scheme does not provide a specific actual curve for controlling the movement of the arm support, but a curve formula. And the formula is about the control current I, and related data parameters are provided for a curve formula by using the control signal, so that the generated S-shaped output curve is more suitable for the actual condition of arm support motion and is more flexible.
Example two
On the basis of the first embodiment, as shown in fig. 2, the step S30 specifically includes: step S31, obtaining a target current In according to the control signal; step S32, determining an initial current Im; step S34, acquiring a motion period tz according to the target current In and the initial current Im; and step S35, substituting the target current In, the initial current Im and the movement period tz into the current output curve formula to obtain a corresponding S-shaped output curve.
In step S31, the execution of step S32 is not limited in order, and step S31 may be executed first, or step S32 may be executed first. The variation range of the target current In can be obtained by setting the target current In and the initial current Im, and the time for controlling the current I from the target current In to the initial current Im to the target current In can be obtained by the movement period tz. The slope of the S-shaped output curve is changed through different target currents In, initial currents Im and movement periods tz, so that the control current I automatically changes along with movement time, operation on a handle or a remote control device is omitted, and operation is simpler and more convenient.
EXAMPLE III
On the basis of the first embodiment, as shown in fig. 2 and fig. 3, step S30 specifically includes: step S31, obtaining a target current In according to the control signal; step S32, determining an initial current Im; step S33, setting a coefficient k according to the scanning period change of the controller and the characteristics of the arm support control valve; step S34, obtaining a movement period tz according to the target current In, the initial current Im and the coefficient k; and step S35, substituting the target current In, the initial current Im and the movement period tz into the current output curve formula to obtain a corresponding S-shaped output curve.
However, the steps S31, S32, and S33 are not limited in order, and the step S32 or the step S33 may be executed first, or the step S31 or the step S32 may be executed later.
Obtaining a range of a control current I of an S-shaped output curve by obtaining a target current In and determining an initial current Im, and determining a coefficient k according to the scanning period change of a controller and the characteristics of an arm support control valve to obtain a reasonable movement period tz, so that the arm support finishes the arm support movement speed meeting the requirements of operators In the movement period, and the movement period tz cannot be too long, so that the condition that the required movement speed is reached for a long time and the quick response requirement of the arm support cannot be met is avoided; the movement period tz can not be too short, so that the problem that the arm support shakes greatly when the arm support is started or stopped is avoided, and the danger is increased. Therefore, by reasonably setting the coefficient k, the control method provided by the embodiment can meet the requirement of quick response of the arm support, can reduce the arm support shaking in starting and stopping, and improves the use safety and reliability of the arm support. The target current In, the initial current Im and the movement period tz are obtained, so that the control signal generated by a handle or a remote control device can be adapted to the target current In, the initial current Im and the movement period tz, an accurate control process is realized, the method is suitable for different working scenes, and the method has a wider application range.
It can be understood that the motion period tz from the initial current Im to the target current In is adjusted by adjusting the coefficient k, and the obtained motion period tz is greater than or equal to the scanning period of the controller by reasonably setting the coefficient k, so that the controller can output refresh after executing one scanning period, the control current I completes the change from the initial current Im to the target current In, and the output time interval of the control current I is reduced, thereby reducing the influence of the change of the scanning period of the controller and the characteristics of the control valve on the output control current I.
In some embodiments, the value of the coefficient k may also be adjusted according to actual experience or a movement trend of the boom, for example, the coefficient k is set to 2 or other values.
Example four
On the basis of the second embodiment or the third embodiment, as shown in fig. 3, the step S31 specifically includes: step S311, acquiring the opening L of the arm support control valve; step S312, acquiring the maximum input current Imax and the minimum input current Imin allowed by the input end of the boom control valve under the current opening degree; step S313 is according to the formula: the target current In is Imin + (Imax-Imin) × L, and is determined.
The input current of the arm support control valve is controlled through a handle or a remote control device, and the target current In is determined by combining the opening degree of the arm support control valve, so that a reasonable linear relation exists between the target current In and the input current, the target current In and the input current In can be matched with each other, errors In the actual control process are reduced, and accurate control is achieved.
EXAMPLE five
On the basis of the second embodiment or the third embodiment, as shown in fig. 3, the step S32 specifically includes: step S321, obtaining an initial current Im; step S322, judging the magnitude relation between the initial current Im and the dead zone current Id; in step S323, if the initial current Im is less than or equal to the dead zone current Id, the initial current Im is made equal to the dead zone current Id.
When the arm support does not act, the initial current is zero, a dead zone exists in the control valve according to the valve characteristics, when the input current is smaller than a certain critical value, the output control current I is zero, the arm support cannot be driven to act, the input current needs to be gradually increased, so that the input current reaches the critical value, and the output current I at the moment is equal to the dead zone current Id. In the embodiment, by adding a judgment process, the output current I is directly made equal to the dead zone current Id under the condition that the initial current cannot drive the boom to act, so that the process of accelerating the initial current is omitted, the response time is shortened, the boom can reach the speed required by an operator as soon as possible, and the efficiency of boom control is improved.
EXAMPLE six
On the basis of any of the above embodiments, as shown in fig. 4, after step S35, the method further includes: step S71, receiving another control signal within the movement period tz; and step S73, according to another control signal and a current output curve formula prestored in the controller, regenerating an S-shaped output curve of the control current I of the arm support control valve along with the change of the motion time t, and enabling the initial current Im of the regenerated S-shaped output curve to be equal to the current control current I. It can be understood that, after the controller receives the control signal from the operating handle or the control device, the adapted S-shaped output curve is re-formed, and according to the previous action, the relevant parameters In the current output curve formula are determined, that is, the target current In is re-acquired, and the initial current Im of the re-formed S-shaped output curve is equal to the current control current I. It will be appreciated that the step of generating the S-shaped output curve is performed each time the controller receives a control signal from the operating handle or control means. For example, when the target current In is 1800ma, and the control current I has not reached 1800ma, for example, when the current control current I is 1200ma, the handle or the remote control device is operated, a new target current In is obtained again to replace the original target current In1800ma, and the initial current Im is 1200ma corresponding to the current control current I. In this way, a matching sigmoid output curve can be generated whenever an operation is performed. It should be noted that the re-forming of the adapted S-shaped output curve is not performed by setting a plurality of gears matching different S-shaped output curves on the handle or the remote control device, but by changing the shape of the original S-shaped output curve, the values of the points of the output current I changing along with the movement time t are obtained, so that a new movement trend is provided for the arm support, and compared with the mode of setting the gears of a plurality of S-shaped output curves, the mode is simpler and more flexible.
EXAMPLE seven
On the basis of any of the above embodiments, as shown in fig. 5, after step S35, the method further includes: step S75, when the movement time t reaches the value corresponding to the movement period tz, keeping the control current I equal to the target current In.
After a movement period tz is completed, the control current I reaches the target current In, and if the handle or the remote control device is not operated any more, the control current I is kept equal to the target current In, so that the arm support does uniform motion, no additional operation is needed, the operation steps are simplified, meanwhile, the stability of the arm support movement can be kept, and the possibility of shaking or other problems caused by additional operation is reduced.
Example eight
On the basis of any of the above embodiments, further, the S-shaped output curve includes a uniform acceleration phase and a uniform deceleration phase.
Fig. 6 shows an "S" type graph of the change of the control current I output by the boom control valve from the start current Im to the target current In. Wherein the starting current Im is smaller than the target current In. The trend of the control current I is increasing.
Specifically, after the controller receives a control signal, an S-shaped curve is automatically generated through calculation according to the obtained target current In, the initial current Im and the movement period tz, so that the control current output by the boom control valve is changed from the initial current Im to the target current In, the change process comprises a uniform acceleration stage (0-t 1) and a uniform deceleration stage (t 2-tz), and then the target current is reached. After the target current In is reached, if the target current In is unchanged, the control current I output by the boom control valve is kept as the target current. Through the uniform acceleration stage and the uniform deceleration stage, the variation of the starting end and the terminal end of the control current I approaches to zero, the impact effect when the arm support moves to start and stop is greatly reduced, the soft start and stop can be realized in the moving process of the arm support, and the arm support moves more stably.
In some embodiments, the sigmoidal output curve also includes an intermediate constant velocity phase (t 1-t 2) between the uniform acceleration phase and the uniform deceleration phase.
Fig. 7 shows a line graph of the change in the acceleration a of the control current I corresponding to the "S" type graph of fig. 6. Theoretically, the acceleration a is dI/dt. In the uniform acceleration stage (0-t 1), the initial value of the acceleration a at the zero point is a2, and the slope of the acceleration a and the motion time t is a positive value, so that the control current I is accelerated and increased along with the motion time t and is gradually increased to a 1; in the middle constant speed stage (t 1-t 2), the slope of the acceleration a and the movement time t is zero, so that the control current I is increased at a constant speed along with the movement time t; in the uniform deceleration stage (t 2-tz), the slope of the acceleration a and the motion time t is a negative value, so that the control current I is decelerated and increased along with the motion time t, and the terminal end of the acceleration a at the tz point returns to a 2. In this way, the slope of the acceleration a of the control current I can be controlled to control the change of the S-shaped output curve. Optionally, the slope of the acceleration a is a coefficient k, and in the uniform acceleration stage (0 to t1), k takes a positive value; in the uniform deceleration stage (t 2-tz), k takes a negative value.
In some embodiments, the acceleration a2 is zero, so that by controlling the magnitude of the acceleration a of the current I at the initial position and the final position, the variation of the control current I during the boom movement start and stop can be reduced, thereby further reducing the impact effect during the boom movement start and stop, and further improving the boom movement stability.
In other embodiments, the starting current Im may be larger than the target current In, unlike the starting current Im being smaller than the target current In, and fig. 8 shows an "S" type graph of the change of the control current I output by the boom control valve from the starting current Im to the target current In. Wherein the trend of the control current I is reduced.
Specifically, after the controller receives a control signal, an S-shaped curve is automatically generated through calculation according to the obtained target current In, the initial current Im and the movement period tz, so that the control current output by the boom control valve is changed from the initial current Im to the target current In, the change process comprises a uniform deceleration stage (0-t 1 '), a uniform acceleration stage (t 2' -tz), and then the target current In is reached. After the target current In is reached, if the target current In is unchanged, the control current I output by the boom control valve is kept as the target current.
In some embodiments, the sigmoidal output curve also includes an intermediate uniform velocity phase (t 1't 2') between the uniform deceleration phase (0-t 1 ') and the uniform acceleration phase (t 2' tz).
Fig. 9 is a line graph showing the change of the acceleration a of the control current I corresponding to the "S" type graph of fig. 7. Theoretically, the acceleration a is dI/dt. In the initial stage of uniform deceleration (0-t 1'), the initial value of the acceleration a at the zero point is a3, the slope of the acceleration a and the motion time t is a negative value, the acceleration a is gradually reduced to a4, and the control current I is accelerated and reduced along with the motion time t; in the middle constant speed stage (t1 '-t 2'), the slope of the acceleration a and the movement time t is zero, so that the control current I is reduced at a constant speed along with the movement time t; the slope of acceleration a versus the motion time t is positive during the level acceleration period (t 2' tz) so that the end value of acceleration a at point tz is restored to a 3. In this way, the slope of the acceleration a of the control current I can be controlled to control the change of the S-shaped output curve. Optionally, the slope of the acceleration a is a coefficient k, and in the initial acceleration stage (0 to t1), k takes a negative value; during the uniform deceleration phase (t 2-tz), k takes a positive value.
In some embodiments, the acceleration a3 is zero, so that by controlling the magnitude of the acceleration a of the current I at the initial position and the final position, the variation of the control current I during the boom movement start and stop can be reduced, thereby further reducing the impact effect during the boom movement start and stop, and further improving the boom movement stability.
It can be understood that, no matter the starting current Im is greater than the target current In, or the target current In is greater than the starting current Im, the absolute value of the change of the acceleration a of the control current I along with the movement time t is a process of increasing and then decreasing, so that at the beginning and the end of the movement period tz, the change of the control current I is reduced as much as possible, so as to reduce the impact effect when the boom starts and stops moving, and thus make the boom move more stably.
In some embodiments, along with the extension of the movement time t, a corresponding value of the control current I is obtained according to an S-shaped curve graph, wherein the movement time t takes a value within a range of a movement period tz, and the operation speed of the boom is controlled according to the control current I. The operation speed of the arm support is in the change trend of an S-shaped curve graph, so that the arm support realizes soft start and stop, the movement is stable, and the influence of the impact action is reduced.
Example nine
The application provides a high altitude construction equipment includes: a boom; the controller is electrically connected with the arm support; the controller includes a memory, a processor, and a boom control program stored in the memory and capable of running on the processor, and when the control program of the boom is executed by the processor, the method for controlling the movement of the boom in any of the above embodiments is implemented.
The aerial work equipment comprises a fire truck, a lifting platform and the like, wherein the aerial work equipment is provided with an arm support. The arm support comprises a single-section arm or a multi-section arm. The controller controls the movement speed of the boom, so that the method for controlling the movement of the boom in any one of the embodiments can be implemented, and therefore the aerial working equipment provided by the technical scheme has all the beneficial effects of any one of the embodiments, which are not described herein again.
The controller can be an independent controller such as a PLC (programmable logic controller) or an embedded controller installed on the arm support.
Example ten
The application provides a computer-readable storage medium, on which a boom control program is stored, and the boom control program, when executed by a processor, implements the control method of any of the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The following takes a boom of a fire fighting truck as an example, and specifically describes a flow and a principle of the method for controlling the motion of the boom provided by the present application.
The fire fighting truck is operated by controlling the composite action of a single section arm or a plurality of sections of arms through a handle or a remote controller, and the opening degree of the handle or the remote controller corresponds to the control current value output by the control valve, so that the movement speed of the arm support is controlled. In the effective working range, the larger the output control current value is, the faster the movement speed of the arm support is, and the smaller the output control current value is, the slower the movement speed of the arm support is.
At present, the control current output by the control of the arm support of the fire truck mainly adopts the linear change of a fixed slope, and adopts the linear change of the fixed slope, when the set value of the linear value of the fixed slope is large, the arm support has large vibration at the beginning and the ending stages of the current change, and when the set value of the linear value of the fixed slope is small, the time for reaching the target current is long, and the requirement of the quick response of the arm support cannot be met. The method adopts the linear change with a fixed slope, the acceleration is not zero at the beginning and the ending stages of the current change, the impact exists theoretically, the soft start and the soft stop cannot be performed, the vibration cannot be avoided, the arm support shakes, the requirements of stable and quick movement of the arm support of the fire truck cannot be met, the motion curve type of the arm support is selected by a handle or a plurality of gears are arranged by adopting a curve change method, each gear corresponds to an operation curve, the curve matching is required to be performed manually, the curve cannot be generated automatically, and the operation is not flexible. Meanwhile, the influence of the scanning period change of the PLC controller and the characteristics of the control valve on the output control current cannot be avoided, so that the influence on the motion speed of the arm support cannot be avoided.
In order to overcome the problems in the prior art, the invention provides a control method of an S-shaped curve fire truck arm support, which realizes soft start and soft stop and enables the fire truck arm support to move smoothly, stably and quickly, and the technical scheme adopted for solving the technical problems is as follows:
therefore, in the method for controlling the boom of the fire truck with the S-shaped curve, the change curve of the control current output by the boom control valve is similar to the S-shaped curve in the process of changing the control current from the initial current to the target current, and the change slope of the control current changes with the change of the initial current, the target current and the movement time from the initial current to the target current, which are determined by the three.
Further, the initial current is an initial current in a process of changing to the target current, and if the initial current is smaller than the maximum dead-zone current, the initial current may be equal to the maximum dead-zone current for fast boom responsiveness.
Further, the target current is a current determined by the opening degree of the operating handle or the remote controller, the target current is Imin + (Imax-Imin) × opening degree, and if the target current is less than or equal to the maximum dead zone current, the target current can be equal to zero for fast boom responsiveness.
Furthermore, the movement time from the initial current to the target current is influenced by the absolute values of the initial current and the target current, the scanning period of the PLC, the characteristics of the control valve and the like, the movement time value is set as a function with an adjustable value, and the influence of the scanning period change of the PLC and the characteristics of the control valve on the output control current is avoided by adjusting the movement time from the initial current to the target current.
Further, the process of controlling the current to change from the initial current to the target current comprises a uniform acceleration initial stage, an intermediate uniform speed stage and a uniform deceleration stage to the target current stage. And after the target current is reached, if the target current is not changed, the control current output by the arm support control valve is kept as the target current.
Further, the current is controlled to change from the initial current to the target current, the initial acceleration in the uniform acceleration stage is zero, the acceleration is gradually increased from zero, the final acceleration in the uniform deceleration stage is zero, and the acceleration is gradually decreased to zero, so that the arm support is in soft start and stop, the motion is stable, and no impact is generated.
Furthermore, the starting current is known, a proper motion time function value from the starting current to the target current is adjusted, an S-shaped curve can be automatically generated after the target current is obtained by operating a handle or a remote controller, the value of each point of the output current is obtained, manual curve switching is not needed, and the control is simple, convenient and flexible.
Specifically, fig. 10 shows a logic control flow chart of a control method for the movement of the boom of the fire fighting truck with an S-shaped curve. The method comprises the steps of operating a target current In obtained by a handle or a remote controller, judging whether an initial current is larger than a dead zone current, if so, the initial current is the current output current of a control valve, otherwise, making the initial current equal to the dead zone current, Im equal to Id, subtracting the initial current Im from the target current In, and dividing the initial current Im by a coefficient k to obtain a motion period tz of | In-Im |/k, wherein the coefficient k is used for avoiding the scanning period change of a PLC (programmable logic controller) and the influence of the characteristics of the control valve on the output control current, and after obtaining the target current In, the initial current Im and the motion time tz, automatically generating an 'S' -shaped curve to obtain the value of each point of the output current without manually switching the curve and the like, and the control is simple and flexible.
For example, the arm frame starts to move from a standstill, the target current obtained by operating a handle or a remote controller is 1800ma, the initial current is 0, and the arm frame starts to move from the standstill, so the initial current 0 is smaller than the dead zone current, for example, the dead zone current is 400ma, the initial current is equal to the dead zone current of 400ma, the movement time tz can be obtained according to the scanning period change of the PLC controller and the characteristic setting coefficient k of the control valve, and the S-shaped curve can be automatically generated through operation.
In summary, the method for controlling the movement of the boom provided in this embodiment has the following beneficial effects: and controlling the process that the current changes from the initial current to the target current, wherein the initial acceleration in the uniform acceleration stage is zero, the acceleration is gradually increased from zero, the final acceleration in the uniform deceleration stage is zero, and the acceleration is gradually decreased to zero, so that the cantilever crane is soft to start and stop, the motion is stable, and no impact exists under the ideal condition. By adjusting the movement time from the initial current to the target current, the influence of the scanning period change of the PLC controller and the characteristics of the control valve on the output control current is avoided. After the proper motion time function value from the initial current to the target current is adjusted, the initial current is known, when the target current is obtained by an operating handle or a remote controller, an S-shaped curve can be automatically generated to obtain the value of each point of the output current, the curve switching or curve matching and the like do not need to be manually carried out, and the control is simple, convenient and flexible.
In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless expressly limited otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or unit must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description herein, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for controlling arm support movement is characterized by comprising the following steps:
receiving a control signal of arm support movement;
generating an S-shaped output curve of the control current I of the arm support control valve along with the change of the motion time t according to the control signal and a current output curve formula prestored in the controller;
and controlling the control current output to the arm support control valve according to the S-shaped output curve.
2. The control method according to claim 1, wherein the step of generating an S-shaped output curve of the control current I of the boom control valve as a function of the movement time t according to the control signal and a current output curve formula prestored in the controller comprises:
acquiring a target current In according to the control signal;
determining an initial current Im;
acquiring a motion period tz according to the target current In and the initial current Im;
and substituting the target current In, the initial current Im and the movement period tz into the current output curve formula to obtain a corresponding S-shaped output curve.
3. The control method according to claim 2, wherein the step of "obtaining a target current In according to the control signal" includes:
acquiring the opening L of the arm support control valve;
acquiring the maximum input current Imax and the minimum input current Imin allowed by the input end of the boom control valve under the current opening degree;
according to the formula: the target current In is Imin + (Imax-Imin) × L, and is determined.
4. The control method according to claim 2, wherein the step of "determining the starting current Im" includes:
acquiring an initial current Im;
judging the magnitude relation between the initial current Im and the dead zone current Id;
and if the initial current Im is less than or equal to the dead zone current Id, enabling the initial current Im to be equal to the dead zone current Id.
5. The control method according to claim 2, characterized by further comprising:
setting a coefficient k according to the scanning period change of the controller and the characteristics of the arm support control valve;
the step of obtaining the movement period tz according to the target current In and the initial current Im includes: according to the formula: -In-Im |/k, determining the movement period tz.
6. The control method according to any one of claims 2 to 5, characterized by further comprising:
receiving a further control signal within the movement period tz; according to another control signal and a current output curve formula prestored in the controller, an S-shaped output curve of the control current I of the arm support control valve changing along with the movement time t is regenerated, and the initial current Im of the regenerated S-shaped output curve is equal to the current control current I; or
And when the movement time t reaches a value corresponding to the movement period tz, keeping the control current I equal to the target current In.
7. The control method according to any one of claims 1 to 5,
the S-shaped output curve comprises a uniform acceleration stage and a uniform deceleration stage;
in the uniform acceleration stage, the acceleration a of the control current I is gradually increased along with the movement time t;
in the uniform deceleration phase, the acceleration a of the control current I is gradually reduced with the movement time t.
8. The control method according to claim 7,
for the condition that the target current In is greater than the initial current Im, the uniform acceleration stage is before the uniform deceleration stage, the initial value of the acceleration a of the control current I is 0 In the uniform acceleration stage, and the final value of the acceleration a of the control current I is 0 In the uniform deceleration stage;
and when the initial current Im is larger than the target current In, the uniform deceleration stage is before the uniform acceleration stage, the initial value of the acceleration a of the control current I is 0 In the uniform deceleration stage, and the final value of the acceleration a of the control current I is 0 In the uniform acceleration stage.
9. An aerial work apparatus, comprising:
a boom;
the controller is electrically connected with the arm support;
the controller comprises a memory, a processor and a boom control program which is stored on the memory and can run on the processor, and when the control program of the boom is executed by the processor, the method for controlling the movement of the boom according to any one of claims 1 to 8 is realized.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a boom control program, which when executed by a processor implements the method for controlling boom movement according to any one of claims 1 to 8.
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