CN111675103B - Arm support pitching switching control method and control system - Google Patents
Arm support pitching switching control method and control system Download PDFInfo
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- CN111675103B CN111675103B CN202010556055.6A CN202010556055A CN111675103B CN 111675103 B CN111675103 B CN 111675103B CN 202010556055 A CN202010556055 A CN 202010556055A CN 111675103 B CN111675103 B CN 111675103B
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- lifting motor
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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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- 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
- B66C13/23—Circuits for controlling the lowering of the load
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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
- B66C23/82—Luffing gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to the technical field of mechanical equipment arm support control, in particular to an arm support pitching switching control method and system. The boom pitching switching control method comprises the steps of increasing the torque of a lifting motor to be larger than the required torque before a torque mode is converted into a rotating speed mode when a pitching driving part is in a descending, stopping and lifting state immediately, so that the rotating speed of the lifting motor is rapidly reduced, and then the lifting motor is converted into the rotating speed mode, so that the boom action response time is shortened, and the responsiveness and the controllability of the boom are improved. The arm support pitching switching control system comprises a pitching oil cylinder, a driving pump, a lifting motor and an auxiliary motor; when the pitching driving part is in a descending, stopping and immediate lifting state, the torque of the lifting motor is increased to be larger than the required torque, so that the rotating speed of the lifting motor is rapidly reduced, the response time of the boom movement is reduced, the auxiliary motor and the lifting motor drive the driving pump together, the rapid lifting of the pitching driving part is further realized, and the rapid switching of the boom movement is completed.
Description
Technical Field
The invention relates to the technical field of mechanical equipment arm support control, in particular to an arm support pitching switching control method and system.
Background
In the engineering machinery equipment in the prior art, such as a crane, when the boom is driven to descend and stop to lift immediately, since the lifting motor is still in a torque mode at the moment, the rotating speed needs to be reset to zero and then the speed is reversed and raised, the boom cannot respond quickly in the process, response delay exists, and the controllability is affected.
Disclosure of Invention
The invention aims to provide a boom pitching switching control method and a boom pitching switching control system, which aim to solve the technical problem that the boom action cannot be quickly responded when the boom is driven to descend and stop to be lifted immediately to a certain extent.
The application provides a boom pitching switching control method,
acquiring a lifting working condition of a pitching driving part for supporting the arm support;
when the pitching driving part is in a descending, stopping and immediate lifting state, acquiring the torque required by the balance potential energy of the lifting motor according to the pressure of the pitching driving part;
increasing the torque of the lifting motor to be larger than the required torque, and rapidly reducing the rotating speed of the lifting motor;
and adjusting the lifting motor to be in a rotating speed mode, lifting by the pitching driving part, and realizing upward pitching of the arm support.
In the above technical solution, preferably, the torque of the lifting motor is increased to be greater than the required torque, so that the rotation speed of the lifting motor is rapidly decreased until the rotation speed of the lifting motor is zero or a reverse predetermined rotation speed is reached.
In any one of the above technical solutions, preferably, when the pitch driving part is in a state of descending, stopping and immediately lifting, an auxiliary motor is started, and the auxiliary motor drives the pitch driving part to lift; and when the torque of the lifting motor is increased to reduce the rotating speed of the lifting motor, the rotating speed of the lifting motor needs to reach a reverse preset rotating speed.
In any one of the above technical solutions, preferably, the pitching driving part includes a pitching cylinder and a driving pump, and the driving pump is configured to supply oil to the pitching cylinder to drive the driving end of the pitching cylinder to extend and retract, so as to drive the arm support to pitch up or pitch down.
In any one of the above technical solutions, preferably, the auxiliary motor and the lifting motor are communicated with the pitch cylinder.
In any of the above technical solutions, preferably, when the pitch driving part is at a stop of lifting and is immediately lowered, both the lifting motor and the auxiliary motor are switched from a rotation speed mode to a torque mode.
The application also provides a boom pitching switching control system, which comprises a pitching oil cylinder, a driving pump, a lifting motor and an auxiliary motor;
the driving pump is used for supplying oil to the pitching oil cylinder so as to drive the driving end of the pitching oil cylinder to stretch and retract, and therefore the arm support is driven to pitch up or pitch down;
the lifting motor and the auxiliary motor drive the driving pump to work together.
In the above technical solution, preferably, the boom pitch switching control system further includes a controller, and the controller is respectively in communication connection with the lifting motor and the auxiliary motor to control the lifting motor and the auxiliary motor to work.
In any of the above solutions, preferably, the lift motor has a rotation speed mode and a torque mode.
Compared with the prior art, the invention has the beneficial effects that:
according to the boom pitching switching control method, before the pitching driving part is in a descending, stopping and lifting state immediately, and the torque mode is converted into the rotating speed mode, the torque of the lifting motor is increased to be larger than the required torque, so that the rotating speed of the lifting motor is rapidly reduced until the rotating speed of the lifting motor reaches zero or the reverse preset rotating speed, and then the lifting motor is converted into the rotating speed mode, so that the boom action response time is reduced, the responsiveness and the controllability of the boom are improved, and no material cost is increased in the process.
The boom pitching switching control system comprises a pitching oil cylinder, a driving pump, a lifting motor and an auxiliary motor; when the pitching driving part is in a descending, stopping and immediate lifting state, on one hand, the torque of the lifting motor is increased to be larger than the required torque, so that the rotating speed of the lifting motor is rapidly reduced, and the response time of the arm frame action is reduced, on the other hand, the auxiliary motor and the lifting motor are communicated with the pitching oil cylinder by matching with the auxiliary motor, and the auxiliary motor and the lifting motor jointly drive the driving pump, so that the rapid lifting of the pitching driving part is further realized, and the rapid switching of the arm frame action is completed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a boom pitch switching control method according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of another boom pitch switching control method provided in the embodiment of the present application.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following detailed description is provided to assist the reader in obtaining a thorough understanding of the methods, devices, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatus, and/or systems described herein will be apparent to those skilled in the art in view of the disclosure of the present application. For example, the order of operations described herein is merely an example, which is not limited to the order set forth herein, but rather, variations may be made in addition to operations which must occur in a particular order, which will be apparent upon understanding the disclosure of the present application. Moreover, descriptions of features known in the art may be omitted for the sake of clarity and conciseness.
The features described herein may be embodied in different forms and should not be construed as limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many possible ways to implement the methods, devices, and/or systems described herein that will be apparent after understanding the disclosure of the present application.
Throughout the specification, when an element (such as a layer, region, or substrate) is described as being "on," "connected to," coupled to, "over," or "overlying" another element, it may be directly "on," "connected to," coupled to, "over," or "overlying" the other element, or one or more other elements may be present therebetween. In contrast, when an element is referred to as being "directly on," "directly connected to," directly coupled to, "directly over" or "directly overlying" another element, there may be no intervening elements present.
As used herein, the term "and/or" includes any one of the associated listed items and any combination of any two or more of the items.
Although terms such as "first", "second", and "third" may be used herein to describe various elements, components, regions, layers or sections, these elements, components, regions, layers or sections should not be limited by these terms. Rather, these terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section referred to in the examples described herein may be termed a second element, component, region, layer or section without departing from the teachings of the examples.
For ease of description, spatial relationship terms such as "above … …," "upper," "below … …," and "lower" may be used herein to describe one element's relationship to another element as illustrated in the figures. Such spatial relationship terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "upper" relative to other elements would then be oriented "below" or "lower" relative to the other elements. Thus, the term "above … …" includes both an orientation of "above … …" and "below … …" depending on the spatial orientation of the device. The device may also be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative terms used herein should be interpreted accordingly.
The terminology used herein is for the purpose of describing various examples only and is not intended to be limiting of the disclosure. The singular forms also are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," and "having" specify the presence of stated features, quantities, operations, elements, components, and/or combinations thereof, but do not preclude the presence or addition of one or more other features, quantities, operations, components, elements, and/or combinations thereof.
Variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and/or tolerances, may be expected. Thus, the examples described herein are not limited to the particular shapes shown in the drawings, but include changes in shape that occur during manufacturing.
The features of the examples described herein may be combined in various ways that will be apparent after understanding the disclosure of the present application. Further, while the examples described herein have a variety of configurations, other configurations are possible, as will be apparent after understanding the disclosure of the present application.
A boom pitch switching control method and control system according to some embodiments of the present invention are described below with reference to fig. 1 and 2.
Example one
The embodiment provides a boom pitch switching control method, as shown in fig. 1, including the following steps:
s100, acquiring a lifting working condition of a pitching driving part for supporting the arm support, namely judging the working state of the pitching driving part, wherein the working state of the pitching driving part comprises a lifting state, a lifting stop immediate descending state, a descending state and a descending stop immediate lifting state;
s200, when the pitching driving part is in a descending stopping immediate lifting state, acquiring the torque required by the balance potential energy of the lifting motor according to the pressure of the pitching driving part, namely the torque of the lifting motor when the pitching driving part descends stably, namely the output torque of the lifting motor in a torque mode;
s300, increasing the torque of the lifting motor to be larger than the required torque, so that the rotating speed of the lifting motor is rapidly reduced until the rotating speed of the lifting motor reaches zero or a reverse preset rotating speed;
s400, adjusting the working mode of the lifting motor to be converted from a torque mode to a rotating speed mode, enabling the pitching driving part to enter a lifting state, lifting at full speed, and enabling the arm support to tilt upwards.
In step S300, if the torque of the lift motor is increased for the first time, so that the rotation speed of the lift motor cannot reach zero or reach the predetermined reverse rotation speed after the rotation speed of the lift motor is rapidly decreased, the torque of the lift motor is increased for the second time until the rotation speed of the lift motor reaches zero or reaches the predetermined reverse rotation speed.
In this embodiment, the pitching driving portion includes a pitching cylinder and a driving pump, the driving pump is configured to supply oil to the pitching cylinder to drive the driving end of the pitching cylinder to extend and retract, the driving end of the pitching cylinder is connected to the arm support, the arm support is driven to pitch up by extension of the driving end of the pitching cylinder (that is, the pitching driving portion is in a lifting state), and the arm support is driven to pitch down by contraction of the driving end of the pitching cylinder (that is, the pitching driving portion is in a descending state).
The lifting motor is used for driving the driving pump to work, and when the pitching driving part is in a lifting state, the lifting motor works in a rotating speed mode and runs at a rotating speed in a first direction; when the pitching driving part is in a descending state, the lifting motor works in a torque mode and runs at a rotating speed in a second direction, wherein the second direction is the reverse direction of the first direction. When the pitching driving part is in a lifting stop immediate descending state, the lifting motor is in a rotating speed mode, can be quickly stopped, and carries out torque mode conversion of the lifting motor corresponding to the descending state of the pitching driving part. When the pitching driving part is in a descending, stopping and immediate lifting state, the lifting motor is in a torque mode, before the torque mode is converted into a rotating speed mode, the rotating speed of the lifting motor in the second direction needs to be reduced until the rotating speed is zero, and then the rotating speed mode is converted into the rotating speed mode for lifting, in the process, the rotating speed zeroing process needs time, so that the boom cannot respond quickly when the boom lifts again, and the delay is about 3 seconds, and the controllability is influenced. Therefore, in the embodiment, before the torque mode is converted into the rotating speed mode when the pitching driving part is in a descending, stopping and immediate lifting state, the torque of the lifting motor is increased to be larger than the required torque, so that the rotating speed of the lifting motor is rapidly reduced until the rotating speed of the lifting motor reaches zero or reverse preset rotating speed, and then the lifting motor is converted into the rotating speed mode, so that the action response time of the arm frame is reduced, the responsiveness and the controllability of the arm frame are improved, and no material cost is increased in the process.
It should be noted that, for increasing the torque of the lift motor to make the rotation speed of the lift motor reach the reverse preset rotation speed, and then switching the lift motor into the rotation speed mode, that is, when the rotation speed of the lift motor reaches the preset rotation speed changing from the first direction to the first direction, the torque of the lift motor is switched off into the rotation speed mode, so as to avoid the motor alarm condition caused by the over-high rotation speed of the lift motor in the mode switching.
Example two
The boom pitch switching control method in the second embodiment is an improvement on the basis of the first embodiment, the technical content disclosed in the first embodiment is not described repeatedly, and the content disclosed in the first embodiment also belongs to the content disclosed in the second embodiment.
The embodiment provides a boom pitch switching control method, as shown in fig. 2, including the following steps:
s100, acquiring a lifting working condition of a pitching driving part for supporting the arm support, namely judging the working state of the pitching driving part, wherein the working state comprises a lifting state, a lifting stop immediate descending state, a descending state and a descending stop immediate lifting state;
s200, when the pitching driving part is in a descending stopping immediate lifting state, acquiring the torque required by the balance potential energy of the lifting motor according to the pressure of the pitching driving part, namely the torque of the lifting motor when the pitching driving part descends stably, namely the output torque of the lifting motor in a torque mode; simultaneously, starting an auxiliary motor, and driving the pitching driving part to lift by the auxiliary motor;
s300, increasing the torque of the lifting motor to be larger than the required torque, so that the rotating speed of the lifting motor is rapidly reduced until the rotating speed of the lifting motor reaches a reverse preset rotating speed;
s400, adjusting the working mode of the lifting motor to be converted from a torque mode to a rotating speed mode, enabling the pitching driving part to enter a lifting state, lifting at full speed, and enabling the arm support to tilt upwards.
In the embodiment, when the pitching driving part is in a descending, stopping and immediate lifting state, the auxiliary motor is started, the auxiliary motor and the lifting motor are communicated with the pitching oil cylinder, and the auxiliary motor and the lifting motor jointly drive the driving pump, so that the pitching driving part is further quickly lifted, and the arm support action is quickly switched. When the pitching driving part is stopped to be immediately descended during lifting, the lifting motor and the auxiliary motor are both switched from a rotating speed mode to a torque mode.
It should be noted that, when the pitch driving part is in a state of descending, stopping and lifting immediately, because the lifting motor is completely communicated with the auxiliary motor and the pitch cylinder, when the auxiliary motor is started, the auxiliary motor is lifted at full speed at a second reverse rotation speed, the lifting motor needs to support the oil pressure reversely dragged by the auxiliary motor to avoid being reversely dragged by the cylinder carried by the auxiliary motor, so that the torque of the lifting motor needs to be applied to the lifting motor when the rotation speed in the first direction reaches a predetermined rotation speed in the second direction, and then the rotation speed mode is converted, thereby avoiding being reversely dragged by the cylinder carried by the auxiliary motor in the process of the rotation speed change of the lifting motor, and ensuring the stable lifting of the pitch driving part. And when the lifting motor is converted into a rotating speed mode, the lifting motor and the auxiliary motor are converged to jointly act on the pitching driving part, the rapid lifting is started, and the switching of the arm support action is completed.
EXAMPLE III
The embodiment provides an arm support pitching switching control system, which comprises a pitching oil cylinder, a driving pump, a lifting motor, an auxiliary motor and a controller, wherein the driving pump is connected with the pitching oil cylinder; the driving pump is used for supplying oil to the pitching oil cylinder so as to drive the driving end of the pitching oil cylinder to stretch and retract, and therefore the arm support is driven to pitch up or pitch down; the lifting motor and the auxiliary motor jointly drive the driving pump to work; the controller is respectively in communication connection with the lifting motor and the auxiliary motor to control the lifting motor and the auxiliary motor to work, and the controller can acquire the working condition of the pitching oil cylinder and control the lifting motor and the auxiliary motor to work according to different working conditions of the pitching oil cylinder.
The boom pitching switching control system of the embodiment can realize the boom pitching switching control method of the first embodiment and the second embodiment, so that the boom pitching switching control system has all the beneficial effects of the first embodiment and the second embodiment, when the pitching driving part is in a descending, stopping and immediate lifting state, on one hand, the rotating speed of the lifting motor is rapidly reduced by increasing the torque of the lifting motor to be larger than the required torque, and the response time of the boom action is reduced, on the other hand, the auxiliary motor and the lifting motor are communicated with the pitching cylinder by matching with the auxiliary motor, and the auxiliary motor and the lifting motor drive the driving pump together, so that the rapid lifting of the pitching driving part is further realized, and the rapid switching of the boom action is completed.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A boom pitching switching control method is characterized in that,
acquiring a lifting working condition of a pitching driving part for supporting the arm support;
when the pitching driving part is in a descending, stopping and immediate lifting state, acquiring the torque required by the balance potential energy of the lifting motor according to the pressure of the pitching driving part;
increasing the torque of the lifting motor to be larger than the required torque, and rapidly reducing the rotating speed of the lifting motor;
and adjusting the lifting motor to be in a rotating speed mode, lifting by the pitching driving part, and realizing upward pitching of the arm support.
2. The boom pitch switching control method according to claim 1, wherein the torque of the lifting motor is increased to be greater than the required torque, and the rotation speed of the lifting motor is rapidly decreased until the rotation speed of the lifting motor is zero or a reverse predetermined rotation speed is reached.
3. The boom pitch switching control method according to claim 2, wherein when the pitch driving part is in a state of descending, stopping and immediately lifting, an auxiliary motor is started, and the auxiliary motor drives the pitch driving part to lift; and when the torque of the lifting motor is increased to reduce the rotating speed of the lifting motor, the rotating speed of the lifting motor needs to reach a reverse preset rotating speed.
4. The boom pitch switching control method according to claim 3, wherein the pitch driving part comprises a pitch cylinder and a driving pump, and the driving pump is used for supplying oil to the pitch cylinder to drive the driving end of the pitch cylinder to extend and retract so as to drive the boom to pitch up or pitch down.
5. The boom pitch switching control method of claim 4, wherein the auxiliary motor and the lift motor are in communication with the pitch ram.
6. The boom pitch switching control method according to any one of claims 3 to 5, wherein when the pitch driving part is at a stop of lifting and immediately descends, both the lifting motor and the auxiliary motor are switched from a rotational speed mode to a torque mode.
7. An arm frame pitching switching control system is characterized in that the arm frame pitching switching control method of any one of claims 3 to 6 is applied, and the arm frame pitching switching control system comprises a pitching oil cylinder, a driving pump, a lifting motor and an auxiliary motor;
the driving pump is used for supplying oil to the pitching oil cylinder so as to drive the driving end of the pitching oil cylinder to stretch and retract, and therefore the arm support is driven to pitch up or pitch down;
the lifting motor and the auxiliary motor drive the driving pump to work together.
8. The boom pitch switching control system of claim 7, further comprising a controller, wherein the controller is in communication connection with the lifting motor and the auxiliary motor respectively to control the lifting motor and the auxiliary motor to work.
9. The boom pitch switching control system of claim 7, wherein the lift motor has a speed mode and a torque mode.
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| CN202010556055.6A CN111675103B (en) | 2020-06-17 | 2020-06-17 | Arm support pitching switching control method and control system |
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| CN202010556055.6A CN111675103B (en) | 2020-06-17 | 2020-06-17 | Arm support pitching switching control method and control system |
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Family Cites Families (11)
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| GB319429A (en) * | 1928-07-04 | 1929-09-26 | William Harding Scott | Improvements in motor-generator control for electric winches and the like |
| GB1358871A (en) * | 1971-06-25 | 1974-07-03 | Pye Ltd | Crane load indicator arrangement |
| CN201161876Y (en) * | 2007-11-30 | 2008-12-10 | 廖乃旺 | Telecontrol automatic crane |
| WO2011108507A1 (en) * | 2010-03-02 | 2011-09-09 | 株式会社Manabe | Hydraulic drive device for deck crane, crane device, control device for hydraulic pump, and ship |
| CN102491174B (en) * | 2011-12-19 | 2014-04-02 | 中联重科股份有限公司 | Crane, method for controlling tension of steel wire rope and hydraulic system |
| CN102992195B (en) * | 2012-12-10 | 2015-03-18 | 徐州重型机械有限公司 | Counterweight hanging control device, hydraulic control system and mobile crane |
| CN103287980B (en) * | 2013-06-27 | 2014-10-29 | 湖南中铁五新重工有限公司 | Cantilever crane vertical lift control system |
| CN104261258B (en) * | 2014-08-12 | 2016-06-29 | 北京天拓四方科技有限公司 | Control method when a kind of heavy object of crane is transferred and control system |
| CN204327665U (en) * | 2014-11-24 | 2015-05-13 | 徐州重型机械有限公司 | Crane amplitude variation energy regenerating and reutilization system and hoist |
| CN106429974A (en) * | 2015-08-11 | 2017-02-22 | 鹤岗市东启机械修造厂 | Forking-lifting two-purpose vehicle |
| CN106429931B (en) * | 2016-12-06 | 2018-11-30 | 上海振华重工(集团)股份有限公司 | The control system and control method of active electronic heave compensation crane |
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