CN111704034B - Crane and telescopic oil cylinder control method - Google Patents
Crane and telescopic oil cylinder control method Download PDFInfo
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- CN111704034B CN111704034B CN202010414225.7A CN202010414225A CN111704034B CN 111704034 B CN111704034 B CN 111704034B CN 202010414225 A CN202010414225 A CN 202010414225A CN 111704034 B CN111704034 B CN 111704034B
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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
- B66C13/20—Control systems or devices for non-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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
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- 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
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- 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)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
The present disclosure relates to a crane and a telescopic cylinder control method to solve problems in the related art. The crane comprises: the telescopic oil cylinder, the telescopic oil cylinder controller and the pressure sensor are connected with the telescopic oil cylinder controller, and the pressure sensor is arranged on an oil inlet path of an extension cavity of the telescopic oil cylinder; the pressure sensor is used for detecting the pressure information of the extension cavity; the telescopic oil cylinder controller is used for determining whether the telescopic oil cylinder is in a shaking state or not according to the pressure information, increasing the control current of the telescopic oil cylinder under the condition that the telescopic oil cylinder is in the shaking state, enabling the telescopic oil cylinder to accelerate the stretching action, and reducing the control current of the telescopic oil cylinder when the telescopic oil cylinder driven machine arm reaches a target position point, and enabling the telescopic oil cylinder to slow down the stretching action.
Description
Technical Field
The disclosure relates to the technical field of engineering machinery, in particular to a crane and a telescopic oil cylinder control method.
Background
At present, the wheel crane used in the market mainly adopts a single-cylinder bolt telescopic mechanism to control the telescopic of a suspension arm.
In the related technology, when the empty cylinder of the crane extends out of the arm position, the resistance of the telescopic oil cylinder in operation on the slideway is not uniform due to rough processing of the slideway of the suspension arm and assembly errors, so that the empty cylinder is shaken in operation.
Disclosure of Invention
The disclosure aims to provide a crane and a telescopic oil cylinder control method so as to solve the problems in the related art.
In order to achieve the above object, according to a first part of the embodiments of the present disclosure, there is provided a crane including:
the telescopic oil cylinder, the telescopic oil cylinder controller and the pressure sensor are connected with the telescopic oil cylinder controller, and the pressure sensor is arranged on an oil inlet path of an extension cavity of the telescopic oil cylinder;
the pressure sensor is used for detecting the pressure information of the extension cavity;
the telescopic oil cylinder controller is used for determining whether the telescopic oil cylinder is in a shaking state or not according to the pressure information, increasing the control current of the telescopic oil cylinder under the condition that the telescopic oil cylinder is in the shaking state, enabling the telescopic oil cylinder to accelerate the stretching action, and reducing the control current of the telescopic oil cylinder when the telescopic oil cylinder driven machine arm reaches a target position point, and enabling the telescopic oil cylinder to slow down the stretching action.
Optionally, the telescopic cylinder controller is configured to increase a control current to the telescopic cylinder by operating a target control program, so that the telescopic cylinder accelerates an extending action;
the telescopic oil cylinder controller is also used for reducing the control current of the telescopic oil cylinder by stopping the operation of the target control program, so that the telescopic oil cylinder slows down the extending action.
Optionally, the telescopic cylinder controller is further configured to, in a process of operating the target control program, detect whether the boom driven by the telescopic cylinder reaches the target position point, and when the boom reaches the target position point, stop operating the target control program to reduce a control current to the telescopic cylinder.
Optionally, the target position point includes a first position point and/or a second position point, the first position point is a position point where an arm pin hole of the boom is located, and the second position point is an 80% position point of an extension stroke of the telescopic cylinder.
Optionally, the telescopic cylinder controller is further configured to, in the process of operating the target control program, switch the telescopic cylinder to a manual control mode if it is detected that the current value corresponding to the pushing angle of the user handle is greater than the current value input to the telescopic cylinder by the target control program.
Optionally, the telescopic cylinder controller determines that the telescopic cylinder is in a shaking state when the pressure information represents that the variation amplitude of the pressure applied to the extension cavity within a preset time exceeds a preset pressure threshold.
According to a second part of the disclosed embodiment, a telescopic oil cylinder control method is provided, and the method is applied to any crane of the first part, and comprises the following steps:
detecting pressure information of the extension cavity through the pressure sensor;
and determining whether the telescopic oil cylinder is in a shaking state or not according to the pressure information, and increasing the control current of the telescopic oil cylinder under the condition that the telescopic oil cylinder is in the shaking state so as to accelerate the stretching action of the telescopic oil cylinder, and reducing the control current of the telescopic oil cylinder when detecting that the machine arm driven by the telescopic oil cylinder reaches a target position point so as to slow down the stretching action of the telescopic oil cylinder.
Optionally, under the condition that the telescopic cylinder is in a shaking state, increasing a control current to the telescopic cylinder so that the telescopic cylinder accelerates an extending action includes:
increasing control current for the telescopic oil cylinder by operating a target control program so as to accelerate the stretching action of the telescopic oil cylinder;
when detecting that telescopic cylinder driven horn reaches the target position point reduce to telescopic cylinder's control current includes:
and reducing the control current of the telescopic oil cylinder by stopping the operation of the target control program, so that the telescopic oil cylinder slows down the extending action.
Optionally, the method further comprises:
and in the process of operating the target control program, detecting whether the machine arm driven by the telescopic oil cylinder reaches the target position point, and stopping operating the target control program when the machine arm reaches the target position point so as to reduce the control current for the telescopic oil cylinder.
Optionally, the target position point includes a first position point and/or a second position point, the first position point is a position point where an arm pin hole of the boom is located, and the second position point is an 80% position point of an extension stroke of the telescopic cylinder.
Optionally, the method further comprises:
and in the process of operating the target control program, if the detected ground current value corresponding to the pushing angle of the user handle is larger than the current value input to the telescopic oil cylinder by the target control program, switching the telescopic oil cylinder into a manual control mode.
Optionally, when the pressure information represents that the variation amplitude of the pressure applied to the extension cavity exceeds a preset pressure threshold value within a preset time period, it is determined that the telescopic oil cylinder is in a shaking state.
By adopting the technical scheme, the following technical effects can be at least achieved:
by adopting the crane, the pressure sensor is arranged on the oil inlet path of the extending cavity of the telescopic oil cylinder, the pressure fluctuation information on the oil inlet path can be detected when the telescopic oil cylinder extends the cylinder through the pressure sensor, and whether the telescopic oil cylinder shakes or not can be determined according to the pressure information. And under the condition that the telescopic oil cylinder is determined to be in a shaking state according to the pressure information, the control current for the telescopic oil cylinder is increased, so that the telescopic oil cylinder accelerates the stretching action, and the shaking phenomenon of the telescopic oil cylinder can be solved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a block diagram illustrating a crane according to an exemplary embodiment of the present disclosure.
FIG. 2 is a control flow diagram illustrating a single cylinder deadbolt system according to an exemplary embodiment of the present disclosure.
Fig. 3 is a flowchart illustrating a telescopic cylinder control method according to an exemplary embodiment of the present disclosure.
Fig. 4 is a flowchart illustrating another telescopic cylinder control method according to an exemplary embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
At present, the wheel crane used in the market mainly adopts a single-cylinder bolt telescopic mechanism to control the telescopic of a suspension arm.
In the related technology, when the empty cylinder of the crane extends out to find the arm position, the resistance of the telescopic oil cylinder in operation on the slideway is not uniform due to rough processing of the suspension arm slideway and assembly errors, so that the telescopic oil cylinder shakes during operation of the empty cylinder.
In view of this, the embodiments of the present disclosure provide a crane and a method for controlling a telescopic cylinder, so as to solve the problems in the related art.
Fig. 1 is a block diagram illustrating a structure of a crane according to an exemplary embodiment of the present disclosure, as shown in fig. 1, including:
the telescopic oil cylinder control system comprises a telescopic oil cylinder 101, a telescopic oil cylinder controller 102 and a pressure sensor 103 connected with the telescopic oil cylinder controller 102, wherein the pressure sensor 103 is arranged on an oil inlet path of a stretching cavity of the telescopic oil cylinder 102; the pressure sensor 103 is used for detecting pressure information of the extension cavity; the telescopic oil cylinder controller 102 is used for determining whether the telescopic oil cylinder 101 is in a shaking state according to the pressure information, increasing the control current of the telescopic oil cylinder 101 under the condition that the telescopic oil cylinder 101 is in the shaking state, enabling the telescopic oil cylinder 101 to accelerate the stretching action, and reducing the control current of the telescopic oil cylinder 101 when detecting that the boom driven by the telescopic oil cylinder 101 reaches a target position point, and enabling the telescopic oil cylinder 101 to slow down the stretching action.
It should be noted that, in fig. 1, first, a hydraulic oil tank is characterized, second, a telescopic cylinder control valve is characterized, third, a balance valve is characterized, fourth, a telescopic cylinder 101 is characterized, and fifth, a main control valve is characterized. A. A1, A2, B, C1, C2, D1, D2, L, M1, M2 and P, X all represent oil passages, and Y3 and Y4 represent electromagnetic valves on the oil passages.
As shown in fig. 1, the pressure sensor 103 is disposed on an oil inlet path of the extension chamber of the telescopic cylinder 101. It should be noted that the location of the pressure sensor 103 shown in fig. 1 is merely exemplary and is not intended to limit the present disclosure. The specific position is not limited in the present disclosure as long as the pressure sensor 103 is disposed on the oil inlet path of the extension cavity of the telescopic cylinder 102. It will be understood by those skilled in the art that the pressure sensor 103 detects pressure information on the oil inlet line of the extension chamber, and the pressure information can represent pressure information of the extension chamber where the telescopic cylinder 101 is located.
The telescopic cylinder controller 102 determines whether the telescopic cylinder 101 is in a shaking state according to the pressure information detected by the pressure sensor 103, and increases a control current to the telescopic cylinder 101 when determining that the telescopic cylinder 101 is in the shaking state, so that the telescopic cylinder 101 accelerates the extension action. Specifically, the control current to the telescopic cylinder 101 may be increased by controlling the (fifth) proportional relief valve in fig. 1. When the arm driven by the telescopic oil cylinder 101 reaches the target position, the control current to the telescopic oil cylinder 101 can be reduced by controlling the fifth proportional overflow valve in the control figure 1.
It is understood that, according to the resonance principle, the telescopic cylinder 101 is less sensitive to shocks at the time of quick operation than at the time of low-speed operation. Specifically, when the extension speed of the telescopic cylinder 101 is increased, the vibration frequency is increased, the resonance phenomenon disappears, and the vibration amplitude is reduced, so that the vibration feeling is weaker. For example, the washing machine drum is strongly vibrated at a low speed rotation and weakly vibrated at a high speed rotation. For another example, the vehicle vibration feeling during high-speed running is weaker than that during low-speed running. Therefore, when it is determined that the telescopic cylinder 101 is in a shaking state, the telescopic cylinder 101 is accelerated in extension by increasing the control current to the telescopic cylinder 101, so that the shaking strength of the telescopic cylinder can be reduced.
In the related art, a single-cylinder latch system is adopted to control the telescopic oil cylinder in a manner shown in fig. 2. Referring to fig. 2, in step 22, the extension of the telescopic cylinder is controlled by a medium-small current of 300mA to 500 mA. The inventor tests that the telescopic oil cylinder can shake when the control current is in the range of 400 mA-500 mA.
By adopting the crane, the pressure sensor is arranged on the oil inlet path of the extending cavity of the telescopic oil cylinder, the pressure fluctuation information on the oil inlet path can be detected when the telescopic oil cylinder extends the cylinder through the pressure sensor, and whether the telescopic oil cylinder shakes or not can be determined according to the pressure fluctuation information. And under the condition that the telescopic oil cylinder is determined to be in a shaking state according to the pressure information, the control current for the telescopic oil cylinder is increased, so that the telescopic oil cylinder accelerates the stretching action, and the shaking phenomenon of the telescopic oil cylinder can be solved. And when the machine arm driven by the telescopic oil cylinder reaches a target position point, the extension speed of the telescopic oil cylinder can be reduced by reducing the control current for the telescopic oil cylinder.
Optionally, the telescopic cylinder controller 102 is configured to increase a control current to the telescopic cylinder 101 by operating a target control program, so that the telescopic cylinder 101 accelerates an extending action; the telescopic cylinder controller 102 is further configured to reduce the control current to the telescopic cylinder 101 by stopping the operation of the target control program, so that the telescopic cylinder 101 slows down the stretching action.
An implementation manner can be realized by configuring a target control program on the telescopic cylinder controller 102 and running the target control program, so that the control current for the telescopic cylinder 101 can be increased, and the telescopic cylinder 101 can be extended quickly. Specifically, the target control program may be configured to increase the control current of the telescopic cylinder to 550mA within 600 milliseconds.
It should be noted that when the target control program is stopped, the telescopic cylinder 101 is continuously controlled in a manner of controlling the telescopic cylinder by the single cylinder latch system in the related art. Therefore, after the target control program stops running, the control current for the telescopic oil cylinder 101 can be reduced, so that the telescopic oil cylinder 101 slows down the extending action.
Optionally, the telescopic cylinder controller 102 is further configured to, during the operation of the target control program, detect whether the boom driven by the telescopic cylinder 101 reaches a target position point, and when the boom reaches the target position point, stop operating the target control program to reduce a control current to the telescopic cylinder.
The target position point comprises a first position point and/or a second position point, the first position point is a position point where an arm pin hole of the machine arm is located, and the second position point is a position point of 80% of an extending stroke of the telescopic oil cylinder 101.
It is understood that the crane can adopt a single-cylinder bolt telescopic mechanism to control the telescopic of the suspension arm of the crane. Thus, in one possible case, the first position point may be set to a position point corresponding to an arm pin hole position of a boom of the crane. In the related art, the arm pin hole site is generally located at a 46% position of the stroke. Therefore, in an implementation mode, the telescopic cylinder controller 102 stops running the target control program when detecting that the boom driven by the telescopic cylinder 101 reaches the position of 46% of the stroke during running the target control program, so as to reduce the control current for the telescopic cylinder. In another implementation manner, in order to find the arm pin hole position more accurately, the telescopic cylinder controller 102 may be further configured to, during the running of the target control program, stop running the target control program when it is detected that the boom driven by the telescopic cylinder 101 reaches the position of 43% of the stroke, so as to reduce the control current to the telescopic cylinder, thereby reducing the boom extension speed to achieve the purpose of reducing the speed and finding the position. This reduced speed indexing facilitates more accurate indexing of the arm pin hole locations at 46% of the travel.
In another possible case, the second position point may be set to be a position point of 80% of the extension stroke of the telescopic cylinder 101. Through the experiment of the inventor, the shaking phenomenon of the telescopic cylinder 101 does not occur when the telescopic cylinder 101 runs to the position of 80% of the stroke and the position of more than 80%. Therefore, in an achievable embodiment, if the telescopic cylinder controller 102 detects that the telescopic cylinder 101 drives the boom to reach the position of 80% of the stroke during the operation of the target control program, the operation of the target control program may be stopped, so as to reduce the control current for the telescopic cylinder. By adopting the mode, the electric energy waste caused by accelerating the stretching action of the telescopic oil cylinder 101 by increasing the control current of the telescopic oil cylinder 101 by operating the target control program can be avoided.
Optionally, the telescopic cylinder controller 102 is further configured to, in the process of running the target control program, switch the telescopic cylinder 101 to a manual control mode if it is detected that the current value corresponding to the pushing angle of the user handle is greater than the current value of the control current of the target control program to the telescopic cylinder 101.
It should be understood that, if the pushing angle of the user handle is correspondingly larger than the control current value of the target control program for the telescopic cylinder 101, the telescopic cylinder 101 should be switched to the manual control mode, so as to facilitate manual control of the telescopic cylinder 101 to extend more quickly. It is worth to be noted that, in the manual control mode, the telescopic cylinder 101 is controlled according to the current value corresponding to the pushing angle of the user handle.
Optionally, when the pressure information indicates that the variation amplitude of the pressure applied to the extension cavity within a preset time exceeds a preset pressure threshold, the telescopic cylinder controller 102 determines that the telescopic cylinder 101 is in a shaking state.
In an implementation manner, if the change amplitude of the pressure value detected by the pressure sensor 103 in the time range of 2 seconds exceeds 1.2bar, the telescopic cylinder 101 is considered to be in a shaking state. The preset pressure threshold is adaptively set according to requirements.
Based on the same inventive concept, an embodiment of the present disclosure further provides a method for controlling a telescopic cylinder, as shown in fig. 3, where the method is applied to any one of the cranes, and the method includes:
and step 32, determining whether the telescopic oil cylinder is in a shaking state or not according to the pressure information, and increasing the control current for the telescopic oil cylinder under the condition that the telescopic oil cylinder is in the shaking state so as to accelerate the stretching action of the telescopic oil cylinder, and reducing the control current for the telescopic oil cylinder when detecting that the machine arm driven by the telescopic oil cylinder reaches a target position point so as to slow down the stretching action of the telescopic oil cylinder.
By adopting the method, the pressure information of the extension cavity of the telescopic oil cylinder is detected by the pressure sensor; and determining whether the telescopic oil cylinder is in a shaking state or not according to the pressure information, and increasing a control current for controlling the telescopic oil cylinder under the condition of determining that the telescopic oil cylinder is in the shaking state so as to accelerate the extension action of the telescopic oil cylinder and solve the shaking phenomenon of the telescopic oil cylinder. And when the fact that the machine arm driven by the telescopic oil cylinder reaches the target position point is detected, the control current for the telescopic oil cylinder is reduced, so that the stretching action of the telescopic oil cylinder is slowed down, and the machine arm driven by the telescopic oil cylinder can accurately find the arm pin hole position.
Optionally, under the condition that the telescopic cylinder is in a shaking state, increasing a control current to the telescopic cylinder so that the telescopic cylinder accelerates an extending action includes:
increasing control current for the telescopic oil cylinder by operating a target control program so as to accelerate the stretching action of the telescopic oil cylinder;
when detecting that telescopic cylinder driven horn reaches the target position point reduce to telescopic cylinder's control current includes:
and reducing the control current of the telescopic oil cylinder by stopping the operation of the target control program, so that the telescopic oil cylinder slows down the extending action.
Optionally, the method further comprises:
and in the process of operating the target control program, detecting whether the machine arm driven by the telescopic oil cylinder reaches the target position point, and stopping operating the target control program when the machine arm reaches the target position point so as to reduce the control current for the telescopic oil cylinder.
Optionally, the target position point includes a first position point and/or a second position point, the first position point is a position point where an arm pin hole of the boom is located, and the second position point is an 80% position point of an extension stroke of the telescopic cylinder.
Optionally, the method further comprises:
and in the process of operating the target control program, if the detected ground current value corresponding to the pushing angle of the user handle is larger than the current value input to the telescopic oil cylinder by the target control program, switching the telescopic oil cylinder into a manual control mode.
Optionally, when the pressure information represents that the variation amplitude of the pressure applied to the extension cavity exceeds a preset pressure threshold value within a preset time period, it is determined that the telescopic oil cylinder is in a shaking state.
Fig. 4 is a flowchart illustrating another telescopic cylinder control method according to an exemplary embodiment of the present disclosure, as shown in fig. 4, including:
42, outputting small and medium control current information by the single-cylinder bolt system;
43, controlling the telescopic oil cylinder to start to stretch according to the medium and small control currents, and detecting pressure information of a stretching cavity of the telescopic oil cylinder through a pressure sensor;
and 48, controlling the telescopic oil cylinder to continuously extend according to the current value output by the target control program.
With regard to the steps in the above-described embodiments, the specific embodiments of the respective steps have been described in detail in the embodiments related to the crane, and will not be explained in detail here.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure. It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. To avoid unnecessary repetition, the disclosure does not separately describe various possible combinations.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (9)
1. A crane, comprising:
the telescopic oil cylinder, the telescopic oil cylinder controller and the pressure sensor are connected with the telescopic oil cylinder controller, and the pressure sensor is arranged on an oil inlet path of an extension cavity of the telescopic oil cylinder;
the pressure sensor is used for detecting the pressure information of the extension cavity;
the telescopic oil cylinder controller is used for determining whether the telescopic oil cylinder is in a shaking state or not according to the pressure information, increasing control current for the telescopic oil cylinder under the condition that the telescopic oil cylinder is in the shaking state to enable the telescopic oil cylinder to accelerate stretching action, and reducing the control current for the telescopic oil cylinder when detecting that the machine arm driven by the telescopic oil cylinder reaches a target position point to enable the telescopic oil cylinder to slow down stretching action;
and the telescopic oil cylinder controller determines that the telescopic oil cylinder is in a shaking state when the pressure information represents that the variation amplitude of the pressure applied to the telescopic cavity exceeds a preset pressure threshold value within a preset time length.
2. The crane according to claim 1, wherein the telescopic cylinder controller is configured to increase a control current to the telescopic cylinder by operating a target control program, so that the telescopic cylinder accelerates the extension action;
the telescopic oil cylinder controller is also used for reducing the control current of the telescopic oil cylinder by stopping the operation of the target control program, so that the telescopic oil cylinder slows down the extending action.
3. The crane according to claim 2, wherein the telescopic cylinder controller is further configured to detect whether the boom driven by the telescopic cylinder reaches the target position point during the operation of the target control program, and stop the operation of the target control program to reduce the control current to the telescopic cylinder when the boom reaches the target position point.
4. The crane according to claim 3, wherein the target position point comprises a first position point at which an arm pin hole of the boom is located and/or a second position point at which 80% of an extension stroke of the telescopic cylinder is located.
5. The crane according to claim 2, wherein the telescopic cylinder controller is further configured to switch the telescopic cylinder to a manual control mode if it is detected that the current value corresponding to the pushing angle of the user handle is greater than the current value input to the telescopic cylinder by the target control program during the operation of the target control program.
6. A telescopic cylinder control method, applied to the crane of claim 1, comprising:
detecting pressure information of the extension cavity through the pressure sensor;
determining whether the telescopic oil cylinder is in a shaking state or not according to the pressure information, increasing control current for the telescopic oil cylinder under the condition that the telescopic oil cylinder is in the shaking state to enable the telescopic oil cylinder to accelerate extension action, and reducing the control current for the telescopic oil cylinder when detecting that a machine arm driven by the telescopic oil cylinder reaches a target position point to enable the telescopic oil cylinder to slow down extension action;
the method further comprises the following steps:
and when the pressure information represents that the variation amplitude of the pressure applied to the stretching cavity in a preset time exceeds a preset pressure threshold value, determining that the telescopic oil cylinder is in a shaking state.
7. The method of claim 6, wherein increasing the control current to the telescopic cylinder to accelerate the extension of the telescopic cylinder when the telescopic cylinder is in a flutter state comprises:
increasing control current for the telescopic oil cylinder by operating a target control program so as to accelerate the stretching action of the telescopic oil cylinder;
when detecting that telescopic cylinder driven horn reaches the target position point reduce to telescopic cylinder's control current includes:
and reducing the control current of the telescopic oil cylinder by stopping the operation of the target control program, so that the telescopic oil cylinder slows down the extending action.
8. The method of claim 7, further comprising:
and in the process of operating the target control program, detecting whether the machine arm driven by the telescopic oil cylinder reaches the target position point, and stopping operating the target control program when the machine arm reaches the target position point so as to reduce the control current for the telescopic oil cylinder.
9. The method of claim 8, wherein the target position point comprises a first position point at which an arm pin hole of the horn is located and/or a second position point at which 80% of an extension stroke of the telescopic cylinder is located.
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| CN202010414225.7A CN111704034B (en) | 2020-05-15 | 2020-05-15 | Crane and telescopic oil cylinder control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4422185A1 (en) * | 1993-06-25 | 1995-01-05 | Ppm Sa | Method and arrangement for compensating for the change in length of a hydraulic converter |
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| US10927856B2 (en) * | 2016-11-17 | 2021-02-23 | University Of Manitoba | Pump-controlled hydraulic circuits for operating a differential hydraulic actuator |
| CN207122453U (en) * | 2017-06-26 | 2018-03-20 | 徐州工业职业技术学院 | A kind of electrohydraulic control system for being used to mitigate the shake of engineering machinery arm support |
| CN108843659A (en) * | 2018-08-28 | 2018-11-20 | 长沙学院 | The booster-type fast braking stabilization control device and method of hydraulic cylinder actuators |
| CN109185283B (en) * | 2018-11-26 | 2019-09-03 | 中联重科股份有限公司 | Seamlessly transit device, control system, control method and engineering machinery |
| CN109236806B (en) * | 2018-11-26 | 2020-08-21 | 中联重科股份有限公司 | Control system and method for telescopic oil cylinder and engineering machinery |
| CN110775841B (en) * | 2019-11-01 | 2022-02-25 | 徐州重型机械有限公司 | Telescopic control system and engineering machinery |
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| DE4422185A1 (en) * | 1993-06-25 | 1995-01-05 | Ppm Sa | Method and arrangement for compensating for the change in length of a hydraulic converter |
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