CN112850499B - Hoisting control method and system and engineering machinery - Google Patents
Hoisting control method and system and engineering machinery Download PDFInfo
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- CN112850499B CN112850499B CN202011634201.9A CN202011634201A CN112850499B CN 112850499 B CN112850499 B CN 112850499B CN 202011634201 A CN202011634201 A CN 202011634201A CN 112850499 B CN112850499 B CN 112850499B
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- 239000000725 suspension Substances 0.000 claims description 7
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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
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
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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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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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
- B66C13/46—Position indicators for suspended loads or for crane elements
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Abstract
The invention relates to the technical field of boom engineering control, discloses a hoisting control method and system and engineering machinery, and solves the problems that an application scene of automatic hoisting operation is too narrow, and a boom head is not accurately positioned. The method comprises the following steps: acquiring a target position of the boom head of the boom engineering machinery reaching the specified hoisting operation; controlling the boom head to reach a designated position in the process of reaching a target position at a preset speed, and detecting the rotation angular speed, the amplitude variation speed, the sliding stopping angle and the sliding stopping amplitude variation amplitude of the boom head; and controlling the boom head to stop at the target position according to the distance between the boom head and the target position, the rotation angular velocity, the amplitude variation velocity, the stop sliding angle and the stop sliding amplitude variation amplitude. The embodiment of the invention is suitable for automatic hoisting operation of the cantilever crane engineering equipment.
Description
Technical Field
The invention relates to the technical field of arm support engineering control, in particular to a hoisting control method and system and engineering machinery.
Background
The crane is widely used in the construction industry, the manufacturing industry and the port transportation industry as a lifting and carrying device.
In the traditional hoisting operation process, because the visual field of a manipulator in a cab is limited, a hoisting point and a target position are not easy to observe, generally, the position condition of a jib head is observed on the spot by hoisting commanders, and the operation of the jib head by the commander manipulator is completed. The process relies on manual multiple judgments and communications, and usually requires repeated adjustments to allow the boom head to reach the target position. For a hoisting task with certain danger, a commander cannot approach the target position of the boom head, so that the commander cannot accurately command a manipulator.
The existing cantilever crane head positioning technology in the hoisting control process is developed to a certain extent, automatic cyclic reciprocating hoisting operation is implemented according to a memorized automatic hoisting path, and cyclic reciprocating hoisting operation of a plurality of objects is realized. However, the memory-based reciprocating hoisting technology has a narrow application scene and is not suitable for hoisting operation of different target positions.
Disclosure of Invention
The invention aims to provide a hoisting control method and system and an engineering machine, which are used for realizing accurate positioning of a boom head in hoisting operation of the boom type engineering machine and expanding the application scene of automatic hoisting operation.
In order to achieve the above object, the present invention provides a hoisting control method, including: acquiring a target position of the boom head of the boom engineering machinery reaching the specified hoisting operation; controlling the boom head to reach a specified position in the process of reaching the target position at a preset speed, and detecting the rotation angular speed, the amplitude variation speed, the sliding stopping angle and the sliding stopping amplitude variation amplitude of the boom head; and controlling the boom head to stop at the target position according to the distance between the boom head and the target position, the rotation angular velocity, the amplitude variation velocity, the stop sliding angle and the stop sliding amplitude variation amplitude.
Further, the controlling the boom head to reach the specified position in the process of reaching the target position at a preset speed, and detecting the rotation angular velocity, the variable amplitude velocity, the stop slip angle, and the stop slip variable amplitude of the boom head includes: before the cantilever crane head reaches the designated position in the process of the target position, extracting a first rotation angle and a first amplitude corresponding to the designated time point; when the jib head reaches the designated position, stopping controlling the jib head, and recording a second rotation angle and a second amplitude corresponding to the current time point; detecting the stop slip time, the third rotation angle and the third amplitude when the boom head stops slipping; obtaining a turning angular velocity of the boom head according to Va ═ (a2-a1)/(t2-t1), wherein Va is the turning angular velocity, a2 is the second turning angle, a1 is the first turning angle, t2 is the current time point, and t1 is the designated time point; obtaining the amplitude variation speed of the boom head according to the Vr ═ L2-L1)/(t2-t1, wherein Vr is the amplitude variation speed, L2 is the second amplitude variation amplitude, and L1 is the first amplitude variation amplitude; taking a difference between the third turning angle and the second turning angle as a stop slip angle; and taking the difference value between the third amplitude and the second amplitude as the amplitude of stopping sliding amplitude.
Further, the controlling the boom head to stop at the target position according to the distance between the boom head and the target position, the slewing angular velocity, the luffing velocity, the stop slip angle, and the stop slip luffing amplitude comprises: according to the rotary angular velocity, the variable amplitude velocity, the stop sliding angle, the stop sliding variable amplitude, the first variable amplitude and the command delay time, obtaining an advance stop rotary angle and an advance stop variable amplitude of the boom head; and controlling the jib head to reach the advanced stop rotation angle and the advanced stop amplitude at the preset speed according to the distance between the jib head and the target position.
Further, the obtaining of the advance stop rotation angle and the advance stop luffing amplitude of the boom head according to the rotation angular velocity, the luffing velocity, the stop slip angle, the stop slip luffing amplitude, the first luffing amplitude, and the command delay time includes: obtaining an advanced stop swivel angle of the boom head according to X ═ (Va × tc + a0), where X is the advanced stop swivel angle, Va is the swivel angular velocity, tc is the command delay time, and a0 is the stop slip angle; and obtaining the amplitude of the stop advance of the boom head according to R (Vr x tc + R0), wherein R is the amplitude of the stop advance, Vr is the amplitude speed, and R0 is the amplitude of the stop slip.
Further, the controlling the boom head to reach the advanced stop swivel angle and the advanced stop luffing amplitude at the preset speed according to the distance between the boom head and the target position, so that the boom head stops at the target position includes: according to the advance stop rotation angle and the advance stop amplitude, in the process of controlling the jib head to execute rotation and amplitude variation actions at the preset speed, acquiring the real-time amplitude variation amplitude and the real-time rotation angle of the jib head and a movement variable on a coordinate axis projected on a horizontal plane; obtaining the amplitude of the target position of the boom head and the moving distance projected on the horizontal plane according to the real-time amplitude of variation, the real-time rotation angle and the moving variable projected on the coordinate axis of the horizontal plane; stopping the amplitude variation action of the boom head when the absolute value of the difference between the amplitude variation of the target position and the real-time amplitude variation is equal to the amplitude variation stopping in advance; obtaining an advance stop rotation angle estimated value of the boom head according to the amplitude of variation of the target position, the real-time amplitude of variation and the moving distance; and when the obtained estimated value of the advance stop turning angle is equal to the advance stop turning angle, stopping the turning action of the jib head, and controlling the amplitude variation action of the jib head to the amplitude of the advance stop amplitude variation so as to stop the jib head at the target position.
Further, the obtaining the amplitude of the target position of the boom head and the moving distance projected on the horizontal plane according to the real-time amplitude of the amplitude, the real-time rotation angle, and the moving variable projected on the coordinate axis of the horizontal plane includes: according to
Obtaining the amplitude of the target position, wherein c is the amplitude of the target position, b is the real-time amplitude of the target position, a is the calculated value of the real-time rotation angle a ', wherein when 0 < a ' is less than or equal to 180 °, a ═ a ' -90|, when 180 ° < a ' is less than or equal to 360 °, a ═ a ' -270|, X is the movement variable of the target position on the X axis of the horizontal plane projection with the boom head as the origin, Y is the movement variable of the target position on the Y axis of the horizontal plane projection with the boom head as the origin, j1 is the positive and negative value of the boom head on the Y axis of the horizontal plane projection with the boom type engineering machinery body as the origin, j2 is the positive and negative value of the target position on the Y axis of the horizontal plane projection with the boom type engineering machinery body as the origin, i1 is the positive and negative value of the boom type horizontal plane projection with the boom type engineering machinery body as the origin, i2 is a positive and negative value of the target position on the X axis of the horizontal plane projection with the arm support head as the origin; according to
And obtaining the moving distance of the cantilever crane head projected on the horizontal plane, wherein a is the moving distance.
Further, the obtaining an advance stop rotation angle estimate of the boom head according to the amplitude of variation of the target position, the amplitude of real-time variation of the target position, and the moving distance includes: according to
Obtaining an early stop slew angle estimate for the boom head, wherein X0 is the early stop slew angle estimate.
Further, before the controlling the boom head to reach the designated position in the target position at a preset speed, the method further comprises: and acquiring a hoisting track of the middle position of the boom head before the boom head reaches the specified position, and controlling a lifting hook of the boom engineering machinery to reach the middle position in a closed loop mode according to the hoisting track, wherein the hoisting track comprises a rotation angle to be executed, a variable amplitude and a lifting hook height of the boom engineering machinery.
Further, the closed-loop control of the lifting hook of the arm support type engineering machinery to reach the middle position according to the lifting track comprises: on the basis of the rotation angle detected in real time, the arm support type engineering machinery is controlled to execute the rotation angle to be executed in a closed loop mode through first set displacement in unit time; on the basis of the lifting angle of the suspension arm detected in real time, the closed-loop control is carried out on the arm support type engineering machinery to execute the amplitude variation amplitude to be executed according to second set displacement in unit time; and on the basis of the length of the hoisting steel wire rope detected in real time, the arm support type engineering machinery is controlled to execute the height of the lifting hook to be executed in a third set displacement closed loop in unit time, so that the lifting hook reaches the middle position.
In another aspect, an embodiment of the present invention provides a hoisting control system, where the system includes: the acquisition unit is used for acquiring the target position of the boom head of the boom engineering machinery reaching the specified hoisting operation; the slippage determining unit is used for controlling the boom head to reach a specified position in the process of reaching the target position at a preset speed, and detecting the rotation angular speed, the amplitude changing speed, the stop slippage angle and the stop slippage amplitude changing amplitude of the boom head; and the target positioning unit is used for controlling the boom head to stop at the target position according to the distance between the boom head and the target position, the revolution angular velocity, the luffing velocity, the sliding stopping angle and the sliding stopping luffing amplitude.
Further, the slippage determination unit is further configured to: before the cantilever crane head reaches the designated position in the process of the target position, extracting a first rotation angle and a first amplitude corresponding to the designated time point; when the jib head reaches the designated position, stopping controlling the jib head, and recording a second rotation angle and a second amplitude corresponding to the current time point; detecting the stop slip time, the third rotation angle and the third amplitude when the boom head stops slipping; obtaining a turning angular velocity of the boom head according to Va ═ (a2-a1)/(t2-t1), wherein Va is the turning angular velocity, a2 is the second turning angle, a1 is the first turning angle, t2 is the current time point, and t1 is the designated time point; obtaining the amplitude variation speed of the boom head according to the Vr ═ L2-L1)/(t2-t1, wherein Vr is the amplitude variation speed, L2 is the second amplitude variation amplitude, and L1 is the first amplitude variation amplitude; taking a difference between the third turning angle and the second turning angle as a stop slip angle; and taking the difference value between the third amplitude and the second amplitude as the amplitude of stopping sliding amplitude.
Further, the object locating unit is further configured to: according to the rotary angular velocity, the variable amplitude velocity, the stop sliding angle, the stop sliding variable amplitude, the first variable amplitude and the command delay time, obtaining an advance stop rotary angle and an advance stop variable amplitude of the boom head; and controlling the jib head to reach the advanced stop rotation angle and the advanced stop amplitude at the preset speed according to the distance between the jib head and the target position, so that the jib head stops at the target position.
Further, the object locating unit is further configured to: obtaining an advanced stop swivel angle of the boom head according to X ═ (Va × tc + a0), where X is the advanced stop swivel angle, Va is the swivel angular velocity, tc is the command delay time, and a0 is the stop slip angle; and obtaining the amplitude of the stop advance of the boom head according to R (Vr x tc + R0), wherein R is the amplitude of the stop advance, Vr is the amplitude speed, and R0 is the amplitude of the stop slip.
Further, the object locating unit is further configured to: according to the advance stop rotation angle and the advance stop amplitude, in the process of controlling the jib head to execute rotation and amplitude variation actions at the preset speed, acquiring the real-time amplitude variation amplitude and the real-time rotation angle of the jib head and a movement variable on a coordinate axis projected on a horizontal plane; obtaining the amplitude of the target position of the boom head and the moving distance projected on the horizontal plane according to the real-time amplitude of variation, the real-time rotation angle and the moving variable projected on the coordinate axis of the horizontal plane; stopping the amplitude variation action of the boom head when the absolute value of the difference between the amplitude variation of the target position and the real-time amplitude variation is equal to the amplitude variation stopping in advance; obtaining an advance stop rotation angle estimated value of the boom head according to the amplitude of variation of the target position, the real-time amplitude of variation and the moving distance; and when the obtained estimated value of the advance stop turning angle is equal to the advance stop turning angle, stopping the turning action of the jib head, and controlling the amplitude variation action of the jib head to the amplitude of the advance stop amplitude variation so as to stop the jib head at the target position.
Further, the object locating unit is further configured to: according to
Obtaining the amplitude of the target position, wherein c is the amplitude of the target position, b is the real-time amplitude of the amplitude, A is the calculated value of the real-time rotation angle A', when A 'is more than 0 and less than or equal to 180 degrees, A is | A' -90|, when A 'is more than 180 degrees and less than or equal to 360 degrees, A is | A' -270|, X is a movement variable of the arm frame head on an X axis of a horizontal plane projection, Y is a movement variable of the arm frame head on a Y axis of the horizontal plane projection, j1 is a positive and negative value of the arm frame head on a Y axis of the arm frame type engineering machinery vehicle body coordinate axis, j2 is a positive and negative value of the target position on a Y axis of the arm frame head coordinate axis, i1 is a positive and negative value of the arm frame head on an X axis of the arm frame type engineering machinery vehicle body coordinate axis, and i2 is a positive and negative value of the target position on the X axis of the arm frame head coordinate axis; according to
And obtaining the moving distance of the cantilever crane head projected on the horizontal plane, wherein a is the moving distance.
Further, the object locating unit is further configured to: according to
Obtaining an advance stop slew angle estimate for the boom head, whichX0 is the early stop slew angle estimate.
Further, the obtaining unit is further configured to obtain a hoisting track of the boom head at an intermediate position before the boom head reaches the specified position, where the hoisting track includes a rotation angle to be executed by the boom-type engineering machinery, a variable amplitude and a hook height; the system further comprises: and the hoisting track execution unit is used for controlling the lifting hook of the arm support type engineering machinery to reach the middle position in a closed loop mode according to the hoisting track.
Further, the hoisting track execution unit is further configured to: on the basis of the rotation angle detected in real time, the arm support type engineering machinery is controlled to execute the rotation angle to be executed in a closed loop mode through first set displacement in unit time; on the basis of the lifting angle of the suspension arm detected in real time, the closed-loop control is carried out on the arm support type engineering machinery to execute the amplitude variation amplitude to be executed according to second set displacement in unit time; and on the basis of the length of the hoisting steel wire rope detected in real time, the arm support type engineering machinery is controlled to execute the height of the lifting hook to be executed in a third set displacement closed loop in unit time, so that the lifting hook reaches the middle position.
The embodiment of the invention also provides the arm support type engineering machinery, which comprises the hoisting control system.
Further, the arm frame type engineering machinery is a crane.
According to the technical scheme, the boom head is controlled to stop at the target position by determining the slippage stopping amount of the boom head and combining the distance between the boom head and the target position of the specified hoisting operation, the rotation angular velocity, the amplitude changing velocity, the slippage stopping angle and the slippage stopping amplitude changing amplitude, so that the boom head is accurately positioned in the hoisting operation of the boom engineering machinery, and the application scene of the automatic hoisting operation is expanded; in addition, due to the change of the boom engineering machinery caused by the change of equipment, working conditions and environment when the boom engineering machinery stops sliding, the current stopping slippage of the equipment is obtained through self-learning before the boom engineering machinery is positioned to the target position, and the accurate positioning of the boom head is ensured.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic flow chart of a hoisting control method according to an embodiment of the present invention;
FIG. 2 is a schematic view of a horizontal projection of a boom head and a target location in accordance with an embodiment of the present invention;
fig. 3 is a schematic flow chart of a hoisting control method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a closed-loop control strategy of a hoisting track in the hoisting control method according to an embodiment of the present invention;
fig. 5 is a block diagram of a hoisting control system according to an embodiment of the present invention;
fig. 6 is a block diagram of a hoist control system according to another embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, the use of directional words such as "upper, lower, left, right", "inside, outside" and the like generally indicates directional information in the drawings, and is not intended to limit the scope of the present invention, and may also indicate other directional information than the directional information shown in the drawings.
As shown in fig. 1, a hoisting control method according to an embodiment of the present invention includes:
and S11, acquiring the target position of the boom head of the boom engineering machinery reaching the specified hoisting operation.
Wherein an image of the target position for a given lifting operation can be acquired by means of a positioning camera, thereby determining the target position to be reached by the boom head, for example, an image of the target position can be acquired in real time by means of a positioning camera mounted on the boom head, for example.
And S12, controlling the boom head to reach the designated position in the process of reaching the target position at a preset speed, and detecting the rotation angular speed, the amplitude changing speed, the sliding stopping angle and the sliding stopping amplitude changing amplitude of the boom head.
The implementation main body of the method according to the embodiment of the present invention may be implemented based on a processor or a control unit, and the processor or the control unit may be a part originally belonging to an arm frame type engineering machine, such as a main frame of the arm frame type engineering machine, or include an upper computer and a lower computer, or may be attached to the arm frame type engineering machine as a new device, and still fall within the protection scope of the embodiment of the present invention. When the device comprises an upper computer and a lower computer, the upper computer and the lower computer are interconnected through a bus, the upper computer is responsible for man-machine interaction and planning, and the lower computer is responsible for posture detection of equipment and action control of an actuating mechanism. In addition, it is allowable to configure some peripheral modules or peripheral functions for the processor or the control unit, and for example, additional sensing detection functions, remote communication functions, etc. should also fall within the scope of the present invention.
In specific application, due to the factors such as manufacturing inconsistency of the arm frame type engineering mechanical executing mechanisms, control characteristic inconsistency of hydraulic elements, viscosity-temperature characteristics of hydraulic oil and the like, low-speed sliding distances of hydraulic mechanisms of different arm frame type engineering mechanical equipment are inconsistent in different environments, and the problem of arm frame head positioning errors is caused. Therefore, in the embodiment of the invention, a self-learning and self-adaptive strategy is utilized to accurately position the target position of the arm frame head. The boom head needs to be controlled to reach the specified position at a preset speed (which is a smaller speed) before moving to the target position of the specified hoisting operation each time. The designated position can be set according to an empirical value or an average value of the stop slippage of the boom heads of various types of boom engineering machinery, so that the boom heads can have enough space positions between the designated position and the target position to perform speed slippage and measurement of the stop slippage.
Specifically, before the boom head reaches a specified position in the process of reaching the target position, a first rotation angle a1 and a first amplitude L1 corresponding to a specified time point t1 are extracted, and when the boom head reaches the specified position, the control of the boom head is stopped, and a second rotation angle a2 and a second amplitude L2 corresponding to a current time point t2 are recorded. And then detecting the stop slip time t3, the third rotation angle a3 and the third amplitude L3 when the boom head stops slipping. Then, the rotation angular velocity Va of the boom head is obtained according to Va ═ a2-a1)/(t2-t1, and the luffing velocity Vr of the boom head is obtained according to Vr ═ L2-L1)/(t2-t 1. The difference between the third revolution angle a3 and the second revolution angle a2 is taken as a stop slip angle a0, while the difference between the third amplitude L3 and the second amplitude L2 is taken as a stop slip amplitude r 0.
And S13, controlling the boom head to stop at the target position according to the distance between the boom head and the target position, the rotation angular velocity, the luffing velocity, the stop sliding angle and the stop sliding luffing amplitude.
Specifically, the advance stop rotation angle and the advance stop amplitude of the boom head are obtained according to the rotation angular velocity, the amplitude variation velocity, the stop slip angle, the stop slip amplitude variation amplitude, the first amplitude variation amplitude and the command delay time.
Wherein the advanced stop rotation angle X of the boom head is obtained from (Va × tc + a0), where tc is the command delay time. Meanwhile, the amplitude R of the stop amplitude of the boom head in advance is obtained according to the R-Vr tc + R0.
That is to say, since the actual operating speed and the actual sliding distance are both related to the actual state, before the boom head reaches the target position, the delay time of instruction transmission (i.e., the instruction delay time), the slewing angle speed and the luffing speed of the currently operating boom type engineering machine, and the stopping sliding angle and the stopping sliding luffing amplitude are all considered, and the actual operating state of the boom type engineering machine is combined, so that the obtained advanced stopping slewing angle and advanced stopping luffing amplitude are more accurate, and the boom head can more accurately stop at the target position after being stopped and controlled.
Since the step S12 uses the preset speed when the slippage detection is performed, when the boom head is controlled to reach the advanced stop swivel angle and the advanced stop amplitude according to the distance between the boom head and the target position, the movement is also controlled at the preset speed in order to ensure the accuracy.
And according to the advance stop rotation angle and the advance stop amplitude, in the process of controlling the jib head to execute rotation and amplitude variation actions at the preset speed, the real-time amplitude and the real-time rotation angle of the jib head and the movement variable on a coordinate axis projected on a horizontal plane need to be acquired in real time. And then, obtaining the amplitude of the target position of the cantilever crane head and the moving distance projected on the horizontal plane according to the real-time amplitude of variation, the real-time rotation angle and the moving variable projected on the coordinate axis of the horizontal plane.
Wherein, as shown in FIG. 2, the horizontal plane projection of the arm support head in the moving process is shown according to
Obtaining the amplitude of the target position, wherein c is the amplitude of the target position M, b is the real-time amplitude, a is the calculated value of the real-time rotation angle a ', wherein when 0 < a ' is equal to or less than 180 °, a ═ a ' -90|, when 180 ° < a ' is equal to or less than 360 °, a ═ a ' -270|, x is the movement variable of the target position M on the x axis of the horizontal plane projection with the boom head O as the origin, Y is the movement variable of the target position on the Y axis of the horizontal plane projection with the boom head O as the origin, j1 is the positive and negative value of the boom head on the Y axis of the horizontal plane projection with the boom head O as the origin, j2 is the positive and negative value of the target position on the Y axis of the projection with the boom head O as the origin, i1The positive and negative values of the boom head on the X axis of the horizontal plane projection with the boom type engineering machinery vehicle body S as the origin, and i2 the positive and negative values of the target position on the X axis of the horizontal plane projection with the boom head O as the origin. Further, the horizontal plane projection coordinate axis with the arm rest head O as the origin is parallel to the X axis and the Y axis on the horizontal plane projection coordinate axis with the arm rest type construction machine body S as the origin, and the directions thereof are the same.
The target position is different in the position of the horizontal plane projection with the arm frame head O as the origin and the position of the arm frame head on the horizontal plane projection with the arm frame head S as the origin, so that different positive and negative values can be obtained. Therefore, as shown in fig. 2, when the arm head O moves to a first quadrant of a coordinate axis projected on a horizontal plane with the arm head S as an origin, the target position M is also in the first quadrant of the coordinate axis, but when the target position M is in a third quadrant of the coordinate axis projected on the horizontal plane with the arm head O as the origin, j1 is +1, j2 is-1, i1 is +1, and i2 is-1. When the arm frame head O moves to a third quadrant of a coordinate axis of a horizontal plane projection with the arm frame type engineering machinery vehicle body S as an origin, the target position M is in a fourth quadrant of the coordinate axis, and the target position M is in a first quadrant of the coordinate axis of the horizontal plane projection with the arm frame head O as the origin, j1 is-1, j2 is +1, i1 is-1, and i2 is + 1. In other cases, the same reasoning can be applied, and the description is omitted here.
In addition, can also be based on
And obtaining the sliding distance of the cantilever crane head in the horizontal plane projection, wherein a is the sliding distance, namely the distance between the target position and the cantilever crane head in the horizontal plane projection.
In addition, in order to eliminate the coupling effect of the rotation in the y-axis direction, when the absolute value of the difference between the amplitude obtained to the target position and the real-time amplitude is equal to the advance stop amplitude, the amplitude variation action of the boom head is stopped, that is, | c-b | ═ R, the boom head is stoppedStopping the amplitude variation action of the jib head, keeping the rotation action of the jib head, and obtaining an advance stop rotation angle estimated value of the jib head according to the amplitude variation amplitude of the target position, the real-time amplitude variation amplitude and the moving distance. I.e. according to
Obtaining an early stop slew angle estimate for the boom head, wherein X0 is the early stop slew angle estimate. And when the obtained estimated value of the advance stop turning angle is equal to the advance stop turning angle, stopping the turning action of the jib head, and controlling the amplitude variation action of the jib head to the amplitude of the advance stop amplitude variation so as to stop the jib head at the target position.
And then stopping amplitude variation control of the boom head when the amplitude of amplitude variation stopping in advance is reached. After stopping the control of the boom head, the boom head may slide, so that the boom head stops sliding to the target position.
Optionally, as shown in fig. 3, when the distance between the boom head and the target position is relatively long, the positioning camera mounted on the boom head cannot acquire an image of the target position, and before the boom head is controlled to reach the specified position in the process of reaching the target position at a preset speed, the method further includes step S14 of acquiring a hoisting track of the boom head at an intermediate position before reaching the specified position, and controlling the hook of the boom-type engineering machinery to reach the intermediate position in a closed-loop manner according to the hoisting track, where the hoisting track includes a rotation angle to be executed by the boom-type engineering machinery, a variable amplitude, and a hook height.
Regarding the obtaining manner of the hoisting track in the embodiment of the present invention, it may be implemented by one or more of the following manners: first, a user action is received, such as acquiring an image in real time with a positioning camera mounted on the boom head, so that the user can determine the neutral position as the farthest, closest target position attainable by the positioning camera. And then determining a rotation angle, a variable amplitude and a lifting hook height to be executed by the cantilever type engineering machinery corresponding to the received user operation for moving the lifting hook to the middle position. As an example, it may be that the user selects a turning angle, a luffing amplitude and a hook height to be performed through an operation on the boom-type engineering machine, such as a user interface. And secondly, communicating with a remote terminal (such as a mobile phone, a remote controller and the like) to receive the hoisting track. As an example, the user may input the hoisting track through a mobile phone, and obtain the hoisting track through communication interaction between the mobile phone and a control unit, a processor, or an upper computer of the arm support type engineering machine. It will be appreciated that the intermediate position to which the lifting trajectory corresponds may be defined by three-dimensional (x, y and z axis) coordinates, whereby the lifting trajectory to which the corresponding hook moves to the intermediate position may be determined by a user local or remote selection operation.
In addition, the obtained hoisting track needs to meet the principle that the joint space distance is shortest, meanwhile, the super-moment protection and the maximum deviation protection of the position of the lifting hook and an expected path are considered, and the lifting hook is guaranteed to move to the middle position at a high speed on the premise of avoiding obstacles.
In the process of controlling the lifting hook of the arm support type engineering machinery to reach the middle position in a closed-loop mode according to the lifting track, as a closed-loop control strategy shown in fig. 4, a position control module in a lower computer performs position closed-loop control on a received expected position and a current position fed back by detection, and outputs expected speed to a speed control module; the speed control module performs speed closed-loop control on the expected speed and the detected current speed feedback value and outputs an expected current value to the current control module; the current control module performs closed-loop control on the expected current and the actual feedback current value, outputs appropriate current to the rotation mechanism, the amplitude variation mechanism and the hoisting mechanism, and controls the lifting hook to move according to a hoisting track, so that the lifting hook is stable, high-speed and collision-free. Specifically, for example, the lower computer controls the swing mechanism to perform the to-be-performed swing angle in a closed-loop manner by using the first set displacement in unit time, and meanwhile, the swing detection device mounted on the swing mechanism of the arm type engineering machine CAN be used to detect the swing angle in real time and send the swing angle to the upper computer through a Controller Area Network (CAN) bus, so that the closed-loop control of the swing angle is realized. Meanwhile, the amplitude variation mechanism is controlled to control the arm support type engineering machinery to execute the amplitude variation range to be executed according to the second set displacement in unit time, the lifting angle of the suspension arm can be detected in real time by using an amplitude variation detection device installed on the suspension arm, the amplitude variation range is further calculated, and closed-loop control over the amplitude variation range is achieved. In addition, the hoisting mechanism is controlled to control the arm support type engineering machinery to execute the height of the lifting hook to be executed according to the third set displacement in unit time, meanwhile, the length of a hoisting steel wire rope is detected in real time by using a hoisting detection device arranged on a hoisting drum, the height of the lifting hook is obtained through calculation, and the closed-loop control of the height of the lifting hook is realized.
The process of executing the hoisting track includes rotation, amplitude variation and lifting hook actions of the arm support type engineering machinery, and it should be noted that the execution sequence of the three actions is not limited, and the three actions can be any execution sequence in order to position the hook to the middle position in a three-dimensional space.
In the embodiment of the invention, in the automatic hoisting process of the arm support type engineering machinery, the lifting hook is moved to the middle position according to the obtained hoisting track, so that the closed-loop control of the hoisting track is realized. In addition, after the boom head is controlled to move to a designated position at a preset speed, the control of the lifting hook is stopped, the rotation angular speed, the amplitude changing speed, the stop sliding angle and the stop sliding amplitude changing amplitude of the boom head are detected, the problem that the stop sliding quantity changes along with equipment, working conditions and environments due to various inconformities of boom engineering machinery is solved, and the method is simpler, more convenient and more accurate than a method for determining the stop sliding quantity by matching multidimensional expert parameters, is suitable for determining the stop sliding quantity of different equipment and is also suitable for determining the stop sliding quantity of the same equipment under different working conditions and environments. And the lifting hook can accurately slide to a target position by combining the stop slippage obtained by self-learning. The embodiment of the invention realizes the accurate control of the spatial track of the lifting hook as required and the accurate stop control of the lifting hook, thereby not only expanding the application scene of the lifting operation, but also further realizing the control of the automatic lifting operation.
As shown in fig. 5, a hoisting control system 50 according to an embodiment of the present invention includes: the acquiring unit 51 is used for acquiring that the boom head of the boom engineering machinery reaches the target position of specified hoisting operation; a slippage determining unit 52, configured to control the boom head to reach a specified position in the process of reaching the target position at a preset speed, and detect a rotation angular velocity, a luffing velocity, a stop slippage angle, and a stop slippage luffing amplitude of the boom head; and a target positioning unit 53, configured to control the boom head to stop at the target position according to the distance between the boom head and the target position, the rotation angular velocity, the luffing velocity, the stop sliding angle, and the stop sliding luffing amplitude.
In some embodiments, the slippage determination unit is further configured to:
before the cantilever crane head reaches the designated position in the process of the target position, extracting a first rotation angle and a first amplitude corresponding to the designated time point;
when the jib head reaches the designated position, stopping controlling the jib head, and recording a second rotation angle and a second amplitude corresponding to the current time point;
detecting the stop slip time, the third rotation angle and the third amplitude when the boom head stops slipping;
obtaining a turning angular velocity of the boom head according to Va ═ (a2-a1)/(t2-t1), wherein Va is the turning angular velocity, a2 is the second turning angle, a1 is the first turning angle, t2 is the current time point, and t1 is the designated time point;
obtaining the amplitude variation speed of the boom head according to the Vr ═ L2-L1)/(t2-t1, wherein Vr is the amplitude variation speed, L2 is the second amplitude variation amplitude, and L1 is the first amplitude variation amplitude;
taking a difference between the third turning angle and the second turning angle as a stop slip angle;
and taking the difference value between the third amplitude and the second amplitude as the amplitude of stopping sliding amplitude.
In some embodiments, the object-locating unit is further configured to:
according to the rotary angular velocity, the variable amplitude velocity, the stop sliding angle, the stop sliding variable amplitude, the first variable amplitude and the command delay time, obtaining an advance stop rotary angle and an advance stop variable amplitude of the boom head;
and controlling the jib head to reach the advanced stop rotation angle and the advanced stop amplitude at the preset speed according to the distance between the jib head and the target position, so that the jib head stops at the target position.
In some embodiments, the object-locating unit is further configured to:
obtaining an advanced stop swivel angle of the boom head according to X ═ (Va × tc + a0), where X is the advanced stop swivel angle, Va is the swivel angular velocity, tc is the command delay time, and a0 is the stop slip angle;
and obtaining the amplitude of the stop advance of the boom head according to R (Vr x tc + R0), wherein R is the amplitude of the stop advance, Vr is the amplitude speed, and R0 is the amplitude of the stop slip.
In some embodiments, the object-locating unit is further configured to:
according to the advance stop rotation angle and the advance stop amplitude, in the process of controlling the jib head to execute rotation and amplitude variation actions at the preset speed, acquiring the real-time amplitude variation amplitude and the real-time rotation angle of the jib head and a movement variable on a coordinate axis projected on a horizontal plane;
obtaining the amplitude of the target position of the boom head and the moving distance projected on the horizontal plane according to the real-time amplitude of variation, the real-time rotation angle and the moving variable projected on the coordinate axis of the horizontal plane;
stopping the amplitude variation action of the boom head when the absolute value of the difference between the amplitude variation of the target position and the real-time amplitude variation is equal to the amplitude variation stopping in advance;
obtaining an advance stop rotation angle estimated value of the boom head according to the amplitude of variation of the target position, the real-time amplitude of variation and the moving distance;
and when the obtained estimated value of the advance stop turning angle is equal to the advance stop turning angle, stopping the turning action of the jib head, and controlling the amplitude variation action of the jib head to the amplitude of the advance stop amplitude variation so as to stop the jib head at the target position.
In some embodiments, the object-locating unit is further configured to:
according to
Obtaining the amplitude of the target position, wherein c is the amplitude of the target position, b is the real-time amplitude of the amplitude, A is the calculated value of the real-time rotation angle A', when A 'is more than 0 and less than or equal to 180 degrees, A is | A' -90|, when A 'is more than 180 degrees and less than or equal to 360 degrees, A is | A' -270|, X is a movement variable of the arm frame head on an X axis of a horizontal plane projection, Y is a movement variable of the arm frame head on a Y axis of the horizontal plane projection, j1 is a positive and negative value of the arm frame head on a Y axis of the arm frame type engineering machinery vehicle body coordinate axis, j2 is a positive and negative value of the target position on a Y axis of the arm frame head coordinate axis, i1 is a positive and negative value of the arm frame head on an X axis of the arm frame type engineering machinery vehicle body coordinate axis, and i2 is a positive and negative value of the target position on the X axis of the arm frame head coordinate axis;
according to
And obtaining the moving distance of the cantilever crane head projected on the horizontal plane, wherein a is the moving distance.
In some embodiments, the object-locating unit is further configured to:
according to
Obtaining an early stop slew angle estimate for the boom head, wherein X0 is the early stop slew angle estimate.
In some embodiments, as shown in fig. 6, the obtaining unit 51 is further configured to obtain a hoisting track of the boom head at an intermediate position before reaching the specified position, where the hoisting track includes a slewing angle, a luffing amplitude, and a hook height to be performed by the boom-type engineering machine; the system further comprises: and the hoisting track executing unit 54 is used for controlling the lifting hook of the arm support type engineering machinery to reach the middle position in a closed loop mode according to the hoisting track.
In some embodiments, the hoisting trajectory performing unit is further configured to: on the basis of the rotation angle detected in real time, the arm support type engineering machinery is controlled to execute the rotation angle to be executed in a closed loop mode through first set displacement in unit time; on the basis of the lifting angle of the suspension arm detected in real time, the closed-loop control is carried out on the arm support type engineering machinery to execute the amplitude variation amplitude to be executed according to second set displacement in unit time; and on the basis of the length of the hoisting steel wire rope detected in real time, the arm support type engineering machinery is controlled to execute the height of the lifting hook to be executed in a third set displacement closed loop in unit time, so that the lifting hook reaches the middle position.
For more details of the system according to the embodiment of the present invention, reference may be made to the above description on the hoisting control method, and the same or corresponding technical effects as those of the hoisting control method can be obtained, so that the details are not repeated herein.
Correspondingly, an embodiment of the invention further provides an arm support type engineering machine, and the arm support type engineering machine comprises the hoisting control system in the embodiment.
Further, the arm frame type engineering machinery is a crane.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (16)
1. A hoisting control method is characterized by comprising the following steps:
acquiring a target position of an arm frame head in the arm frame type engineering machinery when the arm frame head reaches a specified hoisting operation;
controlling the boom head to reach a specified position in the process of reaching the target position at a preset speed, and detecting the rotation angular speed, the amplitude variation speed, the sliding stopping angle and the sliding stopping amplitude variation amplitude of the boom head;
controlling the boom head to stop at the target position according to the distance between the boom head and the target position, the rotation angular velocity, the luffing velocity, the stop slip angle and the stop slip luffing amplitude,
wherein, before the controlling the boom head to reach the specified position in the target position at the preset speed, the method further comprises:
obtaining a hoisting track of the middle position of the jib head before the jib head reaches the specified position, and controlling a lifting hook of the jib engineering machinery to reach the middle position in a closed loop mode according to the hoisting track, wherein the hoisting track comprises a rotation angle to be executed, a variable amplitude and a lifting hook height of the jib engineering machinery,
wherein the closed-loop control of the lifting hook of the arm support type engineering machinery to reach the middle position according to the lifting track comprises the following steps:
on the basis of the rotation angle detected in real time, the arm support type engineering machinery is controlled to execute the rotation angle to be executed in a closed loop mode through first set displacement in unit time;
on the basis of the lifting angle of the suspension arm detected in real time, the closed-loop control is carried out on the arm support type engineering machinery to execute the amplitude variation amplitude to be executed according to second set displacement in unit time;
and on the basis of the length of the hoisting steel wire rope detected in real time, the arm support type engineering machinery is controlled to execute the height of the lifting hook to be executed in a third set displacement closed loop in unit time, so that the lifting hook reaches the middle position.
2. The hoisting control method according to claim 1, wherein the controlling the boom head to reach the specified position in the process of reaching the target position at a preset speed, and the detecting the rotation angular velocity, the luffing velocity, the stop slip angle and the stop slip luffing amplitude of the boom head comprises:
before the cantilever crane head reaches the designated position in the process of the target position, extracting a first rotation angle and a first amplitude corresponding to the designated time point;
when the jib head reaches the designated position, stopping controlling the jib head, and recording a second rotation angle and a second amplitude corresponding to the current time point;
detecting the stop slip time, the third rotation angle and the third amplitude when the boom head stops slipping;
obtaining a turning angular velocity of the boom head according to Va ═ (a2-a1)/(t2-t1), wherein Va is the turning angular velocity, a2 is the second turning angle, a1 is the first turning angle, t2 is the current time point, and t1 is the designated time point;
obtaining the amplitude variation speed of the boom head according to the Vr ═ L2-L1)/(t2-t1, wherein Vr is the amplitude variation speed, L2 is the second amplitude variation amplitude, and L1 is the first amplitude variation amplitude;
taking a difference between the third turning angle and the second turning angle as a stop slip angle;
and taking the difference value between the third amplitude and the second amplitude as the amplitude of stopping sliding amplitude.
3. The hoisting control method according to claim 2, wherein the controlling of the boom head to stop at the target position based on the distance between the boom head and the target position, the slewing angular velocity, the luffing velocity, the stop slip angle, and the stop slip luffing amplitude comprises:
according to the rotary angular velocity, the variable amplitude velocity, the stop sliding angle, the stop sliding variable amplitude, the first variable amplitude and the command delay time, obtaining an advance stop rotary angle and an advance stop variable amplitude of the boom head;
and controlling the jib head to reach the advanced stop rotation angle and the advanced stop amplitude at the preset speed according to the distance between the jib head and the target position so that the jib head stops at the target position.
4. The hoisting control method according to claim 3, wherein the obtaining of the advance stop slewing angle and the advance stop luffing amplitude of the boom head according to the slewing angular velocity, the luffing velocity, the stop slip angle, the stop slip luffing amplitude, the first luffing amplitude, and the command delay time comprises:
obtaining an advanced stop swivel angle of the boom head according to X ═ (Va × tc + a0), where X is the advanced stop swivel angle, Va is the swivel angular velocity, tc is the command delay time, and a0 is the stop slip angle;
and obtaining the amplitude of the stop advance of the boom head according to R (Vr x tc + R0), wherein R is the amplitude of the stop advance, Vr is the amplitude speed, and R0 is the amplitude of the stop slip.
5. The hoisting control method according to claim 4, wherein the controlling the boom head to reach the advanced stop swivel angle and the advanced stop luffing amplitude at the preset speed according to the distance between the boom head and the target position so that the boom head stops at the target position comprises:
according to the advance stop rotation angle and the advance stop amplitude, in the process of controlling the jib head to execute rotation and amplitude variation actions at the preset speed, acquiring the real-time amplitude variation amplitude and the real-time rotation angle of the jib head and a movement variable on a coordinate axis projected on a horizontal plane;
obtaining the amplitude of the target position of the boom head and the moving distance projected on the horizontal plane according to the real-time amplitude of variation, the real-time rotation angle and the moving variable projected on the coordinate axis of the horizontal plane;
stopping the amplitude variation action of the boom head when the absolute value of the difference between the amplitude variation of the target position and the real-time amplitude variation is equal to the amplitude variation stopping in advance;
obtaining an advance stop rotation angle estimated value of the boom head according to the amplitude of variation of the target position, the real-time amplitude of variation and the moving distance;
and when the obtained estimated value of the advance stop turning angle is equal to the advance stop turning angle, stopping the turning action of the jib head, and controlling the amplitude variation action of the jib head to the amplitude of the advance stop amplitude variation so as to stop the jib head at the target position.
6. The hoisting control method according to claim 5, wherein the obtaining of the amplitude of the variation of the target position of the boom head and the moving distance in the horizontal plane projection from the real-time amplitude of the variation of the amplitude, the real-time rotation angle, and the moving variable on the coordinate axis in the horizontal plane projection comprises:
according to
Obtaining the amplitude of the target position, wherein c is the amplitude of the target position, b is the real-time amplitude of the target position, a is the calculated value of the real-time rotation angle a ', wherein when 0 < a ' is less than or equal to 180 °, a ═ a ' -90|, when 180 ° < a ' is less than or equal to 360 °, a ═ a ' -270|, X is the movement variable of the target position on the X axis of the horizontal plane projection with the boom head as the origin, Y is the movement variable of the target position on the Y axis of the horizontal plane projection with the boom head as the origin, j1 is the positive and negative value of the boom head on the Y axis of the horizontal plane projection with the boom type engineering machinery body as the origin, j2 is the positive and negative value of the target position on the Y axis of the horizontal plane projection with the boom type engineering machinery body as the origin, i1 is the positive and negative value of the boom type horizontal plane projection with the boom type engineering machinery body as the origin, i2 is a positive and negative value of the target position on the X axis of the horizontal plane projection with the arm support head as the origin;
according to
And obtaining the moving distance of the cantilever crane head projected on the horizontal plane, wherein a is the moving distance.
7. The hoisting control method of claim 6, wherein the obtaining an advance stop slew angle estimate for the boom head based on the amplitude of the luffing at the target location, the amplitude of the real-time luffing, and the travel distance comprises:
according to
Obtaining an early stop slew angle estimate for the boom head, wherein X0 is the early stop slew angle estimate.
8. A hoist control system, the system comprising:
the acquisition unit is used for acquiring the target position of the boom head of the boom engineering machinery reaching the specified hoisting operation;
the slippage determining unit is used for controlling the boom head to reach a specified position in the process of reaching the target position at a preset speed, and detecting the rotation angular speed, the amplitude changing speed, the stop slippage angle and the stop slippage amplitude changing amplitude of the boom head;
a target positioning unit, configured to control the boom head to stop at the target position according to the distance between the boom head and the target position, the rotation angular velocity, the luffing velocity, the stop slip angle, and the stop slip luffing amplitude,
the acquiring unit is further configured to acquire a hoisting track of the boom head at an intermediate position before the boom head reaches the specified position, where the hoisting track includes a rotation angle to be executed by the boom-type engineering machinery, a variable amplitude and a hook height;
the system further comprises: a hoisting track execution unit for closed-loop controlling the lifting hook of the arm support type engineering machinery to reach the middle position according to the hoisting track,
wherein, the hoisting track execution unit is further configured to:
on the basis of the rotation angle detected in real time, the arm support type engineering machinery is controlled to execute the rotation angle to be executed in a closed loop mode through first set displacement in unit time;
on the basis of the lifting angle of the suspension arm detected in real time, the closed-loop control is carried out on the arm support type engineering machinery to execute the amplitude variation amplitude to be executed according to second set displacement in unit time;
and on the basis of the length of the hoisting steel wire rope detected in real time, the arm support type engineering machinery is controlled to execute the height of the lifting hook to be executed in a third set displacement closed loop in unit time, so that the lifting hook reaches the middle position.
9. The hoist control system of claim 8, wherein the slippage determination unit is further configured to:
before the cantilever crane head reaches the designated position in the process of the target position, extracting a first rotation angle and a first amplitude corresponding to the designated time point;
when the jib head reaches the designated position, stopping controlling the jib head, and recording a second rotation angle and a second amplitude corresponding to the current time point;
detecting the stop slip time, the third rotation angle and the third amplitude when the boom head stops slipping;
obtaining a turning angular velocity of the boom head according to Va ═ (a2-a1)/(t2-t1), wherein Va is the turning angular velocity, a2 is the second turning angle, a1 is the first turning angle, t2 is the current time point, and t1 is the designated time point;
obtaining the amplitude variation speed of the boom head according to the Vr ═ L2-L1)/(t2-t1, wherein Vr is the amplitude variation speed, L2 is the second amplitude variation amplitude, and L1 is the first amplitude variation amplitude;
taking a difference between the third turning angle and the second turning angle as a stop slip angle;
and taking the difference value between the third amplitude and the second amplitude as the amplitude of stopping sliding amplitude.
10. The hoist control system of claim 9, wherein the target positioning unit is further configured to:
according to the rotary angular velocity, the variable amplitude velocity, the stop sliding angle, the stop sliding variable amplitude, the first variable amplitude and the command delay time, obtaining an advance stop rotary angle and an advance stop variable amplitude of the boom head;
and controlling the jib head to reach the advanced stop rotation angle and the advanced stop amplitude at the preset speed according to the distance between the jib head and the target position, so that the jib head stops at the target position.
11. The hoist control system of claim 10, wherein the target positioning unit is further configured to:
obtaining an advanced stop swivel angle of the boom head according to X ═ (Va × tc + a0), where X is the advanced stop swivel angle, Va is the swivel angular velocity, tc is the command delay time, and a0 is the stop slip angle;
and obtaining the amplitude of the stop advance of the boom head according to R (Vr x tc + R0), wherein R is the amplitude of the stop advance, Vr is the amplitude speed, and R0 is the amplitude of the stop slip.
12. The hoist control system of claim 11, wherein the target positioning unit is further configured to:
according to the advance stop rotation angle and the advance stop amplitude, in the process of controlling the jib head to execute rotation and amplitude variation actions at the preset speed, acquiring the real-time amplitude variation amplitude and the real-time rotation angle of the jib head and a movement variable on a coordinate axis projected on a horizontal plane;
obtaining the amplitude of the target position of the boom head and the moving distance projected on the horizontal plane according to the real-time amplitude of variation, the real-time rotation angle and the moving variable projected on the coordinate axis of the horizontal plane;
stopping the amplitude variation action of the boom head when the absolute value of the difference between the amplitude variation of the target position and the real-time amplitude variation is equal to the amplitude variation stopping in advance;
obtaining an advance stop rotation angle estimated value of the boom head according to the amplitude of variation of the target position, the real-time amplitude of variation and the moving distance;
and when the obtained estimated value of the advance stop turning angle is equal to the advance stop turning angle, stopping the turning action of the jib head, and controlling the amplitude variation action of the jib head to the amplitude of the advance stop amplitude variation so as to stop the jib head at the target position.
13. The hoist control system of claim 12, wherein the target positioning unit is further configured to:
according to
Obtaining the amplitude of the target position, wherein c is the amplitude of the target position, b is the real-time amplitude of the amplitude, A is the calculated value of the real-time rotation angle A', when A 'is more than 0 and less than or equal to 180 degrees, A is | A' -90|, when A 'is more than 180 degrees and less than or equal to 360 degrees, A is | A' -270|, X is a movement variable of the arm frame head on an X axis of a horizontal plane projection, Y is a movement variable of the arm frame head on a Y axis of the horizontal plane projection, j1 is a positive and negative value of the arm frame head on a Y axis of the arm frame type engineering machinery vehicle body coordinate axis, j2 is a positive and negative value of the target position on a Y axis of the arm frame head coordinate axis, i1 is a positive and negative value of the arm frame head on an X axis of the arm frame type engineering machinery vehicle body coordinate axis, and i2 is a positive and negative value of the target position on the X axis of the arm frame head coordinate axis;
according to
And obtaining the moving distance of the cantilever crane head projected on the horizontal plane, wherein a is the moving distance.
14. The hoist control system of claim 13, wherein the target positioning unit is further configured to:
according to
Obtaining an early stop slew angle estimate for the boom head, wherein X0 is the early stop slew angle estimate.
15. Boom-type engineering machinery, characterized in that it comprises a hoist control system according to any one of claims 8-14.
16. The boom-type engineering machine as claimed in claim 15, wherein the boom-type engineering machine is a crane.
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| CN102040160A (en) * | 2010-08-30 | 2011-05-04 | 湖南中联重科专用车有限责任公司 | Method for controlling movement locus of hook of crane |
| CN103640980A (en) * | 2013-11-19 | 2014-03-19 | 中联重科股份有限公司 | Safety control method, device and system of tower crane and tower crane |
| CN109279511A (en) * | 2018-11-26 | 2019-01-29 | 中联重科股份有限公司 | Crane hoisting control method and system |
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