CN112922076B - Engineering vehicle, and movable arm control method and device of engineering vehicle - Google Patents

Engineering vehicle, and movable arm control method and device of engineering vehicle Download PDF

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Publication number
CN112922076B
CN112922076B CN202110127102.XA CN202110127102A CN112922076B CN 112922076 B CN112922076 B CN 112922076B CN 202110127102 A CN202110127102 A CN 202110127102A CN 112922076 B CN112922076 B CN 112922076B
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movable arm
boom
height
determining
displacement
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CN112922076A (en
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刘均华
王宇
曹东辉
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Sany Heavy Machinery Ltd
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Sany Heavy Machinery Ltd
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2037—Coordinating the movements of the implement and of the frame
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A20/00—Water conservation; Efficient water supply; Efficient water use
    • Y02A20/20—Controlling water pollution; Waste water treatment
    • Y02A20/204—Keeping clear the surface of open water from oil spills

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention discloses an engineering vehicle, and a method and a device for controlling a movable arm of the engineering vehicle, wherein the method for controlling the movable arm of the engineering vehicle comprises the following steps: obtaining the displacement of a movable arm oil cylinder under the current working condition; determining the height of a movable arm under the current working condition according to the displacement of the movable arm oil cylinder; and determining the flow of the hydraulic oil in the movable arm according to the height of the movable arm. Therefore, the speed of the movable arm can be adaptively adjusted according to the change of the height of the movable arm, and the loading performance of the transshipment equipment and the smoothness and comfort of the operation of a driver are improved; for example, when the height of the boom is large, that is, the boom-up distance is long, the boom speed can be increased by increasing the flow rate of the hydraulic oil in the boom, and the loading efficiency can be improved.

Description

Engineering vehicle, and movable arm control method and device of engineering vehicle
Technical Field
The invention relates to the technical field of intelligent engineering vehicles, in particular to an engineering vehicle, and a movable arm control method and device of the engineering vehicle.
Background
There are more operating modes in engineering vehicle loading operation, such as level land loading, building a platform loading, dig deep ditch etc.. Different loading operating modes are inconsistent to the high demand of loading, for example, under some loading operating modes, the movable arm lifting distance is short, and under some loading operating modes, the movable arm lifting distance is long. And the energy consumed by ascending and descending when the movable arm works not only enables the engineering vehicle to be at a higher energy consumption level, but also increases the heat dissipation load of a hydraulic system of the engineering vehicle. If the same movable arm speed is only adopted under the loading working condition, the loading performance and the smoothness and the comfort of the operation of a driver are influenced to a certain extent.
Disclosure of Invention
In view of this, embodiments of the present invention provide a work vehicle, a method and a device for controlling a boom of the work vehicle, so as to adaptively adjust a speed of the boom according to different working conditions.
According to a first aspect, an embodiment of the present invention provides a boom control method for a working vehicle, the working vehicle including a boom, including:
obtaining the displacement of a movable arm oil cylinder under the current working condition;
determining the height of the movable arm under the current working condition according to the displacement of the movable arm oil cylinder;
and determining the flow of the hydraulic oil in the movable arm according to the height of the movable arm.
According to the movable arm control method of the engineering vehicle, the movable arm oil cylinder displacement of the current working condition is obtained, the movable arm height of the current working condition is determined according to the movable arm oil cylinder displacement of the current working condition, the flow of hydraulic oil in the movable arm is determined according to the movable arm height, and the movable arm speed is determined according to the flow of the hydraulic oil in the movable arm, so that the movable arm speed can be adjusted in a self-adaptive mode according to the change of the movable arm height, and the loading performance of the transshipment equipment and the smoothness and the comfort of the operation of a driver are improved; for example, when the height of the boom is large, that is, the boom-up distance is long, the boom speed can be increased by increasing the flow rate of the hydraulic oil in the boom, and the loading efficiency can be improved.
With reference to the first aspect, in a first implementation manner of the first aspect, the determining a boom height of the current operating condition according to the boom cylinder displacement includes:
determining a horizontal inclination angle of a movable arm according to the displacement of the movable arm oil cylinder;
and determining the height of the movable arm under the current working condition according to the horizontal inclination angle of the movable arm.
With reference to the first aspect, in a second embodiment of the first aspect, the boom cylinder displacement is a boom cylinder work displacement, and the boom height is a boom work height.
With reference to the first aspect, in a third implementation manner of the first aspect, the boom height of the current operating condition is determined according to the boom horizontal inclination angle by using a preset second formula, where the second formula is:
S＝L AB *sin(α)
in the second formula, S represents the boom height; l is AB The distance between a first connecting hinge point and a fourth connecting hinge point is represented, the first connecting hinge point is a connecting hinge point of an engineering vehicle main body and a movable arm, and the fourth connecting hinge point is a connecting hinge point of the movable arm and a bucket rod; α represents the boom horizontal inclination angle.
With reference to the first aspect, in a fourth embodiment of the first aspect, the determining the flow rate of the hydraulic oil in the boom according to the boom height includes:
determining a flow distribution scheme corresponding to the height of the movable arm according to the height of the movable arm by using a preset corresponding relation between the height of the movable arm and the flow distribution scheme;
and distributing the hydraulic oil in the main pump of the engineering vehicle according to the flow distribution scheme to obtain the flow of the hydraulic oil in the movable arm.
With reference to the fourth embodiment of the first aspect, in the fifth embodiment of the first aspect, before determining the flow rate of the hydraulic oil in the boom according to the boom height, the method further includes:
respectively acquiring flow distribution schemes corresponding to a plurality of boom heights, wherein for any boom height, the flow distribution scheme corresponding to the boom height meets the requirement on the boom speed under the boom height;
and constructing the corresponding relation between the boom height and the flow distribution scheme according to the flow distribution scheme corresponding to the boom heights.
According to a second aspect, an embodiment of the present invention provides a boom control apparatus for a working vehicle, including:
the acquisition module is used for acquiring the displacement of the movable arm oil cylinder under the current working condition;
the movable arm height determining module is used for determining the height of the movable arm under the current working condition according to the displacement of the movable arm oil cylinder;
and the movable arm flow determining module is used for determining the flow of the hydraulic oil in the movable arm according to the height of the movable arm.
According to a third aspect, an embodiment of the present invention provides an engineering vehicle, including: a movable arm; the main pump is used for providing hydraulic oil for the movable arm; the displacement sensor is used for acquiring the displacement of the movable arm oil cylinder; the main pump and the displacement sensor are in communication connection with a controller, a computer instruction is stored in the controller, and the controller executes the computer instruction, so as to execute the method for controlling the boom of the construction vehicle according to the first aspect or any one of the embodiments of the first aspect.
With reference to the third aspect, in a first embodiment of the third aspect, the work vehicle includes: excavator, pile driver, demolition machine, grab material machine, scarifier.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the method for controlling the boom of a work vehicle according to the first aspect or any one of the embodiments of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are schematic and are not to be understood as limiting the invention in any way, and in which:
fig. 1 is a flowchart illustrating a method for controlling a boom of a construction vehicle according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of the mounting position of the displacement sensor in the excavator;
FIG. 3 is a schematic diagram illustrating a principle of calculating a height of a boom;
FIG. 4 is a schematic structural diagram of a boom control apparatus for a construction vehicle according to embodiment 2 of the present invention;
wherein:
1. a movable arm; 2. a bucket rod; 3. a bucket; 4. a displacement sensor; 5. a controller; 6. and (4) a main pump.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example 1
Embodiment 1 of the present invention provides a method for controlling a boom of an engineering vehicle, where fig. 1 is a schematic flowchart of the method for controlling the boom of the engineering vehicle in embodiment 1 of the present invention, and as shown in fig. 1, the method for controlling the boom of the engineering vehicle in embodiment 1 of the present invention includes the following steps:
s101: and obtaining the displacement of the movable arm oil cylinder under the current working condition.
As a specific embodiment, in embodiment 1 of the present invention, the boom cylinder displacement may be acquired by using a displacement sensor. Taking an excavator as an example, fig. 2 shows a schematic diagram of the installation position of a displacement sensor in the excavator, and meanwhile, as shown in fig. 2, the excavator comprises a boom 1, an arm 2, a bucket 3, a displacement sensor 4, a controller 5 and a main pump 6, wherein the controller 5 is in communication connection with the displacement sensor 4 and the main pump 6.
As a specific embodiment, the boom cylinder displacement may be a boom cylinder displacement when the boom is moved to the working position, and may be referred to as a boom cylinder working displacement. Since the work vehicle is generally a cyclic operation, in the cyclic operation of the work vehicle, the boom cylinder displacement acquired in step S101 may be an average value of several boom cylinder operation displacements in the cyclic operation. And when the boom cylinder displacement is the boom cylinder operation displacement, determining the boom height according to the boom cylinder operation displacement as the boom operation height.
In embodiment 1 of the present invention, the operating state in which the boom working height falls within the same range is regarded as the same operating condition. For example, the same working condition is adopted for deep ditches, the same working condition is adopted for vehicles with the platform height of 3-5 meters, and the same working condition is adopted for vehicles with the platform height of 7-8 meters. Since there is a correspondence relationship between the boom cylinder operation displacement and the boom operation height, the operation state in which the boom cylinder operation displacement falls within the same range may be regarded as the same operation condition.
S102: and determining the height of the movable arm under the current working condition according to the displacement of the movable arm oil cylinder.
As a specific implementation manner, the following technical scheme may be adopted for determining the height of the boom under the current working condition according to the displacement of the boom cylinder: determining a horizontal inclination angle of the movable arm according to the displacement of the movable arm oil cylinder; and determining the height of the movable arm under the current working condition according to the horizontal inclination angle of the movable arm.
In embodiment 1 of the present invention, any scheme in the prior art may be adopted to determine the horizontal tilt angle of the boom according to the displacement of the boom cylinder, and the installation positions of the displacement sensors are different and the calculation methods are also different.
Taking the installation position of the displacement sensor in fig. 2 as an example, a specific method for determining the horizontal tilt angle of the boom according to the displacement of the boom cylinder is provided, that is, the horizontal tilt angle of the boom is determined according to the displacement of the boom cylinder by using a preset first formula, where the first formula is:
α＝arccos((L AF 2 +L AC 2 –L CF 2 )/(2*L AF *L AC ))-arctan(Y AF /X AF )-∠BAC；
as shown in fig. 3, in the first formula, α represents the horizontal inclination angle of the boom, L AF Represents the distance between the first and second hinge points a and F; l is AC Represents the distance between the first and third connecting hinge points a and C; l is a radical of an alcohol CF The distance between the third connecting hinge point C and the second connecting hinge point F is represented, namely the displacement of the movable arm oil cylinder; y is AF The projection of a connecting line of the first connecting hinge point A and the second connecting hinge point F on the Y axis is represented; x AF Represents the projection of the connecting line of the first connecting hinge point A and the second connecting hinge point F on the X axis; the angle BAC represents an included angle between a first connecting line and a second connecting line, the first connecting line is a connecting line between a fourth connecting hinge point B and the first connecting hinge point A, and the second connecting line is a connecting line between the first connecting hinge point A and the third connecting hinge point C; the first connecting hinge point A is a connecting hinge point of an engineering vehicle main body and a movable arm; the second connecting hinge point F is a connecting hinge point of the movable arm oil cylinder and the engineering vehicle main body; the third connecting hinge point C is a connecting hinge point of the movable arm oil cylinder and the bucket rod oil cylinder; and the fourth connecting hinge point B is a connecting hinge point of the movable arm and the bucket rod.
In the first formula, L AC 、L AF "BAC" is a known quantity, L CF Is the detected amount of the displacement sensor. Y is AF And X AF Is L AF The projected quantities on the x-axis and y-axis are known.
It should be noted that, as shown in fig. 3, the hinge point positions of the components (such as the body, the boom and the arm) of the excavator in the respective coordinate systems are relatively fixed, and may be preset in the controller, and the connection relationship of the components is also determined and may be preset in the controller. When the first formula is used for calculation, the positions of the hinged points of the movable arm and the arm in the respective coordinate systems can be subjected to coordinate conversion to obtain the positions of the hinged points of the movable arm and the arm in the body coordinate system.
Further, as shown in fig. 3, the following technical solution may be adopted to determine the height of the boom according to the horizontal tilt angle of the boom: determining the height of the movable arm by using a preset second formula according to the horizontal inclination angle of the movable arm, wherein the second formula is as follows:
S＝L AB *sin(α)
in the second formula, S represents the boom height, L AB Represents the distance between the first and fourth joint points a and B, and α represents the horizontal inclination angle of the boom.
S103: and determining the flow of the hydraulic oil in the movable arm according to the height of the movable arm.
As a specific embodiment, the following technical solution may be adopted to determine the flow rate of the hydraulic oil in the boom according to the height of the boom: determining a flow distribution scheme corresponding to the height of the movable arm according to the height of the movable arm by using a preset corresponding relation between the height of the movable arm and the flow distribution scheme; and distributing the hydraulic oil in the main pump of the engineering vehicle according to the flow distribution scheme to obtain the flow of the hydraulic oil in the movable arm.
Before determining the flow rate of the hydraulic oil in the boom according to the boom height, the method further comprises the following steps: respectively acquiring flow distribution schemes corresponding to a plurality of boom heights, wherein for any boom height, the flow distribution scheme corresponding to the boom height meets the requirement on the boom speed under the boom height; and constructing the corresponding relation between the boom height and the flow distribution scheme according to the flow distribution scheme corresponding to the plurality of boom heights.
That is to say, flow distribution schemes with different boom heights are preset in the controller, the flow distribution schemes can meet requirements for boom speeds under different boom heights, programs are compiled and built in the controller, and all version programs can be obtained through debugging.
When the engineering vehicle is an excavator, the boom has double-compound, triple-compound and quadruple-compound conditions, wherein the actions of compounding with the boom are an arm, a bucket, turning and walking. For example, the double compound is boom + any one of the four motions described above, for example, boom + arm, boom + bucket, boom + swing, boom + travel. Triple combination is boom + any two of the four actions described above, for example boom + arm + swing. The quadruple is boom + any three of the four motions, for example, boom + arm + swing + travel.
Specifically, when the height of the movable arm changes and the flow of hydraulic oil in the movable arm needs to be determined according to the height of the movable arm, the current magnitude of the movable arm and other working devices in the process of truck loading is only required to be modified. For example, when the boom and the arm are combined, when the height of the boom is increased and the speed of the boom needs to be raised, only the current of the boom and the arm pilot proportional valve needs to be modified, that is, the current value of the boom pilot proportional valve at the moment is increased, and the current value of the arm proportional valve is correspondingly reduced. Other version program adjustment principles are similar.
According to the movable arm control method of the engineering vehicle provided by the embodiment 1 of the invention, by obtaining the displacement of the movable arm oil cylinder, the height of the movable arm is determined according to the displacement of the movable arm oil cylinder, the flow of hydraulic oil in the movable arm is determined according to the height of the movable arm, and the speed of the movable arm is determined according to the flow of the hydraulic oil in the movable arm, so that the speed of the movable arm can be adaptively adjusted according to the change of the height of the movable arm by adopting the movable arm control method provided by the embodiment 1 of the invention, and the loading performance of the transshipment equipment and the smoothness and comfort of the operation of a driver are improved; for example, when the height of the boom is large, that is, the boom-up distance is long, the boom speed can be increased by increasing the flow rate of the hydraulic oil in the boom, and the loading efficiency can be improved.
Example 2
Embodiment 2 of the present invention provides a boom control apparatus for a construction vehicle, fig. 4 is a schematic structural diagram of the boom control apparatus for a construction vehicle in embodiment 2 of the present invention, and as shown in fig. 4, the boom control apparatus for a construction vehicle in embodiment 2 of the present invention includes an obtaining module 20, a boom height determining module 22, and a boom flow determining module 24.
Specifically, the obtaining module 20 is configured to obtain the displacement of the boom cylinder under the current working condition.
And the boom height determining module 22 is configured to determine the boom height of the current working condition according to the displacement of the boom cylinder.
And a boom flow determining module 24, configured to determine a flow of hydraulic oil in the boom according to the height of the boom.
The boom flow determination module 24 is specifically configured to: determining a flow distribution scheme corresponding to the height of the movable arm according to the height of the movable arm by using a preset corresponding relation between the height of the movable arm and the flow distribution scheme; and distributing the hydraulic oil in the main pump of the engineering vehicle according to the flow distribution scheme to obtain the flow of the hydraulic oil in the movable arm.
Further, the boom control apparatus of a working vehicle according to embodiment 2 of the present invention further includes a correspondence relationship building module 26, where the correspondence relationship building module 26 is configured to: respectively acquiring flow distribution schemes corresponding to a plurality of boom heights, wherein for any boom height, the flow distribution scheme corresponding to the boom height meets the requirement on the boom speed under the boom height; and constructing the corresponding relation between the boom height and the flow distribution scheme according to the flow distribution scheme corresponding to the plurality of boom heights.
The specific details of the boom control apparatus of the engineering vehicle may be understood by referring to the corresponding related descriptions and effects in the embodiments shown in fig. 1 to 3, and are not described herein again.
Example 3
The embodiment of the invention also provides an engineering vehicle which can comprise a processor and a memory, wherein the processor and the memory can be connected through a bus or in other manners.
Wherein the controller includes a processor and a memory.
The processor may be a Central Processing Unit (CPU). The Processor may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or a combination thereof.
The memory, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to a boom control method of a work vehicle in an embodiment of the present disclosure (e.g., the acquisition module 20, the boom height determination module 22, and the boom flow determination module 24 shown in fig. 4). The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, so as to implement the boom control method of the engineering vehicle in the above method embodiment.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and such remote memory may be coupled to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory and, when executed by the processor, perform a boom control method of a work vehicle as in the embodiment of fig. 1-3.
The details of the engineering vehicle can be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to 4, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims (9)

1. A boom control method for a working vehicle, comprising:
obtaining the displacement of a movable arm oil cylinder under the current working condition;
determining the height of a movable arm under the current working condition according to the displacement of the movable arm oil cylinder;
determining the flow of hydraulic oil in the movable arm according to the height of the movable arm;
the determining the flow of the hydraulic oil in the boom according to the boom height comprises:
determining a flow distribution scheme corresponding to the height of the movable arm according to the height of the movable arm by using a preset corresponding relation between the height of the movable arm and the flow distribution scheme;
and distributing the hydraulic oil in the main pump of the engineering vehicle according to the flow distribution scheme to obtain the flow of the hydraulic oil in the movable arm.
2. The method of claim 1, wherein the determining a boom height for the current operating condition based on the boom cylinder displacement comprises:
determining a horizontal inclination angle of a movable arm according to the displacement of the movable arm oil cylinder;
and determining the height of the movable arm under the current working condition according to the horizontal inclination angle of the movable arm.
3. The method of claim 1, wherein the boom cylinder displacement is a boom cylinder work displacement and the boom height is a boom work height.
4. The method of claim 2, wherein the boom height of the current operating condition is determined according to the boom horizontal inclination angle using a preset second formula, wherein the second formula is:
S＝L AB *sin(α)
in the second formula, S represents the boom height; l is AB The distance between a first connecting hinge point and a fourth connecting hinge point is represented, the first connecting hinge point is a connecting hinge point of an engineering vehicle main body and a movable arm, and the fourth connecting hinge point is a connecting hinge point of the movable arm and a bucket rod; α represents the boom horizontal inclination angle.
5. The method of claim 1, further comprising, prior to determining the flow of hydraulic oil in the boom based on the boom height:
respectively acquiring flow distribution schemes corresponding to a plurality of boom heights, wherein for any boom height, the flow distribution scheme corresponding to the boom height meets the requirement on the boom speed under the boom height;
and constructing the corresponding relation between the boom height and the flow distribution scheme according to the flow distribution scheme corresponding to the boom heights.
6. A boom control apparatus of a working vehicle, characterized by comprising:
the acquisition module is used for acquiring the displacement of the movable arm oil cylinder under the current working condition;
the movable arm height determining module is used for determining the height of the movable arm under the current working condition according to the displacement of the movable arm oil cylinder;
the movable arm flow determining module is used for determining the flow of hydraulic oil in the movable arm according to the height of the movable arm;
the boom flow determination module is specifically configured to: determining a flow distribution scheme corresponding to the height of the movable arm according to the height of the movable arm by using a preset corresponding relation between the height of the movable arm and the flow distribution scheme; and distributing the hydraulic oil in the main pump of the engineering vehicle according to the flow distribution scheme to obtain the flow of the hydraulic oil in the movable arm.
7. A work vehicle, comprising:
a movable arm;
the main pump is used for providing hydraulic oil for the movable arm;
the displacement sensor is used for acquiring the displacement of the movable arm oil cylinder;
the main pump and the displacement sensor are in communication connection with a controller, and the controller stores computer instructions, and executes the computer instructions to execute the boom control method of the engineering vehicle according to any one of claims 1 to 5.
8. The work vehicle of claim 7, characterized in that it comprises: excavator, pile driver, demolition machine, grab material machine, scarifier.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing the computer to execute the boom control method of a working vehicle according to any one of claims 1 to 5.
CN202110127102.XA 2021-01-29 2021-01-29 Engineering vehicle, and movable arm control method and device of engineering vehicle Active CN112922076B (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2685010B1 (en) * 2011-03-08 2019-01-16 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Shovel and method for controlling shovel
CN102912816B (en) * 2012-11-19 2015-03-18 中联重科股份有限公司渭南分公司 Control method and control device for excavator and excavator
JP7186504B2 (en) * 2016-01-28 2022-12-09 住友建機株式会社 Excavator
US10385541B2 (en) * 2017-02-22 2019-08-20 Cnh Industrial America Llc Work vehicle with improved loader/implement return position control
CN207672651U (en) * 2017-10-30 2018-07-31 三一重机有限公司 The system for controlling ridge buster equipment speed
CN111042261A (en) * 2019-12-30 2020-04-21 三一重机有限公司 Dynamic weighing method and system for excavator

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