CN113401852B - Aerial working platform luffing stability control method - Google Patents
Aerial working platform luffing stability control method Download PDFInfo
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- CN113401852B CN113401852B CN202110844376.0A CN202110844376A CN113401852B CN 113401852 B CN113401852 B CN 113401852B CN 202110844376 A CN202110844376 A CN 202110844376A CN 113401852 B CN113401852 B CN 113401852B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000010586 diagram Methods 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
Abstract
The invention discloses a method for controlling the stability of amplitude variation of an aerial working platform, which is characterized in that the linear speed of the operation of a working bucket is calculated on the basis of a triangle formed by a main arm and an auxiliary arm in an arm support, and the obtained linear speed is compared with a preset stable value, so that the amplitude variation of the arm support is controlled, the vibration problem caused by the amplitude variation of the arm support at a large height can be solved, the stability and the controllability of a mixed arm high vehicle at the large height are improved, and the safety of operators is also improved greatly.
Description
Technical Field
The invention relates to the field of aerial work platform luffing stability control, in particular to a aerial work platform luffing stability control method.
Background
Usually, the luffing speed of the control arm of the overhead working truck is mainly an open loop control process, namely the speed is not related to the posture of the arm support, or is a simple inverse relation between the arm length and the luffing speed, which is far from enough. The main arm amplitude is severely vibrated in the motion process in a direct open loop control mode due to the deflection problem caused by the length change of the arm, the elasticity problem of the oil cylinder and the rigidity problem of the hinge point, and meanwhile the amplitude starting and stopping can also vibrate. Thereby bringing inconvenience to the operation and further threatening the personal safety of operators.
Under the condition that the length of the main arm and the auxiliary arm is longer, the linear speed of the arm is also increased due to the change of the radius, see fig. 1, and the larger the moment arm is, the larger the influence on the two oil cylinders and the hinge point for controlling the amplitude of the arm support is. If the arm is lowered or raised directly at this time, not only is the comfort of the user poor, but it also gives instability to other controls of the device. Meanwhile, the acceleration of the arm lifting is open loop, so that the acceleration process and the deceleration process of the arm can also bring severe vibration of the arm under the condition that the linear speed of the arm is increased; how to solve the relationship between the velocity of the arm and the attitude of the arm is a key to the problem.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide the method for controlling the luffing stability of the aerial work platform, which can solve the vibration problem caused by the boom form when luffing is carried out at a large height, so that the hybrid boom high vehicle is more stable and controllable when luffing is carried out at the large height, and simultaneously, the safety of operators is greatly improved.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a method for controlling the luffing stability of an aerial working platform, which specifically comprises the following steps:
s1, a triangle delta ABC is formed among three points of a connection point A of a main arm and a turntable, a connection point C of an auxiliary arm and a working bucket and a hinge point B of the main arm and the auxiliary arm, wherein AB=L1, BC=L2, AC=L3 and angle ABC=a are set;
s2, in the amplitude changing process of the main arm and the auxiliary arm, measuring the length of the L1 and the L2 and the value of the angle a in real time by adopting a measuring instrument, transmitting the length of the L1 and the L2 and the value of the angle a to a processor, and then enabling the processor to carry out the process according to a formulaCalculating to obtain the length of L3;
s3, drawing an L3 real-time curve change diagram according to the calculated value of L3 by the processor, and obtaining the real-time linear speed δw at the point A of the working bucket according to the curve change diagram;
s4, comparing the real-time linear velocity delta w with a preset stable linear velocity w of the working bucket:
if δw is less than or equal to w, PWM output for controlling amplitude variation of the arm support is not adjusted;
if δw > w, PWM output for controlling boom amplitude is reduced so that δw is less than or equal to w.
Preferably, the angle +.ABC is measured by an angle sensor mounted near the hinge point B of the main arm and the auxiliary arm and the measured data is transmitted to the processor.
Preferably, the length between AB in the main arm and BC in the auxiliary arm is measured by a length measuring sensor mounted on the aerial vehicle and the measured data is transmitted to the processor.
Preferably, in step S3, the real-time linear velocity δw calculation method is as follows: selecting a time interval t, t=t 1 -t 0 Sampling L3 data; at the position oft 0 Time acquisition L3t 0 Collecting L3t at time t1 1 Therefore:
real-time linear velocity:
preferably, the selection of the ideal value of the steady linear velocity w in step S4:
in the process of the arm support, namely the main arm and the auxiliary arm, the calculated real-time linear speeds δw are different, a section of real-time linear speed δw curve with the smallest fluctuation is read in continuous movement, and the value at the moment is the optimal value W of the movement; and (3) comparing and calculating the difference value between the read real-time linear velocity delta W value and the read real-time linear velocity W value at the moment, and adjusting the maximum velocity of the arm support at the moment, wherein the maximum velocity of the arm support is the most stable state of the arm support movement when the difference value is 0.
The invention has the beneficial effects that: the method is adopted to control the arm support to move, no matter what height or length the arm is at, the amplitude linear speed of the arm can be controlled, so that the problem of system vibration or overlarge impact during starting and stopping caused by overlarge linear speed or acceleration can be avoided.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a prior art aerial lift truck;
FIG. 2 is a schematic diagram of the triangle DeltaABC formed by the arm support in the embodiment of the invention;
reference numerals illustrate:
1. a main arm; 2. a secondary arm; 3. and a working bucket.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 2, the method for controlling the luffing stability of the aerial working platform specifically comprises the following steps:
s1, a triangle delta ABC is formed among three points, namely a connection point A of a main arm 1 and a turntable, a connection point C of a subsidiary arm 2 and a working bucket 3 and a hinge point B of the main arm 1 and the subsidiary arm 2, wherein AB=L1, BC=L2, AC=L3 and angle ABC=a are set;
s2, in the amplitude changing process of the main arm 1 and the auxiliary arm 2, measuring the length of the L1 and the L2 and the value of the angle a in real time by adopting a measuring instrument, transmitting the values to a processor, and then enabling the processor to carry out the process according to a formulaCalculating to obtain the length of L3;
the angle ABC is measured by an angle sensor arranged near the hinging point B of the main arm 1 and the auxiliary arm 2 and transmits measured data to a processor;
the length between AB in the main arm 1 and BC in the auxiliary arm 2 is measured by a length measuring sensor arranged on the overhead working truck, and measured data are transmitted to a processor;
s3, drawing an L3 real-time curve change diagram according to the calculated value of L3 by the processor, and obtaining the real-time linear speed δw at the point A of the working bucket according to the curve change diagram;
the real-time linear velocity δw calculating method comprises the following steps: selecting a time interval t, t=t 1 -t 0 Sampling L3 data; at t 0 Time acquisition L3t 0 Collecting L3t at time t1 1 Therefore:
real-time linear velocity:
s4, comparing the real-time linear velocity delta w with a preset stable linear velocity w of the working bucket 3:
if δw is less than or equal to w, PWM output for controlling amplitude variation of the arm support is not adjusted;
if δw > w, PWM output for controlling boom amplitude is reduced so that δw is less than or equal to w.
The ideal value of w is selected by the following steps:
in the process of the arm support, namely the main arm and the auxiliary arm, the calculated real-time linear speeds δw are different, a section of real-time linear speed δw curve with the smallest fluctuation is read in continuous movement, and the value at the moment is the optimal value W of the movement; and (3) comparing and calculating the difference value between the read real-time linear velocity delta W value and the read real-time linear velocity W value at the moment, and adjusting the maximum velocity of the arm support at the moment, wherein the maximum velocity of the arm support is the most stable state of the arm support movement when the difference value is 0.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. The method for controlling the luffing stability of the aerial working platform is characterized by comprising the following steps of:
s1, a triangle delta ABC is formed among three points, namely a connection point A of a main arm (1) and a turntable, a connection point C of an auxiliary arm (2) and a working bucket (3) and a hinge point B of the main arm (1) and the auxiliary arm (2), wherein AB=L1, BC=L2, AC=L3 and angle ABC=a are set;
s2, in the amplitude changing process of the main arm (1) and the auxiliary arm (2), measuring the length of the L1 and the L2 and the value of the angle a in real time by adopting a measuring instrument, transmitting the length of the L1 and the L2 and the value of the angle a to a processor, and then enabling the processor to carry out the process according to a formulaCalculating to obtain the length of L3;
s3, drawing an L3 real-time curve change diagram according to the calculated value of L3 by the processor, and calculating the real-time linear velocity δw at the point A of the working bucket (3) according to the curve change diagram;
s4, comparing the real-time linear velocity delta w with a preset stable linear velocity w of the working bucket (3):
if δw is less than or equal to w, PWM output for controlling amplitude variation of the arm support is not adjusted;
if δw > w, PWM output for controlling boom amplitude is reduced so that δw is less than or equal to w.
2. A method for controlling the luffing stability of an aerial working platform according to claim 1, wherein the angle ABC is measured by an angle sensor mounted near the hinge point B of the main arm (1) and the auxiliary arm (2) and the measured data is transmitted to the processor.
3. A method of controlling the luffing stability of an aerial work platform as claimed in claim 1, wherein the length between AB in the main arm (1) and BC in the auxiliary arm (2) is measured by a length measuring sensor mounted on the aerial work vehicle and the measured data is transmitted to the processor.
4. The aerial work platform luffing stability control method of claim 1, wherein in step S3, the real-time linear velocity δw calculation method is as follows: selecting a time interval t, t=t 1 -t 0 Sampling L3 data; at t 0 Time acquisition L3t 0 Collecting L3t at time t1 1 Therefore:
real-time linear velocity:
5. the method for controlling the luffing stability of an aerial working platform according to claim 1, wherein the ideal value of the steady linear velocity w in the step S4 is selected:
in the motion process of the arm support, namely the main arm (1) and the auxiliary arm (2), the calculated real-time linear speeds δw are different, a section of real-time linear speed δw curve with the smallest fluctuation is read in continuous motion, and the value at the moment is the optimal motion value W; and (3) comparing and calculating the difference value between the read real-time linear velocity delta W value and the read real-time linear velocity W value at the moment, and adjusting the maximum velocity of the arm support at the moment, wherein the maximum velocity of the arm support is the most stable state of the arm support movement when the difference value is 0.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110844376.0A CN113401852B (en) | 2021-07-26 | 2021-07-26 | Aerial working platform luffing stability control method |
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| CN202110844376.0A CN113401852B (en) | 2021-07-26 | 2021-07-26 | Aerial working platform luffing stability control method |
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| CN113401852A CN113401852A (en) | 2021-09-17 |
| CN113401852B true CN113401852B (en) | 2023-10-27 |
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| CN116553449B (en) * | 2023-07-05 | 2023-09-22 | 徐工消防安全装备有限公司 | Operation control method and device and operation vehicle |
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|---|---|---|---|---|
| CN102502432A (en) * | 2011-09-30 | 2012-06-20 | 中联重科股份有限公司 | Variable amplitude suspension arm of oil cylinder as well as linear speed control method and device thereof |
| CN106744554A (en) * | 2016-12-20 | 2017-05-31 | 徐州海伦哲专用车辆股份有限公司 | A kind of achievable vehicle body is anti-from the lower folding high-altitude operation vehicle control method damaged |
| CN206590844U (en) * | 2017-03-24 | 2017-10-27 | 徐州海伦哲专用车辆股份有限公司 | Insulating overhead operating vehicle |
| CN109650303A (en) * | 2018-12-14 | 2019-04-19 | 中联重科股份有限公司 | Aloft-work mechanical arm declines control method and device, aloft-work mechanical arm |
| CN112938853A (en) * | 2021-03-10 | 2021-06-11 | 湖南星邦智能装备股份有限公司 | Optimization control method for implementing stable operation of aerial work platform |
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- 2021-07-26 CN CN202110844376.0A patent/CN113401852B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102502432A (en) * | 2011-09-30 | 2012-06-20 | 中联重科股份有限公司 | Variable amplitude suspension arm of oil cylinder as well as linear speed control method and device thereof |
| CN106744554A (en) * | 2016-12-20 | 2017-05-31 | 徐州海伦哲专用车辆股份有限公司 | A kind of achievable vehicle body is anti-from the lower folding high-altitude operation vehicle control method damaged |
| CN206590844U (en) * | 2017-03-24 | 2017-10-27 | 徐州海伦哲专用车辆股份有限公司 | Insulating overhead operating vehicle |
| CN109650303A (en) * | 2018-12-14 | 2019-04-19 | 中联重科股份有限公司 | Aloft-work mechanical arm declines control method and device, aloft-work mechanical arm |
| CN112938853A (en) * | 2021-03-10 | 2021-06-11 | 湖南星邦智能装备股份有限公司 | Optimization control method for implementing stable operation of aerial work platform |
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