CN113548585B - Integrated control system and method for automobile crane, electronic equipment and storage medium - Google Patents
Integrated control system and method for automobile crane, electronic equipment and storage medium Download PDFInfo
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- CN113548585B CN113548585B CN202110872775.8A CN202110872775A CN113548585B CN 113548585 B CN113548585 B CN 113548585B CN 202110872775 A CN202110872775 A CN 202110872775A CN 113548585 B CN113548585 B CN 113548585B
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- controlling
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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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
- B66C2700/00—Cranes
- B66C2700/03—Cranes with arms or jibs; Multiple cranes
- B66C2700/0321—Travelling cranes
- B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks
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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
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
Abstract
The invention discloses an integrated control system of an automobile crane, which comprises: the system comprises a whole vehicle controller, a power battery, a cooling circulation system, an integrated control system and an on-vehicle working motor, wherein the whole vehicle controller is connected with the integrated control system and used for controlling the integrated control system, the power battery is connected with the integrated control system and used for supplying power to the integrated control system, the cooling circulation system is used for cooling the power battery and the integrated control system, and the integrated control system is connected with the on-vehicle working motor and used for controlling the on-vehicle working motor. The invention adopts the integrated control system to carry out the centralized control of multiple motors, realizes the unified processing of signals, improves the response speed and the reliability of the system, adopts full electromotive driving, is more efficient and energy-saving, and improves the integration level of the system.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an integrated control system and method for an automobile crane, electronic equipment and a storage medium.
Background
The automobile crane is one kind of crane installed on common automobile chassis or special automobile chassis and has driving cab and hoisting cab separately. The automobile crane mainly comprises an upper loading operation and a lower loading chassis, and the upper loading operation mainly comprises a turntable, a suspension arm, a counterweight and the like. The main pump is driven to work by taking force from the chassis engine, and the flow is regulated by the electromagnetic valve, so that smooth running of actions such as telescopic boom cylinder, boom amplitude, counterweight, turntable rotation and the like can be controlled. The lower chassis part is responsible for the running of the whole vehicle, the contraction of the lower supporting legs and other actions through a transmission system such as an engine, a clutch, a gearbox and the like.
At present, the main reasons for fuel waste in the hoisting operation process of the crane are as follows:
1. the difference between the operating pressures and the flow rates causes a loss of the hydraulic high-pressure return flow.
2. The engine operation in the high speed interval affects efficiency.
3. There is a long idle operating time.
4. When the crane works, the main engine needs to be started if an air conditioner is used.
In addition, the electric degree of the crane upper-loading operation control system is not high, operations such as winding, telescopic amplitude variation and rotation are all transferred through a hydraulic system, each motor needs to be driven by an independent motor controller, a high-voltage power distribution device also needs to be independently installed, and an electric control system is large in size and complex in assembly.
In view of the foregoing, there is a need for a control method of an automobile crane, which is used for solving the above-mentioned problems in the prior art.
Disclosure of Invention
Because the existing method has the problems, the invention provides an integrated control system and method for an automobile crane, electronic equipment and a storage medium.
In a first aspect, the present invention provides an integrated control system for an automobile crane, including: the system comprises a whole vehicle controller, a power battery, a cooling circulation system, an integrated control system and an on-vehicle working motor;
the whole vehicle controller is connected with the integrated control system and used for controlling the integrated control system;
the power battery is connected with the integrated control system and is used for supplying power to the integrated control system;
the cooling circulation system is used for cooling the power battery and the integrated control system;
the integrated control system is connected with the boarding working motor and is used for controlling the boarding working motor in a centralized manner to finish unified signal processing.
Further, the boarding working motor comprises a main winch motor, an auxiliary winch motor, a rotary motor and a telescopic amplitude-variable motor;
the main winch motor is connected with the integrated control system and used for driving the main winch;
the auxiliary winch motor is connected with the integrated control system and used for driving the auxiliary winch;
the rotary motor is connected with the integrated control system and is used for driving the rotary mechanism;
the telescopic amplitude varying motor is connected with the integrated control system and used for driving the telescopic amplitude varying oil pump.
Further, the integrated control system comprises a high-voltage power distribution device and a motor controller;
the high-voltage distribution device is used for distributing energy to the integrated control system;
a plurality of driving boards of the motor controller adopt a common direct current bus;
the motor controller is used for controlling the boarding work motor.
Further, the control mode of the main winch motor and the auxiliary winch motor comprises vector control of a speed sensor; the control mode of the rotary motor and the telescopic variable amplitude motor comprises vector control without a speed sensor.
Further, the main winch motor and the auxiliary winch motor are also used for charging the power battery in the power generation process.
In a second aspect, the present invention provides an integrated control method based on the first aspect, including:
acquiring a control instruction of the whole vehicle controller;
and controlling the main winch motor, the auxiliary winch motor, the rotary motor and the telescopic amplitude-variable motor according to the control instruction.
Further, the controlling the main winding motor, the auxiliary winding motor, the rotary motor and the telescopic variable amplitude motor according to the control instruction includes:
if the control instruction is an empty hook lifting instruction or an empty hook lowering instruction, controlling the telescopic amplitude variation motor to run;
if the control instruction is a rotation instruction, controlling the rotation motor to run, otherwise, controlling the rotation motor to stop;
if the control command is a heavy load lifting command or a heavy load lowering command, controlling the main hoisting motor to run;
and if the control instruction is a light load lifting instruction or a light load lowering instruction, controlling the auxiliary hoisting motor to operate.
In a third aspect, the invention also provides an automobile crane, which comprises the automobile crane integrated control system in the first aspect.
In a fourth aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the integrated control method according to the second aspect when executing the computer program.
In a fifth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the integrated control method according to the second aspect.
According to the technical scheme, the integrated control system, the method, the electronic equipment and the storage medium of the automobile crane, provided by the invention, adopt the integrated control system to perform multi-motor centralized control, realize unified signal processing, omit a data interaction process, improve the response speed and reliability of the system, adopt full electromotive driving, and improve the integration level of the system at the same time, and are more efficient and energy-saving.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings that are necessary for the description of the embodiments or 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 can be obtained from these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an integrated control system for an automobile crane provided by the invention;
FIG. 2 is a schematic flow chart of an integrated control method according to the present invention;
FIG. 3 is a schematic flow chart of a charging method according to the present invention;
FIG. 4 is a schematic flow chart of a power-on method according to the present invention;
FIG. 5 is a schematic diagram of a power-down method according to the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Fig. 1 is a schematic diagram of an integrated control system of an automobile crane according to an embodiment of the present invention, where the system includes: the system comprises a whole vehicle controller 1, a power battery 2, a cooling circulation system 3, an integrated control system 4 and an on-vehicle working motor 5;
specifically, the whole vehicle controller 1 is connected with the integrated control system 4 and is used for controlling the integrated control system 4;
the power battery 2 is connected with the integrated control system 4 and is used for supplying power to the integrated control system 4;
the cooling circulation system 3 is used for cooling the power battery 2 and the integrated control system 4;
in one possible embodiment, the cooling circulation system comprises a first cooling circulation system for cooling the power battery and a second cooling circulation system for cooling the integrated control system.
The integrated control system 4 is used for being connected with the boarding work motor 5 and controlling the boarding work motor 5.
In the embodiment of the invention, the boarding work motor 5 comprises a main winch motor 6, an auxiliary winch motor 7, a rotary motor 8 and a telescopic amplitude-changing motor 9.
Further, the main winch motor is used for driving the main winch;
the auxiliary winch motor is used for driving the auxiliary winch;
the rotary motor is used for driving the rotary mechanism;
the telescopic amplitude varying motor is used for driving the telescopic amplitude varying oil pump.
According to the scheme, the integrated control system is adopted for carrying out multi-motor centralized control, unified signal processing is achieved, the data interaction process is omitted, the response speed and reliability of the system are improved, meanwhile, full electromotive driving is adopted, and the system integration level is improved while the efficiency and the energy conservation are improved.
In the embodiment of the present invention, the integrated control system 4 includes a high-voltage power distribution device 10 and a motor controller 11;
specifically, the high-voltage power distribution device is used for distributing energy to the integrated control system;
a plurality of driving boards of the motor controller 11 adopt a common direct current bus;
the motor controller 11 is used for controlling the main winch motor 6, the auxiliary winch motor 7, the rotary motor 8 and the telescopic amplitude-changing motor 9. According to the scheme, the plurality of driving plates adopt the common direct current bus, so that the structure is more compact, and the space is saved. And the multiple motors are controlled in a centralized way by adopting the multiple-in-one motor controller, so that unified signal processing is realized, and the response speed and reliability of the system are improved.
In one possible embodiment, an integrated control system includes a high voltage relay board, a brake board, a motor control board, and a plurality of drive boards.
In the embodiment of the invention, the braking plate is integrated into the motor control plate, so that the safety of a braking loop is improved.
Specifically, the motor control board is controlled by a multi-core digital signal processor, and can simultaneously meet the driving requirements of a main hoisting motor, an auxiliary hoisting motor, a rotary motor and a telescopic amplitude-variable motor.
In the embodiment of the invention, the telescopic luffing motor 8 drives the telescopic luffing oil pump, so that the hydraulic system drives the hydraulic oil cylinder to perform telescopic luffing operation.
In the embodiment of the invention, the integrated control system receives the control instruction of the whole vehicle controller to control the high-voltage power distribution device to execute the power-on and power-off operation, and simultaneously, the operation of the main winch motor, the auxiliary winch motor, the rotary motor and the telescopic amplitude-variable motor is respectively controlled according to the control instruction of the whole vehicle controller, so that the operation requirements of winch, rotary and telescopic amplitude-variable are met.
The speed of the main winch, the auxiliary winch and the slewing mechanism is controlled by the speed reducing mechanism.
According to the scheme, multi-motor centralized control is performed by adopting multi-core digital signal processing, unified signal processing is achieved, a data interaction process is omitted, the response speed and reliability of the system are improved, meanwhile, full-electromotive driving is adopted, and the system integration level is improved while the efficiency and energy conservation are improved.
Further, the control mode of the main winch motor and the auxiliary winch motor comprises vector control of a speed sensor;
the control mode of the rotary motor and the telescopic variable amplitude motor comprises vector control without a speed sensor.
In one possible implementation mode, the main winch motor, the auxiliary winch motor, the rotary motor and the telescopic amplitude-variable motor are all permanent magnet synchronous motors.
Further, in order to improve control accuracy, the main winch motor and the auxiliary winch motor are provided with speed encoders, and the control mode is vector control with a speed sensor. The control mode of the rotary motor and the telescopic variable amplitude motor is vector control without a speed sensor.
The basic principle of vector control is to control exciting current and torque current of an asynchronous motor according to a magnetic field orientation principle by measuring and controlling stator current vectors of the asynchronous motor, so as to achieve the purpose of controlling torque of the asynchronous motor.
The stator current vector of the asynchronous motor is decomposed into a current component generating a magnetic field and a current component generating torque to be respectively controlled, and the amplitude and the phase between the two components are simultaneously controlled, namely, the stator current vector is controlled, so that the control mode is called a vector control mode. The vector control method includes a vector control method based on slip frequency control, a speed sensor-less vector control method, and the like.
According to the scheme, the vector control is adopted, so that the control precision is improved, and meanwhile, the response speed of the system is improved.
Further, the main winch motor and the auxiliary winch motor are also used for charging the power battery in the power generation process.
According to the scheme, the power battery is charged in the power generation process of the winch motor, so that energy recovery is effectively carried out, and the system efficiency is improved.
Based on the emergency driving system, fig. 2 schematically shows a flow of an integrated control method according to an embodiment of the present invention. The process can be executed by the truck crane upper-loading operation integrated control system.
As shown in fig. 2, the process specifically includes:
step 201, a control instruction of the whole vehicle controller is obtained.
And 202, controlling a main winch motor, an auxiliary winch motor, a rotary motor and a telescopic amplitude-variable motor according to the control instruction.
Specifically, if the control instruction is an empty hook lifting instruction or an empty hook lowering instruction, controlling the telescopic amplitude variation motor to run;
if the control instruction is a rotation instruction, controlling the rotation motor to run, otherwise, controlling the rotation motor to stop;
if the control instruction is a heavy-load lifting instruction or a heavy-load lowering instruction, controlling the main hoisting motor to run;
and if the control instruction is a light load lifting instruction or a light load lowering instruction, controlling the auxiliary hoisting motor to operate.
If the control command is a non-rotation command, the rotation motor is controlled to stop, so that the accuracy and the safety of the system are ensured.
Further, if the control command is a heavy load lifting command, controlling the electric operation of the main winch motor;
and if the control instruction is a heavy-load lowering instruction, controlling the main hoisting motor to generate electricity for operation.
Further, if the control instruction is a light-load lifting instruction, controlling the auxiliary hoisting motor to run electrically;
and if the control instruction is a light load lowering instruction, controlling the auxiliary hoisting motor to generate electricity for operation.
In the embodiment of the invention, the power battery is charged in the power generation process of the winding motor, so that the energy is effectively recovered, and the system efficiency is improved.
In the embodiment of the invention, the operation of the main winch motor, the auxiliary winch motor, the rotary motor and the telescopic variable amplitude motor is controlled according to the control instruction of the whole vehicle controller, and a series of loading operation actions such as empty hook lifting, rotation, empty hook lowering, loading lifting, loading lowering and the like are completed.
According to the scheme, the integrated control system is adopted for carrying out multi-motor centralized control, unified signal processing is achieved, the data interaction process is omitted, the response speed and reliability of the system are improved, meanwhile, full electromotive driving is adopted, and the system integration level is improved while the efficiency and the energy conservation are improved.
Further, fig. 3 schematically illustrates a flow of an integrated control method provided by an embodiment of the present invention. The process can be executed by the truck crane upper-loading operation integrated control system.
As shown in fig. 3, the process specifically includes:
step 301, a charging instruction of the whole vehicle controller is obtained.
Step 302, determining whether the motor controller has an output, if so, blocking all pulse width modulation outputs, otherwise, setting a charging interlock signal.
Step 303, closing the contactor.
The contactor is an electric appliance which uses a coil to flow current to generate a magnetic field so as to close a contact, thereby controlling a load.
Step 304, determine whether the charging is completed, if so, clear the charging interlock signal and open the contactor.
According to the scheme, the automobile crane charges after acquiring the charging instruction of the whole automobile controller, and whether the motor controller outputs or not is judged during charging, and meanwhile, the contactor is adopted, so that the safety is improved.
Further, fig. 4 schematically illustrates a flow of an integrated control method provided by an embodiment of the present invention. The process can be executed by the truck crane upper-loading operation integrated control system.
As shown in fig. 4, the process specifically includes:
step 401, obtaining a power-on instruction of the whole vehicle controller after low-voltage power-on is completed.
If the system is not faulty and there is no charging interlock signal, step 402, the contactor is closed.
Step 403, determining whether the bus voltage is established.
Step 404, if the bus voltage is established, the power-up is completed.
According to the scheme, the automobile crane is electrified after the electrification instruction of the whole automobile controller is acquired, and whether the system fails or not and whether the charging interlocking signal exists or not is judged during electrification, so that the safety is improved.
Further, fig. 5 schematically illustrates a flow of an integrated control method provided by an embodiment of the present invention. The process can be executed by the truck crane upper-loading operation integrated control system.
As shown in fig. 5, the process specifically includes:
step 501, obtaining a power-down instruction of the whole vehicle controller.
Step 502, judging whether the system is powered up, if so, blocking all pulse width modulation outputs, otherwise, opening the contactor.
According to the scheme, the automobile crane is powered down after the power-down instruction of the whole automobile controller is acquired, and whether power-up is completed or not is judged when power-down is performed, so that safety is improved.
Based on the same inventive concept, a further embodiment of the present invention provides an electronic device, see fig. 6, comprising in particular: a processor 601, a memory 602, a communication interface 603 and a communication bus 604;
wherein the processor 601, the memory 602, and the communication interface 603 complete communication with each other through the communication bus 604; the communication interface 603 is used for implementing information transmission between devices;
the processor 601 is configured to invoke a computer program in the memory 602, where the processor executes the computer program to implement all the steps of the integrated control method described above, for example, the processor executes the computer program to implement the following steps: acquiring a control instruction of the whole vehicle controller; and controlling the main winch motor, the auxiliary winch motor, the rotary motor and the telescopic amplitude-variable motor according to the control instruction.
Based on the same inventive concept, a further embodiment of the present invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements all the steps of the above integrated control method, for example, the processor implementing the following steps when executing the computer program: acquiring a control instruction of the whole vehicle controller; and controlling the main winch motor, the auxiliary winch motor, the rotary motor and the telescopic amplitude-variable motor according to the control instruction.
Further, the logic instructions in the memory described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a user life pattern prediction device, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiment of the invention. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for causing a computer device (which may be a personal computer, a user life pattern prediction device, or a network device, etc.) to execute the user life pattern prediction method according to the embodiments or some parts of the embodiments.
Furthermore, in the present disclosure, such as "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Moreover, in the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Furthermore, in the description herein, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An integrated control system for an automobile crane, comprising: the system comprises a whole vehicle controller, a power battery, a cooling circulation system, an integrated control system and an on-vehicle working motor;
the whole vehicle controller is connected with the integrated control system and used for controlling the integrated control system;
the power battery is connected with the integrated control system and is used for supplying power to the integrated control system;
the cooling circulation system is used for cooling the power battery and the integrated control system;
the integrated control system is connected with the boarding working motor and is used for controlling the boarding working motor in a centralized manner to finish unified signal processing.
2. The integrated control system of an automobile crane according to claim 1, wherein the boarding work motor comprises a main winch motor, a secondary winch motor, a rotary motor and a telescopic luffing motor;
the main winch motor is connected with the integrated control system and is used for driving the main winch;
the auxiliary winch motor is connected with the integrated control system and used for driving the auxiliary winch;
the rotary motor is connected with the integrated control system and is used for driving the rotary mechanism;
the telescopic amplitude varying motor is connected with the integrated control system and used for driving the telescopic amplitude varying oil pump.
3. The truck crane integrated control system of claim 1 wherein the integrated control system comprises a high voltage power distribution device and a motor controller;
the high-voltage distribution device is used for distributing energy to the integrated control system;
a plurality of driving boards of the motor controller adopt a common direct current bus;
the motor controller is used for controlling the boarding work motor.
4. The integrated control system of the truck crane according to claim 2, wherein the control mode of the main hoisting motor and the auxiliary hoisting motor comprises vector control of a speed sensor; the control mode of the rotary motor and the telescopic variable amplitude motor comprises vector control without a speed sensor.
5. The integrated control system of an automobile crane according to claim 2, wherein the main hoist motor and the auxiliary hoist motor are further configured to charge the power battery during power generation.
6. An integrated control method based on the integrated control system of the automobile crane according to any one of claims 2 to 5, comprising:
acquiring a control instruction of the whole vehicle controller;
and controlling the main winch motor, the auxiliary winch motor, the rotary motor and the telescopic amplitude-variable motor according to the control instruction.
7. The integrated control method according to claim 6, wherein the controlling the main hoisting motor, the sub hoisting motor, the swing motor, and the telescopic luffing motor according to the control instruction includes:
if the control instruction is an empty hook lifting instruction or an empty hook lowering instruction, controlling the telescopic amplitude variation motor to run;
if the control instruction is a rotation instruction, controlling the rotation motor to run, otherwise, controlling the rotation motor to stop;
if the control command is a heavy load lifting command or a heavy load lowering command, controlling the main hoisting motor to run;
and if the control instruction is a light load lifting instruction or a light load lowering instruction, controlling the auxiliary hoisting motor to operate.
8. A truck crane comprising an integrated control system of a truck crane according to any one of claims 1 to 5.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 6 to 7 when the program is executed.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any of claims 6 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110872775.8A CN113548585B (en) | 2021-07-30 | 2021-07-30 | Integrated control system and method for automobile crane, electronic equipment and storage medium |
| PCT/CN2022/102941 WO2023005591A1 (en) | 2021-07-30 | 2022-06-30 | Integrated control system and method for vehicle crane, and electronic device and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110872775.8A CN113548585B (en) | 2021-07-30 | 2021-07-30 | Integrated control system and method for automobile crane, electronic equipment and storage medium |
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| CN113548585A CN113548585A (en) | 2021-10-26 |
| CN113548585B true CN113548585B (en) | 2023-10-03 |
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| CN113548585B (en) * | 2021-07-30 | 2023-10-03 | 三一汽车起重机械有限公司 | Integrated control system and method for automobile crane, electronic equipment and storage medium |
| CN115072562B (en) * | 2022-06-23 | 2023-07-21 | 中联重科股份有限公司 | High-voltage control method, processor and high-voltage control system for crane |
| CN115818448B (en) * | 2023-02-23 | 2023-05-23 | 三一汽车起重机械有限公司 | Method and device for distributing power of electric crane on crane and electric crane |
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| CN113548585B (en) * | 2021-07-30 | 2023-10-03 | 三一汽车起重机械有限公司 | Integrated control system and method for automobile crane, electronic equipment and storage medium |
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| WO2023005591A1 (en) | 2023-02-02 |
| CN113548585A (en) | 2021-10-26 |
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