CN113562622B - Crane without hydraulic system and limp operation method - Google Patents
Crane without hydraulic system and limp operation method Download PDFInfo
- Publication number
- CN113562622B CN113562622B CN202110819538.5A CN202110819538A CN113562622B CN 113562622 B CN113562622 B CN 113562622B CN 202110819538 A CN202110819538 A CN 202110819538A CN 113562622 B CN113562622 B CN 113562622B
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- controller
- limp
- generator
- torque
- whole vehicle
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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
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention provides a hydraulic system-free crane and a limp-home operation method, which relate to the technical field of hoisting equipment, wherein the hydraulic system-free crane comprises a main controller and an engine controller, the main controller is used for detecting the state of a battery, and a constant-rotation-speed working instruction is sent to the engine controller under the condition that the battery is determined to be faulty; the engine controller is electrically connected with the main controller and the engine respectively, and is used for controlling the constant-speed operation of the engine according to the constant-speed operation command. The state of the battery is detected through the main controller, a constant rotation speed working instruction is sent to the engine controller under the condition that the battery is determined to be faulty, the engine controller controls the engine to work at a constant rotation speed according to the constant rotation speed working instruction, the power generated by the engine and the power required by the driving motor are preset, the problem that the power of the engine is matched with the power of the driving motor is solved, the problem that the crane cannot collect the crane when the battery is faulty is avoided, and the safety of the crane is effectively improved.
Description
Technical Field
The invention relates to the technical field of lifting equipment, in particular to a hydraulic system-free crane and a limp-home operation method.
Background
At present, the crane mainly realizes each operation action from mechanical energy to hydraulic energy and then from the hydraulic energy to the mechanical energy. This approach, while highly reliable, still suffers from problems such as loud noise, low control accuracy, inefficiency, fault-free emergency measures, etc. These problems are the problems, and many challenges exist in terms of operation safety in terms of operation disturbance of the crane.
In the closest prior art, researchers mainly adopt a winch motor and a rotary motor to replace the traditional hydraulic system to realize the purposes of noise reduction, precision improvement and efficiency improvement, and the method realizes the obvious improvement of operation noise, operation efficiency and operation precision, potential energy recovery and oil saving rate improvement on the related actions of winch rotation.
In such techniques, when the battery fails, it does not provide an effective strategy to restore the vehicle to a safe state.
Disclosure of Invention
The invention provides a crane without a hydraulic system and a limp operation method, which are used for solving the problem that the car cannot be restored to a safe state when a battery fails in the prior art.
The invention provides a crane without a hydraulic system, comprising:
the main controller is used for detecting the state of the battery and sending a constant rotation speed working instruction to the engine controller under the condition that the battery is determined to be faulty;
the engine controller is electrically connected with the main controller and the engine respectively and is used for controlling the constant-speed operation of the engine according to the constant-speed operation command.
According to the hydraulic system-free crane provided by the invention, the main controller comprises the whole vehicle controller and the get-on controller, and the whole vehicle controller is respectively and electrically connected with the engine controller and the get-on controller.
According to the invention, the hydraulic system-free crane further comprises:
the winch controller is electrically connected with the boarding controller;
the rotary motor controller is electrically connected with the boarding controller;
the telescopic electric cylinder controller is electrically connected with the boarding controller;
the amplitude starting electric cylinder controller is electrically connected with the boarding controller;
the landing leg electric cylinder controller is electrically connected with the whole vehicle controller;
and the generator controller is electrically connected with the whole vehicle controller.
According to the invention, the hydraulic system-free crane further comprises:
the vehicle-mounted charger is electrically connected with the whole vehicle controller;
and the battery management system is respectively and electrically connected with the vehicle-mounted charger, the whole vehicle controller and the get-on controller.
The invention also provides a hydraulic system-free crane limp-home operation method, which comprises the following steps:
the main controller detects the state of the battery and sends a constant rotation speed working instruction to the engine controller under the condition that the battery is determined to be in fault;
the engine controller controls the constant-speed operation of the engine according to the constant-speed operation command;
the main controller controls the generator to work according to the first set torque and the first set rotating speed, and controls the winch motor to work according to the operation speed limited by the limp mode.
According to the hydraulic system-free crane limp-home operation method provided by the invention, the main controller comprises a whole vehicle controller and an upper vehicle controller;
the step of controlling the generator to work according to the first set torque and the first set rotating speed and controlling the winch motor to work according to the operation rate limited by the limp mode by the main controller comprises the following steps:
the whole vehicle controller sends a first limp operation instruction to the upper vehicle controller;
the get-on controller calculates the current output torque of the winch motor according to the current lifting weight and each level of reduction ratio of the obtained winch, calculates the limp power according to the output torque and the operation rate limited by the limp mode, sends the limp power to the whole vehicle controller, and sends the operation rate limited by the limp mode to the winch controller;
the winch controller controls the winch motor to work according to the operation speed limited by the limp mode;
the vehicle controller searches a first set torque and a first set rotating speed according to the limp power and the built-in limp power table, and sends the first set torque and the first set rotating speed to the generator controller;
the generator controller controls the generator to operate according to a first set torque and a first set rotational speed.
According to the hydraulic system-free crane limp-home operation method provided by the invention, after the main controller is executed to control the generator to work according to the first set torque and the first set rotating speed and control the winch motor to work according to the operation rate defined by the limp-home mode, the following steps are executed:
the whole vehicle controller searches a target torque according to a built-in table and sends the target torque to the generator controller;
the generator controller controls the generator to work according to the target torque;
the whole vehicle controller sends a second limp operation instruction to the telescopic electric cylinder controller through the get-on controller, wherein the second limp operation instruction comprises a second set rotating speed and a second set torque;
and the telescopic electric cylinder controller controls the telescopic electric cylinder to work according to the second set rotating speed and the second set torque.
According to the hydraulic system-free crane limp-home operation method provided by the invention, after the main controller is executed to control the generator to work according to the first set torque and the first set rotating speed and control the winch motor to work according to the operation rate defined by the limp-home mode, the following steps are executed:
the whole vehicle controller searches a target torque according to a built-in table and sends the target torque to the generator controller;
the generator controller controls the generator to work according to the target torque;
the whole vehicle controller sends a third limp operation instruction to the amplitude starting cylinder controller through the getting-on controller, wherein the third limp operation instruction comprises a third set rotating speed and a third set torque;
and the amplitude starting electric cylinder controller controls the amplitude starting electric cylinder to work according to the third set rotating speed and the third set torque.
According to the hydraulic system-free crane limp-home operation method provided by the invention, after the main controller is executed to control the generator to work according to the first set torque and the first set rotating speed and control the winch motor to work according to the operation rate defined by the limp-home mode, the following steps are executed:
the whole vehicle controller searches a target torque according to a built-in table and sends the target torque to the generator controller;
the generator controller controls the generator to work according to the target torque;
the whole vehicle controller sends a fourth limp operation instruction to the rotary electric cylinder controller through the get-on controller, wherein the fourth limp operation instruction comprises a fourth set rotating speed and a fourth set torque;
and the rotary electric cylinder controller controls the rotary electric cylinder to work according to the fourth set rotating speed and the fourth set torque.
According to the hydraulic system-free crane limp-home operation method provided by the invention, after the main controller is executed to control the generator to work according to the first set torque and the first set rotating speed and control the winch motor to work according to the operation rate defined by the limp-home mode, the following steps are executed:
the whole vehicle controller searches a target torque according to a built-in table and sends the target torque to the generator controller;
the generator controller controls the generator to work according to the target torque;
the whole vehicle controller sends a fifth limp operation command to the landing leg electric cylinder controller, wherein the fifth limp operation command comprises a fifth set rotating speed and a fifth set torque;
the landing leg electric cylinder controller controls the landing leg electric cylinder to work according to the fifth set rotating speed and the fifth set torque.
According to the hydraulic system-free crane, the state of the battery is detected through the main controller, the constant-rotation-speed working instruction is sent to the engine controller under the condition that the battery is determined to be in fault, the engine controller controls the engine to work at a constant rotation speed according to the constant-rotation-speed working instruction, the power generated by the engine and the power required by the driving motor are preset, the problem of power matching between the engine and the driving motor is solved, the problem that the crane cannot receive a car when the battery is in fault is avoided, and the safety of the crane is effectively improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a hydraulic system free crane provided by the invention;
fig. 2 is a schematic flow chart of a hydraulic system-free crane limp-home operation method provided by the invention.
Reference numerals: 10. a main controller; 11. a vehicle controller; 12. a get-on controller; 21. an engine controller; 22. a hoist controller; 23. a rotary motor controller; 24. a telescopic electric cylinder controller; 25. a framing cylinder controller; 26. a leg electric cylinder controller; 27. a generator controller; 30. a vehicle-mounted charger; 31. a battery management system.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, 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.
The hydraulic system free crane and the limp home operation method of the present invention will be described with reference to fig. 1 to 2.
As shown in fig. 1, the hydraulic system free crane comprises a main controller 10 and an engine controller 21, wherein the main controller 10 is used for detecting the state of a battery, and sending a constant rotation speed working instruction to the engine controller 21 when the battery is determined to be faulty. The engine controller 21 is electrically connected with the main controller 10 and the engine respectively, and the engine controller 21 is used for controlling the constant rotation speed operation of the engine according to the constant rotation speed operation command.
According to the hydraulic system-free crane provided by the invention, the state of the battery is detected through the main controller 10, the constant-rotation-speed working instruction is sent to the engine controller 21 under the condition that the battery is determined to be in fault, the engine controller 21 controls the engine to work at a constant rotation speed according to the constant-rotation-speed working instruction, and the power generated by the engine and the power required by the driving motor are preset, so that the problem that the power of the engine is matched with the power of the driving motor is solved, the problem that the crane cannot receive a car when the battery is in fault is avoided, and the safety of the crane is effectively improved.
According to the embodiment of the invention, the main controller 10 includes a whole vehicle controller 11 and an on-vehicle controller 12, and the whole vehicle controller 11 is electrically connected with the engine controller 21 and the on-vehicle controller 12, respectively. The vehicle controller 11, i.e. VCU, is configured to detect a state of a battery, send a constant rotation speed operation command to the engine controller 21 when determining that the battery fails, send a first limp-home operation command to the get-on controller 12, and check a first set torque and a first set rotation speed according to a limp-home power and a built-in limp-home power table, and send the first set torque and the first set rotation speed to the generator controller 27. The boarding controller 12 is configured to calculate a current output torque of the hoist motor according to the current hoist load weight and each stage of reduction ratio, calculate a limp power according to the output torque and a work rate defined by a limp mode, send the limp power to the entire vehicle controller 11, and send the work rate defined by the limp mode to the hoist controller 22.
According to an embodiment of the present invention, the hydraulic system free crane further comprises a hoist controller 22, a swing motor controller 23, a telescopic cylinder controller 24, a boom cylinder controller 25, a leg cylinder controller 26 and a generator controller 27. Wherein, hoist controller 22 is connected with the control of getting on bus 12 electricity, hoist controller 22 and hoist electricity are connected, hoist controller 22 is used for controlling the rotation of hoist. The swing motor controller 23 is electrically connected with the boarding controller 12, the swing motor controller 23 is electrically connected with the swing motor, and the swing motor controller 23 is used for controlling the rotation of the swing motor. The telescopic electric cylinder controller 24 is electrically connected with the boarding controller 12, the telescopic electric cylinder controller 24 is electrically connected with the telescopic electric cylinder, and the telescopic electric cylinder controller 24 is used for controlling rotation of the telescopic electric cylinder. The frame lifting electric cylinder controller 25 is electrically connected with the boarding controller 12, the frame lifting electric cylinder controller 25 is electrically connected with the frame lifting electric cylinder, and the frame lifting electric cylinder controller 25 is used for controlling rotation of the frame lifting electric cylinder. The landing leg electric cylinder controller 26 is electrically connected with the whole vehicle controller 11, and the landing leg electric cylinder controller 26 is electrically connected with the landing leg electric cylinder, and the landing leg electric cylinder controller 26 is used for controlling the work of the landing leg telescopic electric cylinder. The generator controller 27 is electrically connected with the vehicle controller 11, the generator controller 27 is electrically connected with the engine, and the generator controller 27 is used for controlling the operation of the engine.
The crane without the hydraulic system provided by the invention realizes all actions by using the winch motor, the amplitude-raising electric cylinder, the telescopic electric cylinder, the rotary motor and the landing leg telescopic electric cylinder, effectively solves the problems of high operation noise, low control precision and low operation efficiency, and realizes the quick response and high-precision operation control of the crane.
According to the embodiment of the invention, the hydraulic system-free crane further comprises a vehicle-mounted charger 30 and a battery management system 31, wherein the vehicle-mounted charger 30 is OBC, the vehicle-mounted charger 30 is electrically connected with the whole vehicle controller 11, the battery management system 31 is BMS, and the battery management system 31 is electrically connected with the vehicle-mounted charger 30, the whole vehicle controller 11 and the boarding controller 12 respectively.
As shown in fig. 2, the present invention further provides a hydraulic system-free crane limp-home operation method, including:
step S100, the main controller 10 detects the state of the battery, and sends a constant rotation speed operation command to the engine controller 21 when it is determined that the battery fails;
step S200, the engine controller 21 controls the constant rotation speed operation of the engine according to the constant rotation speed operation command;
in step S300, the main controller 10 controls the generator to operate according to the first set torque and the first set rotational speed, and controls the hoisting motor to operate at the operation rate defined by the limp-home mode.
When the main controller 10 detects that the battery fails, a constant-speed working instruction is sent to the engine controller 21, the engine controller 21 controls the engine to work at a constant speed according to the constant-speed working instruction, the engine drives the generator to rotate for generating electricity, and at the moment, the engine and the generator can be regarded as a constant-pressure source for providing electricity for each driving motor on the crane. The power generated by the engine and the power required by the driving motor are preset, so that the problem that the power of the engine is matched with that of the driving motor is solved, the problem that the crane cannot collect the crane when the battery fails is avoided, and the safety of the crane is effectively improved.
The first set torque and the first set rotational speed are obtained by simulating a limp-home mode in a real vehicle verification.
According to an embodiment of the present invention, the main controller 10 includes a whole vehicle controller 11 and an on-vehicle controller 12;
the step of controlling the generator to operate according to the first set torque and the first set rotational speed and controlling the hoisting motor to operate according to the operation rate defined by the limp home mode by the main controller 10 includes:
step S310, the vehicle controller 11 sends a first limp-home operation command to the get-on controller 12;
step S320, the get-on controller 12 calculates the current output torque of the winch motor according to the current lifting weight of the winch and the reduction ratios of all levels, calculates the limp power according to the output torque and the operation rate limited by the limp mode, sends the limp power to the whole vehicle controller 11, and sends the operation rate limited by the limp mode to the winch controller 22;
when the whole vehicle controller 11 determines that the battery fails, the whole vehicle controller 11 sends a first limp operation command to the upper vehicle controller 12, and after the upper vehicle controller 12 receives the first limp operation command, the current output torque of the winch motor is calculated according to the current lifting weight and each stage of reduction ratio of the obtained winch, and limp power is calculated according to the output torque and the operation rate limited by the limp mode.
Step S330, the hoist controller 22 controls the hoist motor to operate according to the operation rate defined by the limp-home mode;
in the limp-home mode, the hoist controller 22 controls the rotation of the hoist motor according to the operation rate defined in the limp-home mode, so that the weight can be safely placed on the ground, and the situation that the weight is suspended in the air due to the fact that each driving motor of the crane cannot work when the battery fails is avoided. The operation speed limited by the limp mode is lower than the rotating speed of the winch motor during normal operation, the winch motor is controlled to rotate according to the operation speed limited by the limp mode in the limp operation mode, and the heavy object is placed on the ground, so that dangerous situations can be avoided, and the operation safety is further improved.
Step S340, the vehicle controller 11 checks the first set torque and the first set rotational speed according to the limp power and the built-in limp power table, and sends the first set torque and the first set rotational speed to the generator controller 27;
here, the limp power table is stored in the vehicle controller 11 in advance, and includes, but is not limited to, data such as the first set torque and the first set rotational speed of the engine. The limp-home power meter is obtained in advance by simulating a limp-home mode in the actual vehicle verification, and the data such as torque and rotation speed of the limp-home power meter are changed according to the weight of the heavy object.
In step S350, the generator controller 27 controls the generator to operate according to the first set torque and the first set rotational speed.
According to one embodiment of the present invention, the main controller 10 is executed to control the generator to operate at the first set torque and the first set rotational speed, and to control the hoisting motor to operate at the operation rate defined by the limp home mode, while executing the following steps:
the whole vehicle controller 11 obtains the current power of the winding motor, and controls the torque of the generator through a PID algorithm, so that the limp power is equal to the current power.
The torque of the generator is regulated by utilizing the PID algorithm, so that the power difference between the limp power and the current power reaches the minimum value, and the energy consumption is effectively reduced.
According to the embodiment of the present invention, after the limp operation mode of the hoist motor is performed, the rotary motor, the telescopic cylinder, the framing cylinder and the landing leg cylinder are further required to be controlled to operate, so that after the main controller 10 is performed to control the generator to rotate according to the first set torque and the first set rotation speed, and to control the hoist motor to rotate according to the operation rate defined by the limp mode, the following steps are further performed:
step S400, the vehicle controller 11 searches a target torque according to the built-in table, and sends the target torque to the generator controller 27;
here, the table is obtained by simulating the limp-home mode in the actual vehicle verification, and the rotation speed, power, and torque of the motor when the telescopic cylinder is telescopic are stored in the whole vehicle controller 11 in the form of the table. In the case where the vehicle controller 11 determines that the battery has failed, the vehicle controller 11 searches the table for the target torque and sends the target torque to the generator controller 27.
Step S410, the generator controller 27 controls the generator to rotate according to the target torque;
step S420, the vehicle controller 11 sends a second limp operation command to the telescopic cylinder controller 24 through the get-on controller 12, where the second limp operation command includes a second set rotational speed and a second set torque;
in step S430, the telescopic cylinder controller 24 controls the telescopic cylinder to rotate at the second set rotational speed and the second set torque.
The vehicle controller 11 sends a second limp operation command to the boarding controller 12, the boarding controller 12 sends the second limp operation command to the telescopic electric cylinder controller 24, and the telescopic electric cylinder controller 24 controls the telescopic electric cylinder to operate according to a second set rotating speed and a second set torque of the second limp operation command, wherein the second set rotating speed and the second set rotating speed are obtained through simulating a limp mode in the vehicle verification.
According to one embodiment of the present invention, the following steps are also performed after the main controller 10 is performed to control the generator to rotate at the first set torque and the first set rotational speed, and to control the hoisting motor to rotate at the operation rate defined by the limp home mode:
the whole vehicle controller 11 obtains the current power of the telescopic electric cylinder, and controls the torque of the generator through a PID algorithm, so that the set power is equal to the current power.
According to an embodiment of the present invention, the following steps are also performed after the main controller 10 is performed to control the generator to rotate at the first set torque and the first set rotational speed, and to control the hoisting motor to rotate at the operation rate defined by the limp mode:
step S500, the vehicle controller 11 searches a target torque according to the built-in table, and sends the target torque to the generator controller 27;
here, the table is also obtained by simulating the limp-home mode in the actual vehicle verification, and the rotation speed, power and torque of the motor when the starting cylinder expands and contracts are stored in the whole vehicle controller 11 in the form of a table.
Step S510, the generator controller 27 controls the generator to rotate according to the target torque;
step S520, the vehicle controller 11 sends a third limp operation command to the amplitude cylinder controller 25 through the loading controller 12, where the third limp operation command includes a third set rotational speed and a third set torque;
in step S530, the boom cylinder controller 25 controls the boom cylinder to rotate at the third set rotational speed and the third set torque.
The third set torque and the third set rotational speed are obtained by simulating a limp home mode in the real vehicle verification.
According to one embodiment of the present invention, the following steps are also performed after the main controller 10 is performed to control the generator to rotate at the first set torque and the first set rotational speed, and to control the hoisting motor to rotate at the operation rate defined by the limp home mode:
the whole vehicle controller 11 obtains the current power of the amplitude starting electric cylinder, and controls the torque of the generator through a PID algorithm, so that the set power is equal to the current power.
According to an embodiment of the present invention, the following steps are also performed after the main controller 10 is performed to control the generator to rotate at the first set torque and the first set rotational speed, and to control the hoisting motor to rotate at the operation rate defined by the limp mode:
step S600, the vehicle controller 11 searches the target torque according to the built-in table, and sends the target torque to the generator controller 27;
here, the table is also obtained by simulating the limp-home mode in the actual vehicle verification, and the rotation speed, power, and torque of the motor when the revolving cylinder expands and contracts are stored in the whole vehicle controller 11 in the form of the table.
Step S610, the generator controller 27 controls the generator to rotate according to the target torque;
step S620, the vehicle controller 11 sends a fourth limp operation command to the rotary cylinder controller through the get-on controller 12, where the fourth limp operation command includes a fourth set rotational speed and a fourth set torque;
and step S630, the rotary electric cylinder controller controls the rotary electric cylinder to rotate according to the fourth set rotating speed and the fourth set torque.
The fourth set torque and the fourth set rotational speed are obtained by simulating a limp home mode in the real vehicle verification.
According to one embodiment of the present invention, the following steps are also performed after the main controller 10 is performed to control the generator to rotate at the first set torque and the first set rotational speed, and to control the hoisting motor to rotate at the operation rate defined by the limp home mode:
the whole vehicle controller 11 obtains the current power of the rotary electric cylinder, and controls the torque of the generator through a PID algorithm, so that the set power is equal to the current power.
According to an embodiment of the present invention, the following steps are also performed after the main controller 10 is performed to control the generator to rotate at the first set torque and the first set rotational speed, and to control the hoisting motor to rotate at the operation rate defined by the limp mode:
step S700, the vehicle controller 11 searches a target torque according to the built-in table, and sends the target torque to the generator controller 27;
here, the table is also obtained by simulating the limp-home mode in the actual vehicle verification, and the rotation speed, power and torque of the motor when the leg cylinders are extended and retracted are stored in the whole vehicle controller 11 in the form of the table.
Step S710, the generator controller 27 controls the generator to rotate according to the target torque;
step S720, the vehicle controller 11 sends a fifth limp-home operation command to the leg cylinder controller 26, where the fifth limp-home operation command includes a fifth set rotational speed and a fifth set torque;
in step S730, the leg cylinder controller 26 controls the leg cylinder to rotate at the fifth set rotational speed and the fifth set torque.
The fifth set torque and the fifth set rotational speed are obtained by simulating a limp home mode in the real vehicle verification.
According to one embodiment of the present invention, the following steps are also performed after the main controller 10 is performed to control the generator to rotate at the first set torque and the first set rotational speed, and to control the hoisting motor to rotate at the operation rate defined by the limp home mode:
the whole vehicle controller 11 obtains the current power of the supporting leg electric cylinder, and controls the torque of the generator through a PID algorithm, so that the set power is equal to the current power.
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 (9)
1. A hydraulic-system-free crane, comprising:
the main controller is used for detecting the state of the battery and sending a constant rotation speed working instruction to the engine controller under the condition that the battery is determined to be faulty; the main controller comprises a whole vehicle controller and an upper vehicle controller, and the whole vehicle controller is respectively and electrically connected with the engine controller and the upper vehicle controller;
the engine controller is electrically connected with the main controller and the engine respectively and is used for controlling the constant-speed operation of the engine according to the constant-speed operation command;
the winch controller is electrically connected with the boarding controller;
the whole vehicle controller is used for sending a first limp operation instruction to the upper vehicle controller;
the get-on controller is used for calculating the current output torque of the winch motor according to the current lifting weight and each level of reduction ratio of the obtained winch, calculating the limp power according to the output torque and the operation rate limited by the limp mode, transmitting the limp power to the whole vehicle controller, and transmitting the operation rate limited by the limp mode to the winch controller;
the winch controller controls the winch motor to work according to the operation rate limited by the limp mode.
2. The hydraulic-system-free crane of claim 1, further comprising:
the rotary motor controller is electrically connected with the boarding controller;
the telescopic electric cylinder controller is electrically connected with the boarding controller;
the amplitude starting electric cylinder controller is electrically connected with the boarding controller;
the landing leg electric cylinder controller is electrically connected with the whole vehicle controller;
and the generator controller is electrically connected with the whole vehicle controller.
3. The hydraulic-system-free crane according to claim 1 or 2, further comprising:
the vehicle-mounted charger is electrically connected with the whole vehicle controller;
and the battery management system is respectively and electrically connected with the vehicle-mounted charger, the whole vehicle controller and the get-on controller.
4. A hydraulic system free crane limp-home operating method based on any one of claims 1 to 3, comprising:
the main controller detects the state of the battery and sends a constant rotation speed working instruction to the engine controller under the condition that the battery is determined to be in fault;
the engine controller controls the constant-speed operation of the engine according to the constant-speed operation command;
the main controller controls the generator to work according to the first set torque and the first set rotating speed, and controls the winch motor to work according to the operation rate limited by the limp mode;
the main controller comprises a whole vehicle controller and an upper vehicle controller;
the step of controlling the generator to work according to the first set torque and the first set rotating speed and controlling the winch motor to work according to the operation rate limited by the limp mode by the main controller comprises the following steps:
the whole vehicle controller sends a first limp operation instruction to the upper vehicle controller;
the get-on controller calculates the current output torque of the winch motor according to the current lifting weight and each level of reduction ratio of the obtained winch, calculates the limp power according to the output torque and the operation rate limited by the limp mode, sends the limp power to the whole vehicle controller, and sends the operation rate limited by the limp mode to the winch controller;
the winch controller controls the winch motor to work according to the operation rate limited by the limp mode.
5. The hydraulic system free crane limp home operating method of claim 4 wherein,
the step that the main controller controls the generator to work according to the first set torque and the first set rotating speed, and controls the winch motor to work according to the operation speed limited by the limp mode further comprises the following steps:
the vehicle controller searches a first set torque and a first set rotating speed according to the limp power and the built-in limp power table, and sends the first set torque and the first set rotating speed to the generator controller;
the generator controller controls the generator to operate according to a first set torque and a first set rotational speed.
6. The hydraulic system free crane limp home operation method according to claim 5, wherein the following steps are further performed after the main controller is performed to control the generator to operate at a first set torque and a first set rotational speed and to control the hoisting motor to operate at an operation rate defined by a limp home mode:
the whole vehicle controller searches a target torque according to a built-in table and sends the target torque to the generator controller;
the generator controller controls the generator to work according to the target torque;
the whole vehicle controller sends a second limp operation instruction to the telescopic electric cylinder controller through the get-on controller, wherein the second limp operation instruction comprises a second set rotating speed and a second set torque;
and the telescopic electric cylinder controller controls the telescopic electric cylinder to work according to the second set rotating speed and the second set torque.
7. The hydraulic system free crane limp home operation method according to claim 5 or 6, wherein the following steps are further performed after the main controller is performed to control the generator to operate at a first set torque and a first set rotational speed and to control the hoisting motor to operate at a work rate defined by a limp home mode:
the whole vehicle controller searches a target torque according to a built-in table and sends the target torque to the generator controller;
the generator controller controls the generator to work according to the target torque;
the whole vehicle controller sends a third limp operation instruction to the amplitude starting cylinder controller through the getting-on controller, wherein the third limp operation instruction comprises a third set rotating speed and a third set torque;
and the amplitude starting electric cylinder controller controls the amplitude starting electric cylinder to work according to the third set rotating speed and the third set torque.
8. The hydraulic system free crane limp home operation method according to claim 5 or 6, wherein the following steps are further performed after the main controller is performed to control the generator to operate at a first set torque and a first set rotational speed and to control the hoisting motor to operate at a work rate defined by a limp home mode:
the whole vehicle controller searches a target torque according to a built-in table and sends the target torque to the generator controller;
the generator controller controls the generator to work according to the target torque;
the whole vehicle controller sends a fourth limp operation instruction to the rotary electric cylinder controller through the get-on controller, wherein the fourth limp operation instruction comprises a fourth set rotating speed and a fourth set torque;
and the rotary electric cylinder controller controls the rotary electric cylinder to work according to the fourth set rotating speed and the fourth set torque.
9. The hydraulic system free crane limp home operation method according to claim 5 or 6, wherein the following steps are further performed after the main controller is performed to control the generator to operate at a first set torque and a first set rotational speed and to control the hoisting motor to operate at a work rate defined by a limp home mode:
the whole vehicle controller searches a target torque according to a built-in table and sends the target torque to the generator controller;
the generator controller controls the generator to work according to the target torque;
the whole vehicle controller sends a fifth limp operation command to the landing leg electric cylinder controller, wherein the fifth limp operation command comprises a fifth set rotating speed and a fifth set torque;
the landing leg electric cylinder controller controls the landing leg electric cylinder to work according to the fifth set rotating speed and the fifth set torque.
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| CN202110819538.5A CN113562622B (en) | 2021-07-20 | 2021-07-20 | Crane without hydraulic system and limp operation method |
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| CN202110819538.5A CN113562622B (en) | 2021-07-20 | 2021-07-20 | Crane without hydraulic system and limp operation method |
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| CN113562622A CN113562622A (en) | 2021-10-29 |
| CN113562622B true CN113562622B (en) | 2023-08-11 |
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