CN116239024A - Control method and controller for wrenching rod of crawler crane and crawler crane - Google Patents

Control method and controller for wrenching rod of crawler crane and crawler crane Download PDF

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Publication number
CN116239024A
CN116239024A CN202310354185.5A CN202310354185A CN116239024A CN 116239024 A CN116239024 A CN 116239024A CN 202310354185 A CN202310354185 A CN 202310354185A CN 116239024 A CN116239024 A CN 116239024A
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Prior art keywords
oil cylinder
movement speed
theoretical
determining
cylinder mechanism
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CN202310354185.5A
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Chinese (zh)
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高超
毛晶
王婧
刘利强
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Hunan Zoomlion Crawler Crane Co Ltd
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Hunan Zoomlion Crawler Crane Co Ltd
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Priority to CN202310354185.5A priority Critical patent/CN116239024A/en
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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
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • B66C23/60—Derricks
    • 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
    • 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
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Abstract

The application discloses a control method of a crawler crane spanner, a controller and a crawler crane. The control method comprises the following steps: respectively determining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism; obtaining the extending length of the oil cylinder mechanism at intervals of preset time, and determining the theoretical extending length of the oil cylinder mechanism; determining a first target current and a first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism; determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism; the oil cylinder mechanism is controlled to move at a first movement speed and the amplitude variation mechanism is controlled to move at a second movement speed respectively. According to the crawler crane spanner, the movement speed of the oil cylinder mechanism and the movement speed of the amplitude varying mechanism are synchronously controlled, so that the operation efficiency of the crawler crane spanner in-process can be improved, and the operation difficulty is reduced.

Description

Control method and controller for wrenching rod of crawler crane and crawler crane
Technical Field
The application relates to the technical field of crawler cranes, in particular to a control method of a crawler crane spanner, a controller and a crawler crane.
Background
As the lifting trend of the fan gradually increases, the installation height is increased progressively, so that the boom weight and the boom length of the crane are increased continuously. When working under non-super-lifting working conditions, a longer mast system is required for lifting, and the pulling process of the mast is also more difficult. In the prior art, the lifting oil cylinder and the mast jacking oil cylinder are commonly shared hydraulic pumps, and in the process of lifting the mast, the speeds of the lifting oil cylinder and the mast jacking oil cylinder change in real time along with the angle of the mast, and the flow of the lifting oil cylinder and the mast jacking oil cylinder is required to be distributed, so that the moment and the speed of lifting the mast reach the optimal state, and the mast can be lifted efficiently. Moreover, the mast lifting action and the hoisting oil cylinder are matched with the rope releasing action of the amplitude variation mechanism, so that the mast is stressed too much when the oil cylinder action advances, and the steel wire rope of the amplitude variation mechanism is disordered when the oil cylinder action is too slow, so that the operation difficulty is high, and misoperation is easy to occur. Therefore, the prior art has the problems of low operation efficiency, high operation difficulty and easy misoperation in the mast pulling process.
Disclosure of Invention
The embodiment of the application aims to provide a control method of a crawler crane spanner, a controller and a crawler crane, which are used for solving the problems of low operation efficiency, high operation difficulty and easy misoperation in the mast lifting process in the prior art.
In order to achieve the above object, a first aspect of the present application provides a control method of a crawler crane spanner, applied to a controller, the crawler crane including an oil cylinder mechanism and an amplitude variation mechanism, the controller being in communication with the oil cylinder mechanism and the amplitude variation mechanism, respectively, the control method comprising:
respectively determining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism;
obtaining the extending length of the oil cylinder mechanism at intervals of preset time, and determining the theoretical extending length of the oil cylinder mechanism;
determining a first target current and a first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism;
determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism;
the oil cylinder mechanism is controlled to move at a first movement speed and the amplitude variation mechanism is controlled to move at a second movement speed respectively.
In this embodiment of the application, the oil cylinder mechanism includes a lifting oil cylinder and a jacking oil cylinder, and determining an initial movement speed of the oil cylinder mechanism and an initial movement speed of the luffing mechanism respectively includes:
acquiring the retraction total length of the lifting oil cylinder, the extension total length of the jacking oil cylinder and the release total length of the amplitude variation mechanism;
determining the maximum theoretical speed of the lifting oil cylinder, the maximum theoretical speed of the jacking oil cylinder and the maximum theoretical speed of the amplitude variation mechanism;
determining a first theoretical movement time according to the total retraction length of the lifting oil cylinder and the maximum theoretical speed of the lifting oil cylinder;
determining a second theoretical movement time according to the total length of the extension of the jacking cylinder and the maximum theoretical speed of the jacking cylinder;
determining a third theoretical movement time according to the total release length of the amplitude variation mechanism and the maximum theoretical speed of the amplitude variation mechanism;
determining the maximum value of the first theoretical movement time, the second theoretical movement time and the third theoretical movement time as the target movement time;
and respectively determining the initial movement speed of the lifting oil cylinder, the initial movement speed of the jacking oil cylinder and the initial movement speed of the luffing mechanism based on the target movement time.
In an embodiment of the present application, determining a first target current according to an initial movement speed of the cylinder mechanism, an extension length of the cylinder mechanism, and a theoretical extension length of the cylinder mechanism includes:
determining a first initial current corresponding to the initial movement speed of the oil cylinder mechanism;
and adjusting the first initial current according to the extending length of the oil cylinder mechanism and the theoretical extending length of the oil cylinder mechanism to obtain a first target current.
In the embodiment of the present application, the first target current satisfies the formula (1):
I＝I b -I PID ； (1)
wherein I is a first target current, I b For a first initial current, I PID Is a bias current;
the offset current satisfies formula (2):
Figure BDA0004162856550000031
wherein I is PID For deviating current, K p For the scaling factor DeltaL 0 Delta L is the difference of the extension length of the oil cylinder mechanism in the first sampling period 1 The difference delta L of the extension length of the oil cylinder mechanism in the second sampling period 2 The extension length difference of the oil cylinder mechanism in the third sampling period is T, and T is the sampling period i Is an integral time constant, T d Is a differential time constant.
In this embodiment of the present application, determining the second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the luffing mechanism includes:
and determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism.
In this embodiment of the application, the hydro-cylinder mechanism includes hoist cylinder and jack-up hydro-cylinder, determines the theoretical length of stretching out of hydro-cylinder mechanism, includes:
acquiring mast angle data;
and determining the theoretical extension length of the lifting oil cylinder and the theoretical extension length of the jacking oil cylinder by combining the mast angle data.
In the embodiment of the application, the theoretical extension length of the lifting oil cylinder satisfies the formula (3):
L A1 ＝L 3 +L 4 -L D ； (3)
wherein L is A1 For the theoretical extension length of the lifting oil cylinder, L 3 To hoist the length of the cylinder to the mast bracket, L 4 For the length from the mast bracket to the mast hinge point, determining L according to the mast angle data D Is the length of the sling;
the theoretical extension length of the jacking cylinder meets the formula (4):
L A2 ＝R 2 +L R 2 -2RL R cosα； (4)
wherein L is A2 For the theoretical extension length of the jacking cylinder, R is the distance between the top point of the jacking cylinder and the hinge point of the mast, L R Alpha is a known parameter related to mast angle data, which is the distance from the mast pivot to the bottom of the jack-up cylinder.
A second aspect of the present application provides a controller comprising:
a memory configured to store instructions; and
and the processor is configured to call the instruction from the memory and can realize the control method of the crawler crane spanner when executing the instruction.
A third aspect of the present application provides a crawler crane comprising:
a controller;
an oil cylinder mechanism, which is communicated with the controller and is configured to drive a mast in the crawler crane to act;
an amplitude variation mechanism is communicated with the controller and is configured to drive a mast in the crawler crane to act.
In this embodiment of the application, the oil cylinder mechanism includes:
a hoist cylinder configured to pull up a mast in the crawler crane;
and the jacking cylinder is configured to jack a mast in the crawler crane.
A fourth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of controlling a crawler crane spanner as described above.
Through the technical scheme, the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism are respectively determined, the extending length of the oil cylinder mechanism is obtained at intervals of preset time, and the theoretical extending length of the oil cylinder mechanism is determined. And determining a first target current and a first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism. And then determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism. Finally, the oil cylinder mechanism is controlled to act at a first movement speed and the amplitude variation mechanism is controlled to act at a second movement speed respectively. According to the crawler crane spanner, the movement speed of the oil cylinder mechanism and the movement speed of the amplitude varying mechanism are synchronously controlled, the spanner function of the crawler crane can be achieved, the operation efficiency of the crawler crane spanner in-process is improved, and the operation difficulty is reduced.
Additional features and advantages of embodiments of the present application will be set forth in the detailed description that follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and together with the description serve to explain, without limitation, the embodiments of the present application. In the drawings:
FIG. 1 schematically illustrates a block diagram of a crawler crane according to an embodiment of the present application;
FIG. 2 schematically illustrates a flow chart of a method of controlling a crawler crane spanner according to an embodiment of the present application;
FIG. 3 schematically illustrates a schematic diagram of determining a theoretical extension length of a hoist cylinder according to an embodiment of the present application;
FIG. 4 schematically illustrates a schematic diagram of determining a theoretical extension length of a lift cylinder according to an embodiment of the present application;
fig. 5 schematically shows a block diagram of a controller according to an embodiment of the present application.
Description of the reference numerals
1. Jacking cylinder 2 mast
3. Steel wire rope of luffing mechanism 4 of hoisting oil cylinder
5. Amplitude variation mechanism
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific implementations described herein are only for illustrating and explaining the embodiments of the present application, and are not intended to limit the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
It should be noted that, in the embodiment of the present application, directional indications (such as up, down, left, right, front, and rear … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a 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 addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.
Fig. 1 schematically shows a block diagram of a crawler crane according to an embodiment of the present application. As shown in fig. 1, the crawler crane includes, but is not limited to, a controller (not shown), a mast 2, an oil cylinder mechanism, an amplitude gear wire rope 4, and an amplitude gear 5. The cylinder mechanism includes a lifting cylinder 1, a lifting cylinder 3, and a cylinder length measuring device (not shown in the figure). The controller is respectively communicated with the oil cylinder mechanism and the amplitude changing mechanism 5. The controller can control the movement speed of the oil cylinder mechanism and the luffing mechanism 5 by controlling the flow of the hydraulic pump, and can also control the movement speed of the oil cylinder mechanism and the luffing mechanism 5 by controlling the speed of the motor, and the specific control mode can be determined according to the actual condition of the crawler crane, and the application is not limited herein.
Fig. 2 schematically shows a flow chart of a method of controlling a crawler crane spanner according to an embodiment of the present application. As shown in fig. 2, an embodiment of the present application provides a control method for a spanner of a crawler crane, which is applied to a controller, where the crawler crane includes an oil cylinder mechanism and an amplitude variation mechanism, and the controller is respectively in communication with the oil cylinder mechanism and the amplitude variation mechanism, and the control method may include the following steps:
step 201, determining an initial movement speed of an oil cylinder mechanism and an initial movement speed of an amplitude variation mechanism respectively;
202, obtaining the extending length of the oil cylinder mechanism at intervals of preset time, and determining the theoretical extending length of the oil cylinder mechanism;
step 203, determining a first target current and a first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism;
step 204, determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism;
step 205, the oil cylinder mechanism is controlled to operate at a first movement speed and the amplitude variation mechanism is controlled to operate at a second movement speed respectively.
In the embodiment of the application, the controller can simultaneously control the movement speeds of the oil cylinder mechanism and the luffing mechanism so as to complete the function of a spanner of the crawler crane. The pulling rod is used for pulling up the mast of the crawler crane from an initial installation state to a state capable of self-loading and unloading the crawler crane. Firstly, after receiving an opening signal of a spanner function, the controller can respectively determine the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism, wherein the oil cylinder mechanism comprises a hoisting oil cylinder and a jacking oil cylinder.
In one example, the controller may adjust the initial movement speed of the ram mechanism based on the extension length of the ram mechanism and the theoretical extension length of the ram mechanism. The oil cylinder length measuring device can collect the extending length of the oil cylinder mechanism and send the extending length of the oil cylinder mechanism to the controller at intervals of preset time, so that the controller can obtain the extending length of the oil cylinder mechanism at intervals of preset time. The preset time can be determined according to actual conditions. Meanwhile, the controller can determine the theoretical extension length of the oil cylinder mechanism by combining the mast angle data. The controller may determine the first target current and a first movement speed corresponding to the first target current based on an initial movement speed of the cylinder mechanism, an extension length of the cylinder mechanism, and a theoretical extension length of the cylinder mechanism. The first target current is a current value that can bring the cylinder mechanism to the first movement speed. According to the corresponding relation between the movement speed of the oil cylinder mechanism and the proportional solenoid valve current, the first movement speed corresponding to the first target current can be determined in various modes under the condition of determining the first target current. For example, the first movement speed corresponding to the first target current may be determined by a table look-up method. In another example, the controller may determine a force state of the cylinder mechanism by detecting pressure data of the cylinder mechanism or by way of an external tension sensor, and adjust an initial movement speed of the cylinder mechanism according to the force state of the cylinder mechanism.
Further, after determining the initial movement speed of the cylinder mechanism and the initial movement speed of the horn mechanism, the controller may determine a speed ratio of the initial movement speed of the cylinder mechanism and the initial movement speed of the horn mechanism. The controller may determine the second movement speed from the first movement speed based on a speed ratio of the initial movement speed of the ram mechanism to the initial movement speed of the horn mechanism. Finally, the proportional solenoid valve current of the oil cylinder mechanism is adjusted to enable the proportional solenoid valve current to reach a first target current, and the controller can control the oil cylinder mechanism to act at a first movement speed. At the same time, the controller can control the luffing mechanism to act at the second movement speed. In this way, the mast can be controlled to be lifted from the initial installation state to the self-loading and unloading state of the crane.
Through the technical scheme, the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism are respectively determined, the extending length of the oil cylinder mechanism is obtained at intervals of preset time, and the theoretical extending length of the oil cylinder mechanism is determined. And determining a first target current and a first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism. And then determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism. Finally, the oil cylinder mechanism is controlled to act at a first movement speed and the amplitude variation mechanism is controlled to act at a second movement speed respectively. According to the crawler crane spanner, the movement speed of the oil cylinder mechanism and the movement speed of the amplitude varying mechanism are synchronously controlled, the spanner function of the crawler crane can be achieved, the operation efficiency of the crawler crane spanner in-process is improved, and the operation difficulty is reduced.
In this embodiment, the oil cylinder mechanism includes a lifting oil cylinder and a jacking oil cylinder, and step 201, determining an initial movement speed of the oil cylinder mechanism and an initial movement speed of the luffing mechanism respectively may include:
acquiring the retraction total length of the lifting oil cylinder, the extension total length of the jacking oil cylinder and the release total length of the amplitude variation mechanism;
determining the maximum theoretical speed of the lifting oil cylinder, the maximum theoretical speed of the jacking oil cylinder and the maximum theoretical speed of the amplitude variation mechanism;
determining a first theoretical movement time according to the total retraction length of the lifting oil cylinder and the maximum theoretical speed of the lifting oil cylinder;
determining a second theoretical movement time according to the total length of the extension of the jacking cylinder and the maximum theoretical speed of the jacking cylinder;
determining a third theoretical movement time according to the total release length of the amplitude variation mechanism and the maximum theoretical speed of the amplitude variation mechanism;
determining the maximum value of the first theoretical movement time, the second theoretical movement time and the third theoretical movement time as the target movement time;
and respectively determining the initial movement speed of the lifting oil cylinder, the initial movement speed of the jacking oil cylinder and the initial movement speed of the luffing mechanism based on the target movement time.
In the embodiment of the application, the oil cylinder mechanism comprises a hoisting oil cylinder and a jacking oil cylinder. The mast is provided with a mast angle sensor, the mast angle sensor is communicated with the controller, and the controller can acquire mast angle data sent by the mast angle sensor. When the mast angle data is changed from a preset angle to a target angle, the controller can determine the total retraction length of the hoisting oil cylinder, the total extension length of the jacking oil cylinder and the total release length of the luffing mechanism. The target angle is the angle between the mast and the horizontal direction of the crawler crane in a hoisting in-place state. The preset angle is determined according to actual conditions. In one example, the preset angle may be 30 degrees.
Meanwhile, according to the engine rotating speed of the crawler crane, the controller can respectively determine the maximum theoretical speed of the lifting oil cylinder, the maximum theoretical speed of the jacking oil cylinder and the maximum theoretical speed of the luffing mechanism, which are conventional methods and are not repeated in the application. Thus, the first theoretical movement time can be obtained by dividing the total retraction length of the lifting oil cylinder by the maximum theoretical speed of the lifting oil cylinder, the second theoretical movement time can be obtained by dividing the total extension length of the lifting oil cylinder by the maximum theoretical speed of the lifting oil cylinder, and the third theoretical movement time can be obtained by dividing the total release length of the luffing mechanism by the maximum theoretical speed of the luffing mechanism.
The embodiment of the application takes the mechanism with slower movement speed as a reference to determine the initial movement speed of other mechanisms. Specifically, the controller may compare the first theoretical movement time, the second theoretical movement time, and the third theoretical movement time, and determine a maximum value of the first theoretical movement time, the second theoretical movement time, and the third theoretical movement time as the target movement time. Based on the objectThe motion time, the controller can determine the initial motion speed of the lifting oil cylinder, the initial motion speed of the jacking oil cylinder and the initial motion speed of the luffing mechanism. In one example, if the second theoretical movement time is greater than the first theoretical movement time and less than the third theoretical movement time, then the controller will determine the initial movement speeds of the lift cylinder and the jacking cylinder based on the luffing mechanism. At this time, the initial movement speed of the amplitude variation mechanism is V 3 The initial movement speed of the hoisting oil cylinder meets the formula (5):
Figure BDA0004162856550000101
wherein V is 1 For the initial movement speed of the hoisting cylinder, V 3 T is the initial movement speed of the amplitude variation mechanism 1 For the first theoretical movement time, t 3 Is the third theoretical movement time.
The initial movement speed of the jacking cylinder meets the formula (6):
Figure BDA0004162856550000102
wherein V is 2 To lift the initial movement speed of the oil cylinder, V 3 T is the initial movement speed of the amplitude variation mechanism 2 For a second theoretical movement time, t 3 Is the third theoretical movement time.
In this embodiment of the application, the oil cylinder mechanism includes a lifting oil cylinder and a jacking oil cylinder, and determining the theoretical extension length of the oil cylinder mechanism may include:
acquiring mast angle data;
and determining the theoretical extension length of the lifting oil cylinder and the theoretical extension length of the jacking oil cylinder by combining the mast angle data.
Specifically, the oil cylinder mechanism comprises a hoisting oil cylinder and a jacking oil cylinder. The mast is provided with a mast angle sensor. The controller is communicated with the mast angle sensor, and mast angle data acquired by the mast angle sensor can be acquired. The mast angle data is the angle data of the mast with respect to the horizontal. Therefore, the controller can determine the theoretical extension length of the lifting oil cylinder and the theoretical extension length of the jacking oil cylinder by combining the mast angle data.
Fig. 3 schematically illustrates a schematic diagram of determining a theoretical extension length of a lifting cylinder according to an embodiment of the present application. As shown in fig. 3, in the embodiment of the present application, the theoretical extension length of the lifting cylinder may satisfy formula (3):
L A1 ＝L 3 +L 4 -L D ； (3)
wherein L is A1 For the theoretical extension length of the lifting oil cylinder, L 3 To hoist the length of the cylinder to the mast bracket, L 4 For the length from the mast bracket to the mast hinge point, determining L according to the mast angle data D Is the length of the sling;
fig. 4 schematically illustrates a schematic diagram of determining a theoretical extension length of a lift cylinder according to an embodiment of the present application. As shown in fig. 4, the theoretical extension length of the jacking cylinder may satisfy formula (4):
L A2 ＝R 2 +L R 2 -2RL R cosα； (4)
wherein L is A2 For the theoretical extension length of the jacking cylinder, R is the distance between the top point of the jacking cylinder and the hinge point of the mast, L R Alpha is a known parameter related to mast angle data, which is the distance from the mast pivot to the bottom of the jack-up cylinder.
Specifically, L 1 Is the extension length of the lifting oil cylinder, L 2 Is the extension length of the jack-up cylinder, θ is the mast angle data. The controller can control the length L from the lifting oil cylinder to the mast bracket 3 Length L of mast carrier to mast hinge point 4 And length L of sling D Determining the theoretical extension length L of a hoisting oil cylinder A1 . Wherein the length L from the mast bracket to the mast hinge point 4 Can be determined from mast angle data. In addition, the controller can determine the theoretical extension L of the jacking cylinder A2 Namely according to the distance R between the top point of the jacking cylinder and the hinge point of the mast and the distance R between the hinge point of the mast and the bottom of the jacking cylinderDistance L of (2) R Determining a theoretical extension length L of the jack-up cylinder by a known parameter alpha related to mast angle data A2 。
In an embodiment of the present application, determining the first target current according to the initial movement speed of the cylinder mechanism, the extension length of the cylinder mechanism, and the theoretical extension length of the cylinder mechanism may include:
determining a first initial current corresponding to the initial movement speed of the oil cylinder mechanism;
and adjusting the first initial current according to the extending length of the oil cylinder mechanism and the theoretical extending length of the oil cylinder mechanism to obtain a first target current.
Specifically, according to the correspondence between the movement speed of the oil cylinder mechanism and the proportional solenoid valve current, the controller may determine a first initial current corresponding to the initial movement speed of the oil cylinder mechanism. The oil cylinder length measuring device can collect the extending length of the oil cylinder mechanism and send the extending length of the oil cylinder mechanism to the controller at intervals of preset time, so that the controller can obtain the extending length of the oil cylinder mechanism at intervals of preset time. Meanwhile, the controller can determine the theoretical extension length of the oil cylinder mechanism by combining the mast angle data. At this time, the controller adjusts the first initial current according to the extension length of the cylinder mechanism and the theoretical extension length of the cylinder mechanism, thereby obtaining the first target current. Thus, by controlling the proportional solenoid current of the cylinder mechanism to reach the first target current, the controller can control the cylinder mechanism to operate at the first movement speed.
In the embodiment of the present application, the first target current may satisfy formula (1):
I＝I b -I PID ； (1)
wherein I is a first target current, I b For a first initial current, I PID Is a bias current;
the offset current may satisfy formula (2):
Figure BDA0004162856550000121
wherein I is PID For deviating current, K p For the scaling factor DeltaL 0 Delta L is the difference of the extension length of the oil cylinder mechanism in the first sampling period 1 The difference delta L of the extension length of the oil cylinder mechanism in the second sampling period 2 The extension length difference of the oil cylinder mechanism in the third sampling period is T, and T is the sampling period i Is an integral time constant, T d Is a differential time constant.
Specifically, in the embodiments of the present application, differential proportional integral derivative (Proportional Integral Derivative, PID) control is used to adjust the initial movement speeds of the cylinder mechanism and the luffing mechanism. Therefore, according to the corresponding relation between the movement speed of the oil cylinder mechanism and the proportional solenoid valve current, the controller can determine the first initial current corresponding to the initial movement speed of the oil cylinder mechanism. Further, the controller may determine a difference between the extension length of the cylinder mechanism and the theoretical extension length, i.e., determine an extension length difference of the cylinder mechanism. In the case of a three sample period difference in extension length of the cylinder mechanism, the controller may determine the offset current. The offset current is subtracted from the first initial current to obtain a first target current.
In this embodiment, step 204, combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the luffing mechanism, determining the second movement speed according to the first movement speed may include:
and determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism.
Specifically, after determining the initial movement speed of the cylinder mechanism and the initial movement speed of the horn mechanism, the controller may determine a speed ratio of the initial movement speed of the cylinder mechanism and the initial movement speed of the horn mechanism. The controller may determine the second movement speed from the first movement speed based on a speed ratio of the initial movement speed of the ram mechanism to the initial movement speed of the horn mechanism.
Fig. 5 schematically shows a block diagram of a controller according to an embodiment of the present application. As shown in fig. 5, an embodiment of the present application provides a controller, which may include:
a memory 510 configured to store instructions; and
processor 520 is configured to call instructions from memory 510 and when executed, enable the control method of the crawler crane spanner as described above.
Specifically, in embodiments of the present application, processor 520 may be configured to:
respectively determining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism;
obtaining the extending length of the oil cylinder mechanism at intervals of preset time, and determining the theoretical extending length of the oil cylinder mechanism;
determining a first target current and a first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism;
determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism;
the oil cylinder mechanism is controlled to move at a first movement speed and the amplitude variation mechanism is controlled to move at a second movement speed respectively.
Further, the processor 520 may be further configured to:
acquiring the retraction total length of the lifting oil cylinder, the extension total length of the jacking oil cylinder and the release total length of the amplitude variation mechanism;
determining the maximum theoretical speed of the lifting oil cylinder, the maximum theoretical speed of the jacking oil cylinder and the maximum theoretical speed of the amplitude variation mechanism;
determining a first theoretical movement time according to the total retraction length of the lifting oil cylinder and the maximum theoretical speed of the lifting oil cylinder;
determining a second theoretical movement time according to the total length of the extension of the jacking cylinder and the maximum theoretical speed of the jacking cylinder;
determining a third theoretical movement time according to the total release length of the amplitude variation mechanism and the maximum theoretical speed of the amplitude variation mechanism;
determining the maximum value of the first theoretical movement time, the second theoretical movement time and the third theoretical movement time as the target movement time;
and respectively determining the initial movement speed of the lifting oil cylinder, the initial movement speed of the jacking oil cylinder and the initial movement speed of the luffing mechanism based on the target movement time.
Further, the processor 520 may be further configured to:
determining a first initial current corresponding to the initial movement speed of the oil cylinder mechanism;
and adjusting the first initial current according to the extending length of the oil cylinder mechanism and the theoretical extending length of the oil cylinder mechanism to obtain a first target current.
In the embodiment of the present application, the first target current satisfies the formula (1):
I＝I b -I PID ； (1)
wherein I is a first target current, I b For a first initial current, I PID Is a bias current;
the offset current satisfies formula (2):
Figure BDA0004162856550000151
wherein I is PID For deviating current, K p For the scaling factor DeltaL 0 Delta L is the difference of the extension length of the oil cylinder mechanism in the first sampling period 1 The difference delta L of the extension length of the oil cylinder mechanism in the second sampling period 2 The extension length difference of the oil cylinder mechanism in the third sampling period is T, and T is the sampling period i Is an integral time constant, T d Is a differential time constant.
Further, the processor 520 may be further configured to:
and determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism.
Further, the processor 520 may be further configured to:
acquiring mast angle data;
and determining the theoretical extension length of the lifting oil cylinder and the theoretical extension length of the jacking oil cylinder by combining the mast angle data.
In the embodiment of the application, the theoretical extension length of the lifting oil cylinder satisfies the formula (3):
L A1 ＝L 3 +L 4 -L D ； (3)
wherein L is A1 For the theoretical extension length of the lifting oil cylinder, L 3 To hoist the length of the cylinder to the mast bracket, L 4 For the length from the mast bracket to the mast hinge point, determining L according to the mast angle data D Is the length of the sling;
the theoretical extension length of the jacking cylinder meets the formula (4):
L A2 ＝R 2 +L R 2 -2RL R cosα； (4)
wherein L is A2 For the theoretical extension length of the jacking cylinder, R is the distance between the top point of the jacking cylinder and the hinge point of the mast, L R Alpha is a known parameter related to mast angle data, which is the distance from the mast pivot to the bottom of the jack-up cylinder.
Through the technical scheme, the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism are respectively determined, the extending length of the oil cylinder mechanism is obtained at intervals of preset time, and the theoretical extending length of the oil cylinder mechanism is determined. And determining a first target current and a first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism. And then determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism. Finally, the oil cylinder mechanism is controlled to act at a first movement speed and the amplitude variation mechanism is controlled to act at a second movement speed respectively. According to the crawler crane spanner, the movement speed of the oil cylinder mechanism and the movement speed of the amplitude varying mechanism are synchronously controlled, the spanner function of the crawler crane can be achieved, the operation efficiency of the crawler crane spanner in-process is improved, and the operation difficulty is reduced.
As shown in fig. 1, an embodiment of the present application further provides a crawler crane, which may include:
a controller;
an oil cylinder mechanism which is communicated with the controller and is configured to drive the mast 2 in the crawler crane to act;
an amplitude variation mechanism 5, which is communicated with the controller, is configured to drive the mast 2 in the crawler crane to act.
In particular, the crawler crane includes, but is not limited to, a controller, a mast 2, an oil cylinder mechanism, an luffing mechanism wire rope 4, and an luffing mechanism 5. The oil cylinder mechanism comprises a jacking oil cylinder 1, a hoisting oil cylinder 3 and an oil cylinder length measuring device. The controller is respectively communicated with the oil cylinder mechanism and the luffing mechanism 5, and can control the movement speed of the oil cylinder mechanism and the luffing mechanism 5. The oil cylinder mechanism can drive the mast 2 in the crawler crane to act, and meanwhile, the amplitude variation mechanism 5 can also drive the mast 2 in the crawler crane to act.
As shown in fig. 1, in the embodiment of the present application, the oil cylinder mechanism may include:
a hoist cylinder 3 configured to pull up the mast 2 in the crawler crane;
the jacking cylinder 1 is configured to jack up a mast 2 in a crawler crane.
Specifically, the cylinder mechanism includes a jacking cylinder 1 and a lifting cylinder 3. The jacking cylinder 1 can be used to jack up a mast 2 in a crawler crane. The hoist cylinders 3 can be used to pull up the mast 2 in a crawler crane.
The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions for enabling a machine to execute the control method of the crawler crane spanner.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that 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 an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (11)

1. A control method of a crawler crane spanner, characterized by being applied to a controller, wherein the crawler crane comprises an oil cylinder mechanism and an amplitude variation mechanism, and the controller is respectively communicated with the oil cylinder mechanism and the amplitude variation mechanism, and the control method comprises the following steps:
respectively determining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism;
obtaining the extending length of the oil cylinder mechanism at intervals of preset time, and determining the theoretical extending length of the oil cylinder mechanism;
determining a first target current and a first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism;
determining a second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the amplitude variation mechanism;
and respectively controlling the oil cylinder mechanism to act at the first movement speed and the amplitude variation mechanism to act at the second movement speed.
2. The control method according to claim 1, wherein the cylinder mechanism includes a hoist cylinder and a jack cylinder, and the determining the initial movement speed of the cylinder mechanism and the initial movement speed of the luffing mechanism, respectively, includes:
acquiring the retraction total length of the lifting oil cylinder, the extension total length of the jacking oil cylinder and the release total length of the amplitude variation mechanism;
determining the maximum theoretical speed of the lifting oil cylinder, the maximum theoretical speed of the jacking oil cylinder and the maximum theoretical speed of the amplitude variation mechanism;
determining the first theoretical movement time according to the total retraction length of the lifting oil cylinder and the maximum theoretical speed of the lifting oil cylinder;
determining a second theoretical movement time according to the total length of the extension of the jacking cylinder and the maximum theoretical speed of the jacking cylinder;
determining a third theoretical movement time according to the total release length of the amplitude variation mechanism and the maximum theoretical speed of the amplitude variation mechanism;
determining a maximum value among the first theoretical movement time, the second theoretical movement time and the third theoretical movement time as a target movement time;
and respectively determining the initial movement speed of the lifting oil cylinder, the initial movement speed of the jacking oil cylinder and the initial movement speed of the luffing mechanism based on the target movement time.
3. The control method according to claim 1, wherein determining the first target current based on the initial movement speed of the cylinder mechanism, the extension length of the cylinder mechanism, and the theoretical extension length of the cylinder mechanism includes:
determining a first initial current corresponding to the initial movement speed of the oil cylinder mechanism;
and adjusting the first initial current according to the extending length of the oil cylinder mechanism and the theoretical extending length of the oil cylinder mechanism to obtain the first target current.
4. A control method according to claim 3, wherein the first target current satisfies formula (1):
I＝I b -I PID ； (1)
wherein I is the first target current, I b For the first initial current, I PID Is a bias current;
the offset current satisfies formula (2):
Figure FDA0004162856540000021
/>
wherein I is PID For the bias current, K p For the scaling factor DeltaL 0 Delta L is the difference of the extension length of the oil cylinder mechanism in the first sampling period 1 The difference delta L of the extension length of the oil cylinder mechanism in the second sampling period 2 Oil cylinder mechanism for third sampling periodIs the difference of the extension length of T, T is the sampling period i Is an integral time constant, T d Is a differential time constant.
5. The control method of claim 1, wherein said combining the initial speed of movement of said ram mechanism and the initial speed of movement of said horn mechanism to determine the second speed of movement from said first speed of movement comprises:
and determining the second movement speed according to the first movement speed by combining the initial movement speed of the oil cylinder mechanism and the speed ratio of the initial movement speed of the amplitude variation mechanism.
6. The control method according to claim 1, wherein the cylinder mechanism includes a hoist cylinder and a jack cylinder, and the determining the theoretical extension length of the cylinder mechanism includes:
acquiring mast angle data;
and determining the theoretical extension length of the lifting oil cylinder and the theoretical extension length of the jacking oil cylinder by combining the mast angle data.
7. The control method according to claim 6, wherein the theoretical extension length of the hoist cylinder satisfies formula (3):
L A1 ＝L 3 +L 4 -L 3 ； (3)
wherein L is A1 For the theoretical extension length of the lifting oil cylinder, L 3 L is the length from the lifting oil cylinder to the mast bracket 4 For the length from the mast bracket to the mast hinge point, determining L according to the mast angle data D Is the length of the sling;
the theoretical extension length of the jacking cylinder meets the formula (4):
L A2 ＝R 2 +L R 2 -2RL R cosα； (4)
wherein L is A2 R is the theoretical extension length of the jacking cylinderDistance between vertex and mast hinge point, L R Alpha is a known parameter related to the mast angle data, which is the distance from the mast pivot point to the bottom of the jacking cylinder.
8. A controller, comprising:
a memory configured to store instructions; and
a processor configured to call the instructions from the memory and when executing the instructions enable the control method of the crawler crane spanner according to any one of claims 1 to 7.
9. A crawler crane, comprising:
the controller according to claim 8;
an oil cylinder mechanism, which is communicated with the controller and is configured to drive a mast in the crawler crane to act;
an amplitude variation mechanism is communicated with the controller and is configured to drive a mast in the crawler crane to act.
10. The crawler crane of claim 9, wherein the ram mechanism comprises:
a hoist cylinder configured to pull up a mast in the crawler crane;
and the jacking cylinder is configured to jack a mast in the crawler crane.
11. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of controlling a crawler crane spanner according to any one of claims 1 to 7.
CN202310354185.5A 2023-04-04 2023-04-04 Control method and controller for wrenching rod of crawler crane and crawler crane Pending CN116239024A (en)

Priority Applications (1)

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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310354185.5A CN116239024A (en) 2023-04-04 2023-04-04 Control method and controller for wrenching rod of crawler crane and crawler crane

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CN116239024A true CN116239024A (en) 2023-06-09

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