WO2011038633A1 - 单缸插销式伸缩臂轨迹的优化控制方法及控制系统 - Google Patents
单缸插销式伸缩臂轨迹的优化控制方法及控制系统 Download PDFInfo
- Publication number
- WO2011038633A1 WO2011038633A1 PCT/CN2010/076676 CN2010076676W WO2011038633A1 WO 2011038633 A1 WO2011038633 A1 WO 2011038633A1 CN 2010076676 W CN2010076676 W CN 2010076676W WO 2011038633 A1 WO2011038633 A1 WO 2011038633A1
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- WO
- WIPO (PCT)
- Prior art keywords
- telescopic
- arm
- telescopic arm
- determining whether
- yes
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
- B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
Definitions
- the invention relates to an optimized control method for a single cylinder latch type telescopic arm trajectory and a control system thereof.
- the application is submitted to the Chinese Patent Office on September 29, 2009, and the application number is 200910178572.8.
- the priority of the Chinese Patent Application for Control System the entire contents of which is incorporated herein by reference.
- the invention relates to a single cylinder latch type telescopic arm control method, in particular to an optimized control method for a single cylinder plug type telescopic arm trajectory.
- the telescopic structure of the existing engineering machinery telescopic arm has two forms: a telescopic hydraulic cylinder with a cord row and a single cylinder plug type.
- a telescopic hydraulic cylinder with a cord row For large-tonnage cranes with more than 5 boom sections, the structure of the single-cylinder bolt can only be used due to the limitation of its structural type.
- the main working principle of the single cylinder latch type telescopic mechanism is as follows: A telescopic cylinder is arranged in the boom, a latch mechanism is arranged on the head of the telescopic cylinder, and a work pin is arranged on the bolt mechanism. Each arm has a bearing pin hole distributed in the longitudinal direction of approximately 0%, 46%, 90%, and 100%, and a working pin hole is disposed at the tail portion; and a bearing pin is disposed on the tail portion of each arm for the arm Locking with the arm.
- the telescopic cylinder drives the latch mechanism to the tail of the arm section j to be telescoped, and the extension work pin locks the telescopic cylinder and the arm section j, and retracts the arm section j into the carrier pin in the arm section j-1.
- the telescopic cylinder is extended (retracted)
- the arm section j is moved (extended or retracted)
- the latch mechanism releases the carrier pin, and between the arm section j and the arm section j-1
- the relative position is locked, and thus the telescopic movement of the arm section j is completed. This reciprocates the expansion and contraction of each arm to complete the telescopic movement of the entire boom.
- the technical problem to be solved by the present invention is to provide an optimized control method for a single cylinder latch type telescopic arm trajectory, and to optimize the action sequence of each arm joint in several switching methods between the two states to obtain the most Convenient telescopic path. Based on this, the present invention also provides an optimized control system for a single cylinder latch type telescopic arm trajectory.
- the invention provides an optimized control method for a single cylinder plug type telescopic arm trajectory, comprising the steps of:
- n is the number of sections of the telescopic arm
- j is an integer satisfying ljn, representing any section of the telescopic arm
- bj are integers between 0 and kl, respectively, indicating a certain
- the arm is locked to one of the k pin holes of the front arm by a carrier pin
- the telescopic mechanism is located in the n_code section telescopic arm
- the path vector is calculated according to the following steps:
- step (32) determining whether & is greater than 2; if yes, performing step (32);
- step (24) Combine the similar items of 'j Cl, C2, C3..., and fill in the last invariant and output.
- step (24) is performed and then the step (22) is returned:
- step (31) if the result of the step (31) is no, the following steps are performed:
- step (47) Combine the arrays Cl, C2, C3...D1, D2, D3... into the same category, and fill in the last invariant and output.
- step (25) is performed:
- step (40) It is judged whether only 1 in A1 is not 0, if yes, step (40) is performed; if not, step (2) is continued; and, in step (43), the minimum value of X is 2.
- step (323) is performed:
- step (323) According to Cj, B1, it is judged whether & is greater than 2, and if so, step (322) is performed; if not, step (33) is performed.
- the invention provides an optimized control system for a single cylinder plug type telescopic arm trajectory, characterized in that the system comprises:
- n is the number of sections of the telescopic arm
- j is an integer satisfying ljn, indicating Any one of the telescopic arms
- bj are integers between 0 and kl, respectively, indicating that one of the arm arms is locked to one of the k pin holes of the front arm by the carrier pin
- the telescopic mechanism is located in the n-code section telescopic arm ;
- An output device configured to output a control signal to the latch mechanism and the telescopic cylinder according to the path vector, and adjust a cooperation action between the latch mechanism and the telescopic cylinder to control the cutting from the initial state to the target state The sequence of actions of each arm section during the change process.
- the invention provides an optimized control method for the single cylinder plug type telescopic arm trajectory, which is suitable for switching between any two working conditions of any section telescopic arm.
- the constraint condition is determined according to the telescopic cylinder stroke.
- the optimized control method and system for the single cylinder latch type telescopic arm track provided by the invention are applicable to the single cylinder latch type telescopic arm of any engineering machine, especially the telescopic arm of the heavy crane.
- FIG. 1 is a flow chart showing a specific embodiment of an optimized control method for a single cylinder plug type telescopic arm trajectory according to the present invention
- FIG. 2 is a flow chart showing a second specific embodiment of the method for optimizing the control of the single cylinder plug type telescopic arm trajectory according to the present invention
- Fig. 3 is a system block diagram of an optimized control system for a single cylinder latch type telescopic boom track according to a specific embodiment. detailed description
- the core of the invention is to establish a mathematical model, and determine the constraint condition according to the telescopic cylinder stroke, and obtain the most convenient telescopic path by the optimization method, thereby effectively improving the expansion and contraction of the single cylinder plug telescopic arm. Job reliability and work efficiency.
- FIG. 3 it is a block diagram showing the working principle of the optimization control system for the single cylinder latch type telescopic arm track according to the embodiment.
- the optimized control system for the single cylinder latch telescopic arm trajectory includes an input device 10, a controller 20, and an output device 30.
- the input device 10 is configured to acquire an initial state array of the telescopic arm .aj and target state array ⁇ 1 , ⁇ , ... ...;; where: n is the number of sections of the telescopic arm, j is an integer satisfying 1 jn, representing any section of the telescopic arm; and bj is between 0 and kl An integer indicating that one of the arm arms is locked to one of the k pin holes of the front arm by the carrier pin; the telescopic mechanism is located in the n-code section telescopic arm. It should be noted that the arrangement of the bearing pin holes of each arm is full.
- the controller 20 is configured to calculate an intermediate parameter according to the following formula and establish a telescopic cylinder stroke constraint according to the intermediate parameter and the physical relationship:
- the output device 30 is configured to output a control signal to the latch mechanism and the telescopic cylinder according to the path vector, and adjust a cooperation action between the latch mechanism and the telescopic cylinder to control the sequence of operations of each arm segment during the switching from the initial state to the target state. .
- FIG. 1 is a flowchart of the first embodiment of the optimization control method.
- control method proceeds as follows:
- n is the number of sections of the telescopic arm
- j is an integer satisfying ljn, indicating any one of the telescopic arms
- bj is an integer between 0 and kl, respectively, indicating that a certain arm is locked to the front arm by the carrier pin
- the telescopic mechanism is in the n_code section telescopic arm; it should be understood that the number of the telescopic arms and the number of pin holes on each arm can be arbitrarily set according to actual needs.
- the intermediate parameter S x is obtained according to the formula after performing the following steps:
- the path vector is calculated according to the following steps:
- step (32) determining whether & is greater than 2; if yes, performing step (32);
- the jth item in A1 becomes 0;
- step (24) Combine the similar items of 'j Cl, C2, C3..., and fill in the last invariant and output.
- step (24) is performed and then the step (22) is returned:
- Step (23): j l, the current state array of the boom A[l, 1, 2, 0, 0] and the target state array
- ⁇ [2,0,3,1,1] has no equal terms, so: Al[l, 1,2,0,0], ⁇ 1[2,0,3,1,1].
- Step (33): C1 [0, 1, 2, 0, 0] is not equal to ⁇ 1 [2, 0, 3, 1, 1], so return to step (2).
- Al [0,l,2,0,0]
- Bl [2,0,3,l,l],
- Step (40): j l;
- the present application also provides an implementation of an optimized control method for another single cylinder latch type telescopic arm trajectory.
- FIG. 2 is a flow chart of an optimized control method for the second single cylinder latch type telescopic arm trajectory. 1 and 2, this embodiment is identical to the design concept of the first embodiment. The difference is:
- step (25) is performed:
- step (25) determining whether only 1 in A1 is not 0, if yes, performing step (40); if not, proceeding to step (2);
- step (43) the minimum value of X is 2.
- Step (22) a 4 is 0, b 4 is 0, and the judgment result is true;
- Step (23): j l, the current state array of the boom A[0,0,2,0,0] and the target state array
- B[0,0,3,0,0] is equal to the last two terms, so: A1 [0,0,2], Bl[0,0,3].
- Step (33): CI [0, 0, 2] is not equal to hui, 0, 3], so return to step (2).
- step (40) step (40): j l;
- Step (41): gg x 0 is established
- Step (42): n_code l, less than i is established;
- Step (46) Since D1 is equal to B1, step (47) is performed.
- the resulting scaling path is:
- Step (23): j l, the current state array A[0,0,0,l,2] of the boom has no equal term compared with the target state array ⁇ [2,0,0,1,1], so Get: Al[0,0,0,l,2], ⁇ 1[2,0,0,1,1].
- Step (2) 4, 3, 2, find S 5 , S 4 , S 3 , S 2
- step (323) if the judgment of step (323) is not added, then: Cl[l, 0, 0, l, 2]. Then, since the last arm is 2, it is no longer within the cylinder stroke.
- the preferred embodiment increases the judgment of the step (323) to effectively avoid the above problem.
- the method performs the step (323), and according to Cj and B1, it is determined whether the last arm segment is within the telescopic stroke of the cylinder.
- Step (33), C1 [0, 0, 0, 1, 2] is not equal to Bl[2, 0, 0, l, l], so return to step (25).
- Step (25) the judgment condition is not established
- step (321): C2 [0,0,0,1,2]
- Step (25) the judgment condition is not established
- step (321): C3 [0, 0, 0, 1, 2]
- Step (40): j l;
- Step (44) does not hold
- the present invention provides an optimized control method for the single cylinder latch type telescopic arm trajectory, which is applicable to any section of the telescopic arm Switch between any two conditions. Compared with the prior art, the present invention determines the constraint condition according to the telescopic cylinder stroke. When the telescopic arm changes from the current state A to the target state B, the fastest and most convenient telescopic path is obtained based on the current position of the latch mechanism and the like. Significantly improved telescopic reliability and work efficiency of single-cylinder latch telescopic arms.
- each arm A plurality of other bearing pin holes other than four are provided on the section; these improvements and retouchings are also considered to be the scope of protection of the present invention.
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU2012117378/11A RU2507146C2 (ru) | 2009-09-29 | 2010-09-07 | Способ оптимизированного управления выдвижением/втягиванием одноцилиндровой шрифтовой телескопической стрелы и её система управления |
EP10819862.3A EP2484624B1 (en) | 2009-09-29 | 2010-09-07 | Single-cylinder pin-type telescopic boom track optimized control method and control system thereof |
BR112012007172A BR112012007172A2 (pt) | 2009-09-29 | 2010-09-07 | método de controle aperfeiçoado do percurso de lança telescópica e sistema de controle aperfeiçoado do percurso de lança telescópica |
US13/498,773 US20120245804A1 (en) | 2009-09-29 | 2010-09-07 | Single-cylinder pin-type telescopic boom track optimized control method and control system thereof |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2009101785728A CN101670984B (zh) | 2009-09-29 | 2009-09-29 | 单缸插销式伸缩臂轨迹的优化控制方法及控制系统 |
CN200910178572.8 | 2009-09-29 |
Publications (1)
Publication Number | Publication Date |
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WO2011038633A1 true WO2011038633A1 (zh) | 2011-04-07 |
Family
ID=42018446
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/CN2010/076676 WO2011038633A1 (zh) | 2009-09-29 | 2010-09-07 | 单缸插销式伸缩臂轨迹的优化控制方法及控制系统 |
Country Status (6)
Country | Link |
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US (1) | US20120245804A1 (zh) |
EP (1) | EP2484624B1 (zh) |
CN (1) | CN101670984B (zh) |
BR (1) | BR112012007172A2 (zh) |
RU (1) | RU2507146C2 (zh) |
WO (1) | WO2011038633A1 (zh) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101670984B (zh) * | 2009-09-29 | 2012-06-06 | 长沙中联重工科技发展股份有限公司 | 单缸插销式伸缩臂轨迹的优化控制方法及控制系统 |
CN101804945B (zh) * | 2010-05-07 | 2012-09-26 | 三一汽车起重机械有限公司 | 一种单缸插销式伸缩臂装置及其臂节位置检测系统 |
CN102602810B (zh) * | 2012-03-26 | 2013-07-24 | 中联重科股份有限公司 | 一种伸缩臂架的控制设备、方法、系统及工程机械设备 |
CN103964323B (zh) * | 2014-05-28 | 2015-12-30 | 徐州重型机械有限公司 | 一种伸缩式起重臂的设置方法、伸缩式起重臂及起重机 |
CN104008254B (zh) * | 2014-06-12 | 2017-01-11 | 河海大学常州校区 | 一种伸缩吊臂静态模型的集成优化方法 |
CN104340884B (zh) * | 2014-08-20 | 2016-04-06 | 中联重科股份有限公司 | 单缸插销式伸缩臂的控制方法、设备、系统以及工程机械 |
CN105460809B (zh) * | 2014-12-17 | 2018-01-16 | 徐州重型机械有限公司 | 一种伸缩臂伸缩控制系统、方法以及起重机 |
CN106032257B (zh) * | 2015-03-09 | 2017-10-27 | 徐工集团工程机械股份有限公司 | 用于起重机作业工况自动优选的方法、控制器和系统 |
CN106744389B (zh) * | 2016-12-22 | 2018-07-17 | 吉林大学 | 一种高效的单缸插销式多级顺序伸缩路径优化方法 |
CN106744386B (zh) * | 2016-12-22 | 2018-04-10 | 吉林大学 | 单缸插销式多级顺序伸缩路径优化方法 |
CN110240072B (zh) * | 2019-06-17 | 2020-05-15 | 辽宁机电职业技术学院 | 一种用于起重机伸缩臂的控制方法 |
CN114835022B (zh) * | 2022-07-04 | 2022-11-25 | 长沙孚盛科技有限公司 | 伸缩臂的控制方法、装置、伸缩臂和起重机 |
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Also Published As
Publication number | Publication date |
---|---|
CN101670984B (zh) | 2012-06-06 |
EP2484624A1 (en) | 2012-08-08 |
US20120245804A1 (en) | 2012-09-27 |
BR112012007172A2 (pt) | 2019-09-24 |
EP2484624B1 (en) | 2015-01-14 |
RU2012117378A (ru) | 2013-11-10 |
RU2507146C2 (ru) | 2014-02-20 |
EP2484624A4 (en) | 2013-06-26 |
CN101670984A (zh) | 2010-03-17 |
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