WO2013044487A1 - Control method and control apparatus for telescoping of boom and engineering machinery - Google Patents
Control method and control apparatus for telescoping of boom and engineering machinery Download PDFInfo
- Publication number
- WO2013044487A1 WO2013044487A1 PCT/CN2011/080386 CN2011080386W WO2013044487A1 WO 2013044487 A1 WO2013044487 A1 WO 2013044487A1 CN 2011080386 W CN2011080386 W CN 2011080386W WO 2013044487 A1 WO2013044487 A1 WO 2013044487A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- telescopic
- current
- boom
- proportional valve
- correspondence
- Prior art date
Links
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
-
- 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 present invention relates to the field of engineering machinery, and in particular to a control method and control device for a boom extension and a construction machine.
- a control method and control device for a boom extension and a construction machine BACKGROUND OF THE INVENTION
- the telescopic mechanism structure of a crane boom has two types: a telescopic hydraulic cylinder, a cord row type, and a single cylinder plug type.
- the crane above the 5th arm section can only be used in the single cylinder plug type telescopic mode.
- the single cylinder plug type telescopic mode is: the telescopic cylinder drives the latch mechanism to find the tail of the telescopic arm j to be extended (retracted), and the extension work pin locks the telescopic cylinder and the telescopic arm j, and the retractable arm j is inserted in the telescopic arm j- The carrier pin in 1.
- the telescopic cylinder is extended (contracted), and the telescopic arm j is extended (contracted).
- the latch mechanism releases the carrier pin, locks the telescopic arm j and the telescopic arm j-1, and completes the telescopic movement of the telescopic arm j.
- the electronic control unit determines that the telescopic speed state of the telescopic cylinder is a low speed section or a high speed section according to the telescopic distance of the telescopic arm bearing pin that needs to be extended (reduced) from the pin hole.
- the electronic control unit outputs a fixed large current to the telescopic valve for high speed operation; for the low speed section, the electronic control unit outputs a fixed small current to position the telescopic mechanism at the position of the pin hole, and then complete the latching action.
- a primary object of the present invention is to provide a control method and control device for a single cylinder latch type boom extension and a construction machine to solve the problem that the completion rate of the automatic boom expansion and contraction of the crane in the related art is low.
- a control method of boom expansion and contraction is provided.
- the method for controlling the expansion and contraction of the boom includes: determining a nominal current required for the stable operation of the expansion and contraction operation according to the obtained current ambient temperature and the first correspondence stored in advance when the boom is performing the expansion and contraction operation; And inputting the nominal current to the telescopic proportional valve, the first correspondence relationship being an ambient temperature and an extension of the boom a first correspondence between the nominal currents required for stable operation; during the telescopic movement of the boom, determining the actual telescopic speed of the telescopic cylinder, according to the preset expansion speed of the cylinder The difference obtained by subtracting the actual telescopic speed adjusts the current input to the telescopic proportional valve.
- a control device for boom expansion and contraction is provided.
- the boom telescopic control device of the present invention comprises: an acquiring device for acquiring a current ambient temperature when the boom is performing a telescopic movement; and an output device for, when the boom is performing a telescopic movement, according to a pre-preserved
- a corresponding relationship determines a nominal current required for the stable operation of the expansion and contraction operation, and inputs the nominal current to the expansion and contraction valve, the first correspondence relationship being an ambient temperature and a stable operation of the telescopic movement of the boom a first correspondence between the required nominal currents;
- an adjusting device configured to calculate an actual telescopic speed of the telescopic cylinder during the telescopic movement of the boom, according to a preset expansion speed of the cylinder The difference obtained by subtracting the actual telescopic speed adjusts the current input to the telescopic proportional valve.
- a construction machine has a boom and also has a control device for the boom extension and contraction of the present invention.
- the current ambient temperature is obtained, and according to these environmental factors, the nominal current required for the stable operation of the telescopic action is obtained and is used in the boom expansion process.
- the nominal current is adjusted to obtain the current actually input to the telescopic proportional valve.
- FIG. 1 is a schematic view showing a relationship between a telescopic distance of a telescopic arm from a pin hole and a current of a proportional valve of a telescopic cylinder according to the prior art;
- FIG. 2 is a single cylinder plug type according to an embodiment of the present invention.
- FIG. 3 is a schematic view showing a control principle of a single cylinder plug type boom expansion and contraction according to an embodiment of the present invention
- FIG. 4 is a perspective view of a single cylinder plug type boom extension according to an embodiment of the present invention
- FIG. 1 is a view showing the relationship between the telescopic distance of a carrier pin from a pin hole and the current of a proportional valve of a telescopic cylinder according to an embodiment of the present invention.
- the abscissa indicates the distance between the carrier pin of the telescopic arm j that is being stretched (retracted) and the tail of the boom, and the ordinate indicates the current input to the proportional valve of the telescopic cylinder.
- the direction in which the abscissa increases is corresponding to the working condition of the extension arm, and the direction in which the abscissa is reduced corresponds to the working condition of the retracting arm. It can be seen from Fig.
- a broken line 11 in Fig. 1 indicates the position of the center line of the pin hole, and the horizontal lines 12 and 13 respectively correspond to the relationship between the SI when the telescopic arm moves at the high speed section and the SI relationship when the telescopic arm moves at the low speed section.
- the control method generally adopted for the automatic expansion and contraction process of the single cylinder latch type boom is as follows: The operator inputs the combination of the boom target on the display screen, confirms the current combination of the boom, and the electronic control unit calculates the required insertion according to the two, The distance between the pin hole and the telescopic arm carrying pin that needs to be extended (retracted). The position of the latch mechanism is sent to the electronic control unit by the length detecting device.
- the distance between the front and the rear of the pin hole is set to be the low speed section of the telescopic cylinder, and the remaining telescopic stroke is the telescopic high speed section and the telescopic acceleration deceleration section.
- the electronic control unit determines the telescopic speed state of the telescopic cylinder according to the telescopic distance of the telescopic arm bearing pin that needs to be extended (reduced) from the pin hole: a low speed section or a high speed section.
- the electronic control unit For the high speed section, the electronic control unit outputs a fixed large current to the telescopic valve for high speed operation; for the low speed section, the electronic control unit outputs a fixed small current, so that the telescopic mechanism is positioned at the position of the pin hole, thereby completing the latching action.
- the crane is a kind of engineering machinery for field work, the range of environmental temperature change is large, and the viscosity of the medium hydraulic oil of the hydraulic system varies greatly with the oil temperature.
- the telescopic action In the actual operation of the crane, the telescopic action is expressed as the same control current, and the actual telescopic speed differs greatly.
- the present embodiment provides a boom extension control method to solve the problem that the completion rate of the boom automatic expansion and contraction is low.
- the following is an example of the control of the expansion and contraction of the single cylinder latch type boom.
- the technical solution of the embodiment can also be applied to other types of boom extension control.
- Step S21 Saving a preset ambient temperature and a boom The first correspondence between the nominal currents required for stable operation of the telescopic action.
- Step S23 When the boom starts to perform the expansion and contraction operation, the nominal current required for the stable operation of the current expansion and contraction operation is determined according to the first correspondence relationship, and the nominal current is input to the expansion and contraction proportional valve.
- Step S25 During the telescopic movement of the boom, the actual telescopic speed of the telescopic cylinder is determined, and the current input to the telescopic proportional valve is adjusted according to the deviation between the actual telescopic speed and the telescopic speed of the preset cylinder.
- the usual practice of using negative feedback control in this embodiment is that the above deviation is the difference between the pre-set expansion speed of the cylinder minus the actual telescopic speed of the telescopic cylinder.
- Adjust to get the current actually input to the expansion proportional valve This method considers the external environmental factors under the current working conditions, and helps to eliminate the influence of the viscosity of the hydraulic oil on the telescopic control of the boom at different ambient temperatures, thereby shortening the adjustment time of the boom telescopic control such as PID control. , speeding up the stability of the telescopic speed, and helping to improve the completion rate of the automatic telescopic expansion of the boom.
- the low-speed segment target telescopic speed and the high-speed segment target telescopic speed are set according to experience and stored in the electronic control unit.
- the electronic control unit can determine the target telescopic speed of the cylinder according to the target state of the boom, the current state, and the length detection value of the telescopic cylinder, that is, whether the cylinder is high speed or low speed.
- the deviation may be calculated using a proportional differential integral control algorithm to obtain a current adjustment value, and the current input to the expansion and contraction proportional valve is obtained based on the current adjustment value and the minimum current.
- the proportional valve actual current I(k) consists of three parts: Proportional part: K p xe(k) Differential part: K d x( e (k)-e (kl)) Integral part: In the case of I mm ⁇ I(k) ⁇ I max , the integral is accumulated for each deviation value; in the case of I(k) ⁇ I max , only for each negative The deviation value is integrated and accumulated; in the case of I(k) ⁇ I mm , only the integral accumulation is performed for each positive deviation value. The following describes the processing of the integral part.
- the second correspondence between the preset ambient temperature and the maximum current input to the telescopic proportional valve can be saved, and the preset ambient temperature and the minimum input to the expansion proportional valve can be saved.
- the third correspondence between the currents is the extension The maximum current of the shrink cylinder in the telescopic low speed section and the telescopic high speed section.
- the minimum current is the minimum current of the telescopic cylinder in the telescopic low speed section and the telescopic high speed section. And use the method of piecewise fitting to solidify into a rule base.
- the telescopic proportional valve When calculating the above deviation using the proportional differential integral control algorithm, if the current input to the expansion proportional valve is greater than the maximum current, only the deviation of the negative value is integrated in the proportional differential integral control algorithm; If the current input by the telescopic proportional valve is less than the above minimum current, only the above-mentioned deviation of the positive value is integrated in the proportional differential integral control algorithm.
- the above treatment method is because when the telescopic action is started, the telescopic cylinder must overcome the large static friction to start the expansion and contraction, that is, the telescopic proportional valve must obtain a current larger than the above-mentioned nominal current provided in the rule base to make the cylinder When the action starts, and the relative current increases, the telescopic action lags heavily.
- the integration will be performed. Accumulate. During the deceleration of the telescopic movement from the high speed section to the low speed section, due to the influence of the telescopic inertia, the reduction of the actual speed of the expansion and contraction is more obvious than the decrease of the current. If the algorithm with limited integration is not used, the speed pulsation of the telescopic low-speed section will be caused, the crane will be shaken seriously, and the automatic expansion and contraction will be terminated artificially. Therefore, an integral limited algorithm is also used here.
- the negative deviation will not be accumulated any more, and the integral accumulation will only be performed if the deviation is positive.
- the proportional valve In the telescopic high-speed section, due to the different characteristics of the proportional valve or some faults, there is a fixed deviation between the set speed of the telescopic and the actual speed. At this time, it is not appropriate to increase the output current all the time. If the current is too large, the proportional valve will be burned out, which is also detrimental to the electronic control unit.
- the positive deviation will not be accumulated any more, and the integral accumulation will only be performed if the deviation is negative.
- FIG. 3 is a schematic diagram showing the control principle of the single cylinder latch type boom expansion and contraction according to an embodiment of the present invention. As shown in FIG.
- FIG. 4 is a schematic diagram of main components of a single cylinder latch type boom telescopic control device according to an embodiment of the present invention. As shown in FIG.
- the single cylinder latch type boom telescopic control device 41 mainly includes the following devices: an obtaining device 42 for acquiring the current ambient temperature, the current state of the boom telescopic, and the boom extension when the boom is telescopic The target state, the position detection of the telescopic cylinder; the output device 43 is configured to determine, according to the first correspondence relationship saved in advance, the nominal current required for the stable operation of the telescopic action when the boom is performing the telescopic operation, And inputting the nominal current to the telescopic proportional valve, the first correspondence relationship being a first correspondence between an ambient temperature and a nominal current required for stable operation of the telescopic movement of the boom; adjusting device 44, During the telescopic movement of the boom, calculating the actual telescopic speed of the telescopic cylinder, and adjusting the difference obtained by subtracting the actual telescopic speed from the preset telescopic speed of the cylinder to the telescopic proportional valve Input current.
- the adjusting device 44 can also be configured to calculate a current adjustment value using the proportional differential integral control algorithm for the difference, and obtain a current input to the telescopic proportional valve according to the current adjustment value and the nominal current.
- the adjusting device 44 is further configured to: if the current input to the telescopic proportional valve is greater than a maximum current corresponding to the current ambient temperature determined according to the second correspondence, only the negative value is used in the proportional differential integral control algorithm Performing an integral calculation on the difference; if the current input to the telescopic proportional valve is less than a minimum current corresponding to the current ambient temperature determined according to the third correspondence, only the proportional differential integral control algorithm is aligned
- the difference between the values is integrated; wherein the second correspondence is a correspondence between an ambient temperature and a maximum current input to the telescopic proportional valve; the third correspondence is an ambient temperature and an orientation The correspondence between the minimum currents input by the telescopic proportional valve.
- the single cylinder latch type boom telescopic control device 41 of FIG. 4 may further include a computing device (not shown) for determining the target state, current state, and expansion of the boom before the boom begins to perform the telescopic action.
- the length detection value of the cylinder determines the target telescopic speed of the cylinder.
- the construction machine in this embodiment has a boom, and specifically may be a single cylinder plug type boom.
- the construction machine also has a control device for the boom extension and contraction in this embodiment. According to the technical solution of the embodiment of the present invention, when the boom is telescopically controlled, the current ambient temperature is obtained, and according to these environmental factors, the nominal current required for the stable operation of the telescopic action is obtained and the boom is stretched.
- the nominal current is adjusted during the process to obtain the current actually input to the expansion proportional valve.
- This method considers the external environmental factors under the current working conditions, and helps to eliminate the influence of the viscosity of the hydraulic oil in different environments on the telescopic telescopic control, thereby improving the accuracy of the positioning of the telescopic low-speed section and improving the automatic telescopic expansion of the boom.
- the completion rate In the embodiment of the present invention, the limit-incremented integral PID algorithm is adopted, and in order to prevent the output current from being too high or too low, an integral saturation region is provided, which is helpful for optimizing the start-up of the telescopic cylinder at a low temperature, and optimizing the expansion and contraction speed from a high speed.
- the nominal current I, the integral saturation upper limit I max , and the integral saturation lower limit I min of the telescopic proportional valve are only in the automatic expansion and contraction with the ambient temperature and the telescopic cylinder length in each control. Before the one-time assignment, the assignment is not performed during the telescopic process, and the frequent adjustment of the parameters is avoided to cause the cylinder expansion and contraction speed to oscillate.
- the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices.
- the invention is not limited to any specific combination of hardware and software.
- the above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
Disclosed is a control method for the telescoping of a boom. The method comprises: when the boom is performing a telescoping action, determining, on the basis of an acquired current ambient temperature and a prestored first corresponding relation, a nominal current required by the telescoping action when operating steadily, then inputting the nominal current to a telescoping proportional valve, where the first corresponding relation is the first corresponding relation between the ambient temperature and the nominal current required by the telescoping action of the boom when operating steadily; when the boom is in the process of performing the telescoping action, determining the actual telescoping speed of a telescoping oil cylinder, and adjusting the current input to the telescoping proportional valve on the basis of a difference acquired by subtracting the actual telescoping speed from a preset telescoping speed of the oil cylinder. The method allows for improved positioning accuracy of telescoping at low-speed segments, thus improving the completion rate of automatic telescoping of the boom of a crane. Also disclosed are a control apparatus for the telescoping of the boom and engineering machinery having the control apparatus.
Description
吊臂伸缩的控制方法与控制装置以及工程机械 技术领域 本发明涉及工程机械技术领域， 特别地涉及一种吊臂伸缩的控制方法与控制装置 以及工程机械。 背景技术 起重机的吊臂的伸缩机构结构型式有伸缩液压缸加绳排式和单缸插销式两种。 5 节臂节以上起重机只能采用单缸插销式伸缩方式。 单缸插销式伸缩方式是： 伸缩油缸带动插销机构找到要伸 （缩） 的伸缩臂 j 的尾 部，伸出工作销将伸缩油缸与伸缩臂 j锁定，缩回伸缩臂 j插在伸缩臂 j-1中的承载销。 伸 （缩）伸缩油缸， 同时伸缩臂 j跟着伸 （缩）， 到达伸缩位置后， 插销机构释放承载 销， 将伸缩臂 j与伸缩臂 j-1锁定， 完成伸缩臂 j的伸缩动作。 如此往复实完成每一节 伸缩臂的伸缩， 从而完成所整个伸缩动作。 在相关技术中， 在进行吊臂伸缩控制时， 电子控制单元根据需要伸 （缩） 的伸缩 臂承载销距销孔的伸缩距离判定伸缩油缸的所处的伸缩速度状态为低速段或高速段。 对于高速段， 电子控制单元输出一固定大电流给伸缩阀达到高速运行的目的； 对于低 速段， 电子控制单元输出一固定小电流， 使伸缩机构定位在销孔所在的位置， 继而完 成插销动作。 在实现本发明的过程中， 发明人发现采用相关技术中时起重机吊臂自动伸缩的完 成率较低， 对于该问题， 目前尚未提出有效解决方案。 发明内容 本发明的主要目的是提供一种单缸插销式吊臂伸缩的控制方法与控制装置以及工 程机械， 以解决相关技术中起重机的吊臂自动伸缩的完成率较低的问题。 为解决上述问题， 根据本发明的一个方面， 提供了一种吊臂伸缩的控制方法。 本发明的吊臂伸缩的控制方法包括： 在所述吊臂进行伸缩动作时， 根据获取的当 前环境温度和预先保存的第一对应关系确定本次伸缩动作在稳定运行时所需的标称电 流， 并向伸缩比例阀输入该标称电流， 所述第一对应关系为环境温度与所述吊臂的伸
缩动作稳定运行时所需的标称电流之间的第一对应关系； 在所述吊臂进行所述伸缩动 作过程中， 确定伸缩油缸的实际伸缩速度， 根据预设的所述油缸的伸缩速度减去所述 实际伸缩速度得到的差值调整向所述伸缩比例阀输入的电流。 根据本发明的另一方面， 提供了一种吊臂伸缩的控制装置。 本发明的吊臂伸缩的控制装置包括： 获取设备， 用于在所述吊臂进行伸缩动作时 获取当前环境温度； 输出设备， 用于在所述吊臂进行伸缩动作时， 根据预先保存的第 一对应关系确定本次伸缩动作在稳定运行时所需的标称电流， 并向伸缩比例阀输入该 标称电流， 所述第一对应关系为环境温度与所述吊臂的伸缩动作稳定运行时所需的标 称电流之间的第一对应关系； 调整设备， 用于在所述吊臂进行所述伸缩动作过程中， 计算伸缩油缸的实际伸缩速度， 根据预设的所述油缸的伸缩速度减去所述实际伸缩速 度得到的差值调整向所述伸缩比例阀输入的电流。 根据本发明的又一方面， 提供了一种工程机械。 本发明的工程机械具有吊臂， 还具有本发明的吊臂伸缩的控制装置。 根据本发明的技术方案， 对吊臂进行伸缩控制时， 获取当前的环境温度， 再根据 这些环境因素得到本次伸缩动作在稳定运行时所需的标称电流并在吊臂伸缩过程中对 该标称电流进行调整从而得到向伸缩比例阀实际输入的电流。 这种方式因为考虑了当 前工况下的外部环境因素， 有助于消除不同环境下液压油粘度对于吊臂伸缩控制的影 响， 从而提高伸缩低速段对孔定位的准确性， 提高吊臂自动伸缩的完成率。 附图说明 说明书附图用来提供对本发明的进一步理解， 构成本申请的一部分， 本发明的示 意性实施例及其说明用于解释本发明， 并不构成对本发明的不当限定。 在附图中： 图 1是根据现有技术中的伸缩臂距插销孔的伸缩距离与伸缩油缸的比例阀的电流 之间的关系的示意图； 图 2是根据本发明实施例的单缸插销式吊臂伸缩的控制方法主要步骤的示意图； 图 3是根据本发明实施例的单缸插销式吊臂伸缩的控制原理的示意图； 图 4是根据本发明实施例的单缸插销式吊臂伸缩的控制装置的主要组成部分的示 意图。
具体实施方式 需要说明的是， 在不冲突的情况下， 本申请中的实施例及实施例中的特征可以相 互组合。 下面将参考附图并结合实施例来详细说明本发明。 图 1是与本发明实施例有关的承载销距插销孔的伸缩距离与伸缩油缸的比例阀的 电流之间的关系的示意图。 在图 1中， 横坐标表示正在伸 （缩） 的伸缩臂 j的承载销 与吊臂尾部的距离， 纵坐标表示向伸缩油缸的比例阀输入的电流。 横坐标增大的方向 对应于伸吊臂的工况， 横坐标缩小的方向对应于缩吊臂的工况。 从图 1可以看出吊臂 伸缩速度是一个变化值， 在销孔附近速度慢， 在中间段速度快。 图 1中的虚线 11表示 销孔中心线的位置， 水平线 12、 13分别对应伸缩臂运动高速段时的 S-I的关系和伸缩 臂运动低速段时的 S-I关系。 相关技术中对于单缸插销式吊臂自动伸缩过程通常采用的控制方式如下： 操纵者 在显示屏幕上输入吊臂目的组合， 确认吊臂的当前组合， 电子控制单元根据二者计算 出需要插、 拔的销孔与需要伸 （缩） 的伸缩臂承载销的距离。 插销机构所在的位置由 长度检测装置送给电子控制单元。 为同时保证伸缩的高速运行和对孔准确， 设定销孔 前后一段距离为伸缩油缸运行的低速段， 其余伸缩行程为伸缩高速段和伸缩加速减速 段。 电子控制单元根据需要伸 （缩） 的伸缩臂承载销距销孔的伸缩距离判定伸缩油缸 的所处的伸缩速度状态： 低速段或高速段。 对于高速段， 电子控制单元输出一固定大 电流给伸缩阀达到高速运行的目的； 对于低速段， 电子控制单元输出一固定小电流， 使伸缩机构定位在销孔所在的位置， 从而完成插销动作。 因为起重机是一种野外作业的工程机械， 环境温度变换范围大， 液压系统的介质 液压油的粘度随油温变化大。 在起重机的实际作业中， 伸缩动作表现为同样的控制电 流， 实际伸缩速度相差较大。 温度过低 （高） 时， 液压油粘度变大 （小）， 较高 （低） 的粘度将使摩擦阻力增大 （减小）， 流动压力损失加大 （减小）， 伸缩速度偏慢 （快）， 从而导致伸缩低速段对孔定位不准， 吊臂自动伸缩的完成率较低。 因此， 本实施例给 出一种吊臂伸缩控制方法， 以解决吊臂自动伸缩的完成率较低的问题。 以下以单缸插 销式吊臂伸缩的控制为例加以说明。 当然本实施例的技术方案也可以适用于其他类型 的吊臂伸缩控制中。 图 2是根据本发明实施例的单缸插销式吊臂伸缩的控制方法主要步骤的示意图， 如图 2所示， 该方法主要包括如下步骤： 步骤 S21 : 保存预设的环境温度与吊臂的伸缩动作稳定运行时所需的标称电流之 间的第一对应关系。
步骤 S23 : 在吊臂开始进行伸缩动作时， 根据第一对应关系确定本次伸缩动作在 稳定运行时所需的标称电流， 并向伸缩比例阀输入该标称电流。 步骤 S25: 在吊臂进行伸缩动作过程中， 确定伸缩油缸的实际伸缩速度， 根据该 实际伸缩速度与预设的油缸的伸缩速度之间的偏差调整向伸缩比例阀输入的电流。 本 实施例中采用负反馈控制的通常做法， 即上述偏差是预设的油缸的伸缩速度减去伸缩 油缸的实际伸缩速度的差值。 根据上述步骤， 对吊臂进行伸缩控制时， 获取当前的环境温度， 再根据环境温度 得到本次伸缩动作在稳定运行时所需的标称电流并在吊臂伸缩过程中对该标称电流进 行调整从而得到向伸缩比例阀实际输入的电流。 这种方式因为考虑了当前工况下的外 部环境因素， 有助于消除不同环境温度下液压油粘度对于吊臂伸缩控制的影响， 从而 缩短了吊臂伸缩控制例如采用 PID控制方式时的调节时间， 加快了伸缩速度的稳定， 有助于提高吊臂自动伸缩的完成率。 油缸的低速段目标伸缩速度、 高速段目标伸缩速度根据经验已设定好并存储在电 子控制单元中。 在吊臂开始进行伸缩动作时， 电子控制单元可根据吊臂的目的状态、 当前状态和伸缩油缸的长度检测值确定油缸的目标伸缩速度， 即确定油缸是高速度还 是低速度。 在步骤 S25中， 可对偏差使用比例微分积分控制算法进行计算得出电流调 整值， 根据该电流调整值和最小电流得出向伸缩比例阀输入的电流。 在整个控制过程中， 为了保证伸缩速度稳定受控， 比例阀实际电流 I(k)由三个部 分组成： 比例部分： K pxe(k) 微分部分： K dx(e(k)-e(k-l)) 积分部分： 在 Imm<I(k)<Imax的情况下， 对每个偏差值都进行积分累加； 在 I(k)≥Imax的情况下， 只对每个负的偏差值进行积分累加； 在 I(k)≤Imm的情况下， 只对每个正偏差值进行积分累加。 以下对积分部分的处理再做出说明。 在所述吊臂开始进行伸缩动作时， 可以保存 预设的环境温度与向伸缩比例阀输入的最大电流之间的第二对应关系， 以及保存预设 的环境温度与向伸缩比例阀输入的最小电流之间的第三对应关系。 上述最大电流为伸
缩油缸在伸缩低速段和伸缩高速段时的最大电流， 上述最小电流为伸缩油缸在伸缩低 速段和伸缩高速段时的最小电流。 并运用分段拟合的方法固化为规则库。 在对上述的 偏差使用比例微分积分控制算法进行计算时， 若当前向伸缩比例阀输入的电流大于上 述最大电流， 则在比例微分积分控制算法中只对负值的偏差进行积分计算； 若当前向 伸缩比例阀输入的电流小于上述最小电流， 则在比例微分积分控制算法中只对正值的 上述偏差进行积分计算。 以上的处理方式， 是因为在伸缩动作在启动的时候， 伸缩油缸要克服较大的静摩 擦才能开始伸缩， 也就是伸缩比例阀要获得比规则库中提供的上述标称电流大的电流 才能使油缸开始动作， 而且相对电流增大的速度， 伸缩动作滞后严重， 在伸缩动作滞 后的情况下， 速度偏差表现为不变， 那么比例和微分项的输出是不会再增大的， 但积 分项却是一直在累加， 过大的累加值， 会使得伸缩启动速度过快， 加长了伸缩低速段 的速度稳定过程。 在油缸运动行程只有约 300毫米的这类短距离伸缩工况时， 如伸缩 油缸从伸缩臂 j运动到伸缩臂 j-1时， 会因积分项的累加导致油缸对孔失败。正是由于 这个原因， 在算法上采取了积分受限算法， 一旦实际输出电流大于规则库内给出的低 速段电流最大值， 正偏差将不再进行累加， 只有偏差为负时， 才进行积分累加。 在伸缩动作从高速段向低速段减速的过程中， 由于伸缩惯性的影响， 伸缩实际速 度的降低比电流的降低的滞后现象很明显。 如果不采用积分受限的算法， 会导致伸缩 低速段速度脉动， 起重机整车抖动严重， 自动伸缩被人为终止。 因此， 在此也采用积 分受限算法。 一旦实际输出电流小于规则库内给出的低速段电流最小值， 负偏差将不 再进行累加， 只有偏差为正时， 才进行积分累加。 在伸缩高速段， 因比例阀的特性不同或某些故障的原因， 伸缩的设定速度与实际 速度会有一个固定偏差存在。 此时候也不宜一直加大输出电流。 电流过大， 会烧坏比 例阀， 对电子控制单元也不利。 一旦实际输出电流大于规则库内给出的高速段电流最 大值， 正偏差将不再进行累加， 只有偏差为负时， 才进行积分累加。 在伸缩高速段的伸缩过程中， 考虑到伸缩实际速度的变化比电流的变化有滞后现 象。 所以对伸缩高速段的调速也采用积分受限控制， 即一旦实际输出电流小于规则库 内给出的高速段电流最小值， 负偏差将不再进行累加， 只有偏差为正时， 才进行积分 累加。 上述的处理方式的流程包含于图 3中， 图 3是根据本发明实施例的单缸插销式吊 臂伸缩的控制原理的示意图。 如图 3所示， 在上述的积分处理中， 在整个伸缩控制的 低速段、 高速段， 当控制进入上饱和区 Imax、 下饱和区 Imm后， 便不再进行积分累加，
只执行削弱积分的计算。也就是在计算 I(k)时，先判断 I(k-l)。I0c-l)≥Imax，只累加 e(k)≤0; I(k-l)≤Umm， 只累加 e(k)≥0。 此外， 为了避免参数频繁修改导致油缸伸缩速度震荡， 当前环境参数下的伸缩比 例阀的标称电流 IQ、积分饱和上限 Imax、积分饱和下限 Imm只在自动伸缩开始之前一次 性赋值， 在伸缩过程中并不进行赋值。 以下对于本实施例中的控制装置做出说明。 图 4是根据本发明实施例的单缸插销 式吊臂伸缩的控制装置的主要组成部分的示意图。 如图 4所示， 单缸插销式吊臂伸缩 的控制装置 41主要包括如下设备： 获取设备 42， 用于在吊臂进行伸缩动作时获取当 前环境温度、 吊臂伸缩的当前状态、 吊臂伸缩的目的状态、 伸缩油缸的位置检测； 输 出设备 43， 用于在所述吊臂进行伸缩动作时， 根据预先保存的第一对应关系确定本次 伸缩动作在稳定运行时所需的标称电流， 并向伸缩比例阀输入该标称电流， 所述第一 对应关系为环境温度与所述吊臂的伸缩动作稳定运行时所需的标称电流之间的第一对 应关系； 调整设备 44， 用于在所述吊臂进行所述伸缩动作过程中， 计算伸缩油缸的实 际伸缩速度， 根据预设的所述油缸的伸缩速度减去所述实际伸缩速度得到的差值调整 向所述伸缩比例阀输入的电流。 调整设备 44 还可用于对上述差值使用比例微分积分控制算法进行计算得出电流 调整值， 根据该电流调整值和所述标称电流得出向所述伸缩比例阀输入的电流。 调整 设备 44 还可用于若当前向所述伸缩比例阀输入的电流大于按照第二对应关系所确定 的当前环境温度所对应的最大电流， 则在所述比例微分积分控制算法中只对负值的所 述差值进行积分计算； 若当前向所述伸缩比例阀输入的电流小于按照第三对应关系所 确定的当前环境温度所对应的最小电流， 则在所述比例微分积分控制算法中只对正值 的所述差值进行积分计算； 其中， 所述第二对应关系是环境温度与向所述伸缩比例阀 输入的最大电流之间的对应关系； 所述第三对应关系是环境温度与向所述伸缩比例阀 输入的最小电流之间的对应关系。 图 4中的单缸插销式吊臂伸缩的控制装置 41还可包括计算设备 （图中未示出）， 用于在吊臂开始进行伸缩动作之前， 根据吊臂的目的状态、 当前状态和伸缩油缸的长 度检测值确定油缸的目标伸缩速度。 本实施例中的工程机械具有吊臂， 具体可以是单缸插销式吊臂， 该工程机械还具 有本实施例中的吊臂伸缩的控制装置。 根据本发明实施例的技术方案， 对吊臂进行伸缩控制时， 获取当前的环境温度， 再根据这些环境因素得到本次伸缩动作在稳定运行时所需的标称电流并在吊臂伸缩过
程中对该标称电流进行调整从而得到向伸缩比例阀实际输入的电流。 这种方式因为考 虑了当前工况下的外部环境因素， 有助于消除不同环境下液压油粘度对于吊臂伸缩控 制的影响， 从而提高伸缩低速段对孔定位的准确性， 提高吊臂自动伸缩的完成率。 并 且在本发明实施例中， 采用遇限削弱积分 PID算法， 为防止输出电流过高和过低， 设 置有积分饱和区， 有助于优化伸缩油缸低温下的启动、 优化伸缩速度从高速减小到低 速的过程中导致的伸缩控制滞后。 另外， 在本发明实施例中， 伸缩比例阀的标称电流 I、 积分饱和上限 Imax、 积分饱和下限 Imin在每次控制中随环境温度、 伸缩油缸长度这 两个参数只在自动伸缩开始之前一次性赋值， 在伸缩过程中不进行赋值， 避免参数频 繁修改导致油缸伸缩速度震荡。 显然， 本领域的技术人员应该明白， 上述的本发明的各模块或各步骤可以用通用 的计算装置来实现， 它们可以集中在单个的计算装置上， 或者分布在多个计算装置所 组成的网络上， 可选地， 它们可以用计算装置可执行的程序代码来实现， 从而， 可以 将它们存储在存储装置中由计算装置来执行， 或者将它们分别制作成各个集成电路模 块， 或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。 这样， 本发明 不限制于任何特定的硬件和软件结合。 以上所述仅为本发明的优选实施例而已， 并不用于限制本发明， 对于本领域的技 术人员来说， 本发明可以有各种更改和变化。 凡在本发明的精神和原则之内， 所作的 任何修改、 等同替换、 改进等， 均应包含在本发明的保护范围之内。
TECHNICAL FIELD The present invention relates to the field of engineering machinery, and in particular to a control method and control device for a boom extension and a construction machine. BACKGROUND OF THE INVENTION The telescopic mechanism structure of a crane boom has two types: a telescopic hydraulic cylinder, a cord row type, and a single cylinder plug type. The crane above the 5th arm section can only be used in the single cylinder plug type telescopic mode. The single cylinder plug type telescopic mode is: the telescopic cylinder drives the latch mechanism to find the tail of the telescopic arm j to be extended (retracted), and the extension work pin locks the telescopic cylinder and the telescopic arm j, and the retractable arm j is inserted in the telescopic arm j- The carrier pin in 1. The telescopic cylinder is extended (contracted), and the telescopic arm j is extended (contracted). After reaching the telescopic position, the latch mechanism releases the carrier pin, locks the telescopic arm j and the telescopic arm j-1, and completes the telescopic movement of the telescopic arm j. The retraction of each of the telescopic arms is completed in such a reciprocating manner, thereby completing the entire telescopic movement. In the related art, when the boom telescopic control is performed, the electronic control unit determines that the telescopic speed state of the telescopic cylinder is a low speed section or a high speed section according to the telescopic distance of the telescopic arm bearing pin that needs to be extended (reduced) from the pin hole. For the high speed section, the electronic control unit outputs a fixed large current to the telescopic valve for high speed operation; for the low speed section, the electronic control unit outputs a fixed small current to position the telescopic mechanism at the position of the pin hole, and then complete the latching action. In the process of implementing the present invention, the inventors have found that the completion rate of the automatic expansion and contraction of the crane boom when using the related art is low, and an effective solution has not been proposed for this problem. SUMMARY OF THE INVENTION A primary object of the present invention is to provide a control method and control device for a single cylinder latch type boom extension and a construction machine to solve the problem that the completion rate of the automatic boom expansion and contraction of the crane in the related art is low. In order to solve the above problems, according to an aspect of the present invention, a control method of boom expansion and contraction is provided. The method for controlling the expansion and contraction of the boom includes: determining a nominal current required for the stable operation of the expansion and contraction operation according to the obtained current ambient temperature and the first correspondence stored in advance when the boom is performing the expansion and contraction operation; And inputting the nominal current to the telescopic proportional valve, the first correspondence relationship being an ambient temperature and an extension of the boom a first correspondence between the nominal currents required for stable operation; during the telescopic movement of the boom, determining the actual telescopic speed of the telescopic cylinder, according to the preset expansion speed of the cylinder The difference obtained by subtracting the actual telescopic speed adjusts the current input to the telescopic proportional valve. According to another aspect of the present invention, a control device for boom expansion and contraction is provided. The boom telescopic control device of the present invention comprises: an acquiring device for acquiring a current ambient temperature when the boom is performing a telescopic movement; and an output device for, when the boom is performing a telescopic movement, according to a pre-preserved A corresponding relationship determines a nominal current required for the stable operation of the expansion and contraction operation, and inputs the nominal current to the expansion and contraction valve, the first correspondence relationship being an ambient temperature and a stable operation of the telescopic movement of the boom a first correspondence between the required nominal currents; an adjusting device, configured to calculate an actual telescopic speed of the telescopic cylinder during the telescopic movement of the boom, according to a preset expansion speed of the cylinder The difference obtained by subtracting the actual telescopic speed adjusts the current input to the telescopic proportional valve. According to still another aspect of the present invention, a construction machine is provided. The construction machine of the present invention has a boom and also has a control device for the boom extension and contraction of the present invention. According to the technical solution of the present invention, when the boom is subjected to the telescopic control, the current ambient temperature is obtained, and according to these environmental factors, the nominal current required for the stable operation of the telescopic action is obtained and is used in the boom expansion process. The nominal current is adjusted to obtain the current actually input to the telescopic proportional valve. This method considers the external environmental factors under the current working conditions, and helps to eliminate the influence of the viscosity of the hydraulic oil in different environments on the telescopic telescopic control, thereby improving the accuracy of the positioning of the telescopic low-speed section and improving the automatic telescopic expansion of the boom. The completion rate. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are intended to provide a further understanding of the invention In the drawings: FIG. 1 is a schematic view showing a relationship between a telescopic distance of a telescopic arm from a pin hole and a current of a proportional valve of a telescopic cylinder according to the prior art; FIG. 2 is a single cylinder plug type according to an embodiment of the present invention. FIG. 3 is a schematic view showing a control principle of a single cylinder plug type boom expansion and contraction according to an embodiment of the present invention; FIG. 4 is a perspective view of a single cylinder plug type boom extension according to an embodiment of the present invention; Schematic diagram of the main components of the control unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing the relationship between the telescopic distance of a carrier pin from a pin hole and the current of a proportional valve of a telescopic cylinder according to an embodiment of the present invention. In Fig. 1, the abscissa indicates the distance between the carrier pin of the telescopic arm j that is being stretched (retracted) and the tail of the boom, and the ordinate indicates the current input to the proportional valve of the telescopic cylinder. The direction in which the abscissa increases is corresponding to the working condition of the extension arm, and the direction in which the abscissa is reduced corresponds to the working condition of the retracting arm. It can be seen from Fig. 1 that the telescopic speed of the boom is a change value, the speed is slow near the pin hole, and the speed is fast in the middle section. A broken line 11 in Fig. 1 indicates the position of the center line of the pin hole, and the horizontal lines 12 and 13 respectively correspond to the relationship between the SI when the telescopic arm moves at the high speed section and the SI relationship when the telescopic arm moves at the low speed section. In the related art, the control method generally adopted for the automatic expansion and contraction process of the single cylinder latch type boom is as follows: The operator inputs the combination of the boom target on the display screen, confirms the current combination of the boom, and the electronic control unit calculates the required insertion according to the two, The distance between the pin hole and the telescopic arm carrying pin that needs to be extended (retracted). The position of the latch mechanism is sent to the electronic control unit by the length detecting device. In order to ensure the high-speed operation of the telescopic speed and the accuracy of the hole, the distance between the front and the rear of the pin hole is set to be the low speed section of the telescopic cylinder, and the remaining telescopic stroke is the telescopic high speed section and the telescopic acceleration deceleration section. The electronic control unit determines the telescopic speed state of the telescopic cylinder according to the telescopic distance of the telescopic arm bearing pin that needs to be extended (reduced) from the pin hole: a low speed section or a high speed section. For the high speed section, the electronic control unit outputs a fixed large current to the telescopic valve for high speed operation; for the low speed section, the electronic control unit outputs a fixed small current, so that the telescopic mechanism is positioned at the position of the pin hole, thereby completing the latching action. Because the crane is a kind of engineering machinery for field work, the range of environmental temperature change is large, and the viscosity of the medium hydraulic oil of the hydraulic system varies greatly with the oil temperature. In the actual operation of the crane, the telescopic action is expressed as the same control current, and the actual telescopic speed differs greatly. When the temperature is too low (high), the viscosity of the hydraulic oil becomes larger (small), the higher (lower) viscosity will increase the frictional resistance (decrease), the flow pressure loss will increase (decrease), and the expansion speed will be slower ( Fast), resulting in inaccurate positioning of the hole in the telescopic low-speed section, and the completion rate of the automatic telescopic expansion of the boom is low. Therefore, the present embodiment provides a boom extension control method to solve the problem that the completion rate of the boom automatic expansion and contraction is low. The following is an example of the control of the expansion and contraction of the single cylinder latch type boom. Of course, the technical solution of the embodiment can also be applied to other types of boom extension control. 2 is a schematic diagram of main steps of a control method for a single cylinder latch type boom extension according to an embodiment of the present invention. As shown in FIG. 2, the method mainly includes the following steps: Step S21: Saving a preset ambient temperature and a boom The first correspondence between the nominal currents required for stable operation of the telescopic action. Step S23: When the boom starts to perform the expansion and contraction operation, the nominal current required for the stable operation of the current expansion and contraction operation is determined according to the first correspondence relationship, and the nominal current is input to the expansion and contraction proportional valve. Step S25: During the telescopic movement of the boom, the actual telescopic speed of the telescopic cylinder is determined, and the current input to the telescopic proportional valve is adjusted according to the deviation between the actual telescopic speed and the telescopic speed of the preset cylinder. The usual practice of using negative feedback control in this embodiment is that the above deviation is the difference between the pre-set expansion speed of the cylinder minus the actual telescopic speed of the telescopic cylinder. According to the above steps, when the boom is subjected to the telescopic control, the current ambient temperature is obtained, and then the nominal current required for the stable operation of the telescopic operation is obtained according to the ambient temperature, and the nominal current is performed during the boom expansion and contraction process. Adjust to get the current actually input to the expansion proportional valve. This method considers the external environmental factors under the current working conditions, and helps to eliminate the influence of the viscosity of the hydraulic oil on the telescopic control of the boom at different ambient temperatures, thereby shortening the adjustment time of the boom telescopic control such as PID control. , speeding up the stability of the telescopic speed, and helping to improve the completion rate of the automatic telescopic expansion of the boom. The low-speed segment target telescopic speed and the high-speed segment target telescopic speed are set according to experience and stored in the electronic control unit. When the boom begins to perform the telescopic movement, the electronic control unit can determine the target telescopic speed of the cylinder according to the target state of the boom, the current state, and the length detection value of the telescopic cylinder, that is, whether the cylinder is high speed or low speed. In step S25, the deviation may be calculated using a proportional differential integral control algorithm to obtain a current adjustment value, and the current input to the expansion and contraction proportional valve is obtained based on the current adjustment value and the minimum current. In the whole control process, in order to ensure stable and stable telescopic speed, the proportional valve actual current I(k) consists of three parts: Proportional part: K p xe(k) Differential part: K d x( e (k)-e (kl)) Integral part: In the case of I mm <I(k) < I max , the integral is accumulated for each deviation value; in the case of I(k) ≥ I max , only for each negative The deviation value is integrated and accumulated; in the case of I(k) ≤ I mm , only the integral accumulation is performed for each positive deviation value. The following describes the processing of the integral part. When the boom begins to perform the telescopic movement, the second correspondence between the preset ambient temperature and the maximum current input to the telescopic proportional valve can be saved, and the preset ambient temperature and the minimum input to the expansion proportional valve can be saved. The third correspondence between the currents. The above maximum current is the extension The maximum current of the shrink cylinder in the telescopic low speed section and the telescopic high speed section. The minimum current is the minimum current of the telescopic cylinder in the telescopic low speed section and the telescopic high speed section. And use the method of piecewise fitting to solidify into a rule base. When calculating the above deviation using the proportional differential integral control algorithm, if the current input to the expansion proportional valve is greater than the maximum current, only the deviation of the negative value is integrated in the proportional differential integral control algorithm; If the current input by the telescopic proportional valve is less than the above minimum current, only the above-mentioned deviation of the positive value is integrated in the proportional differential integral control algorithm. The above treatment method is because when the telescopic action is started, the telescopic cylinder must overcome the large static friction to start the expansion and contraction, that is, the telescopic proportional valve must obtain a current larger than the above-mentioned nominal current provided in the rule base to make the cylinder When the action starts, and the relative current increases, the telescopic action lags heavily. When the telescopic action lags, the speed deviation appears to be constant, then the output of the proportional and derivative terms does not increase, but the integral term is It is always accumulating, and the excessive accumulated value will make the expansion start speed too fast, and lengthen the speed stabilization process of the telescopic low speed section. When such a short-distance telescopic condition of the cylinder movement stroke is only about 300 mm, if the telescopic cylinder moves from the telescopic arm j to the telescopic arm j-1, the cylinder-to-hole failure may occur due to the accumulation of the integral term. For this reason, an integral-limited algorithm is adopted in the algorithm. Once the actual output current is greater than the maximum value of the low-speed current given in the rule base, the positive deviation will not be accumulated any more, and only when the deviation is negative, the integration will be performed. Accumulate. During the deceleration of the telescopic movement from the high speed section to the low speed section, due to the influence of the telescopic inertia, the reduction of the actual speed of the expansion and contraction is more obvious than the decrease of the current. If the algorithm with limited integration is not used, the speed pulsation of the telescopic low-speed section will be caused, the crane will be shaken seriously, and the automatic expansion and contraction will be terminated artificially. Therefore, an integral limited algorithm is also used here. Once the actual output current is less than the minimum value of the low speed segment current given in the rule base, the negative deviation will not be accumulated any more, and the integral accumulation will only be performed if the deviation is positive. In the telescopic high-speed section, due to the different characteristics of the proportional valve or some faults, there is a fixed deviation between the set speed of the telescopic and the actual speed. At this time, it is not appropriate to increase the output current all the time. If the current is too large, the proportional valve will be burned out, which is also detrimental to the electronic control unit. Once the actual output current is greater than the maximum value of the high-speed segment current given in the rule base, the positive deviation will not be accumulated any more, and the integral accumulation will only be performed if the deviation is negative. In the telescopic process of the telescopic high-speed section, it is considered that the change of the actual speed of the telescope is lagging behind the change of the current. Therefore, the integral speed control is also adopted for the speed regulation of the telescopic high-speed section. That is, once the actual output current is less than the minimum value of the high-speed section current given in the rule base, the negative deviation will not be accumulated any more, and only when the deviation is positive, the integration will be performed. Accumulate. The flow of the above-described processing method is included in FIG. 3. FIG. 3 is a schematic diagram showing the control principle of the single cylinder latch type boom expansion and contraction according to an embodiment of the present invention. As shown in FIG. 3, in the above-mentioned integration processing, after the control enters the upper saturation region I max and the lower saturation region I mm in the low speed section and the high speed section of the entire telescopic control, the integral accumulation is no longer performed. Only the calculation of the weakened integral is performed. That is, when I(k) is calculated, I(kl) is first determined. I0c-l) ≥ I max , only accumulate e (k) ≤ 0 ; I (kl) ≤ U mm , only accumulate e (k) ≥ 0. In addition, in order to avoid the frequent expansion of the parameters, the expansion and contraction speed of the cylinder is oscillated. The nominal current I Q , the integral saturation upper limit I max and the integral saturation lower limit I mm of the expansion proportional valve under the current environmental parameters are only assigned once before the automatic expansion and contraction. No assignment is made during the scaling process. The following describes the control device in this embodiment. 4 is a schematic diagram of main components of a single cylinder latch type boom telescopic control device according to an embodiment of the present invention. As shown in FIG. 4, the single cylinder latch type boom telescopic control device 41 mainly includes the following devices: an obtaining device 42 for acquiring the current ambient temperature, the current state of the boom telescopic, and the boom extension when the boom is telescopic The target state, the position detection of the telescopic cylinder; the output device 43 is configured to determine, according to the first correspondence relationship saved in advance, the nominal current required for the stable operation of the telescopic action when the boom is performing the telescopic operation, And inputting the nominal current to the telescopic proportional valve, the first correspondence relationship being a first correspondence between an ambient temperature and a nominal current required for stable operation of the telescopic movement of the boom; adjusting device 44, During the telescopic movement of the boom, calculating the actual telescopic speed of the telescopic cylinder, and adjusting the difference obtained by subtracting the actual telescopic speed from the preset telescopic speed of the cylinder to the telescopic proportional valve Input current. The adjusting device 44 can also be configured to calculate a current adjustment value using the proportional differential integral control algorithm for the difference, and obtain a current input to the telescopic proportional valve according to the current adjustment value and the nominal current. The adjusting device 44 is further configured to: if the current input to the telescopic proportional valve is greater than a maximum current corresponding to the current ambient temperature determined according to the second correspondence, only the negative value is used in the proportional differential integral control algorithm Performing an integral calculation on the difference; if the current input to the telescopic proportional valve is less than a minimum current corresponding to the current ambient temperature determined according to the third correspondence, only the proportional differential integral control algorithm is aligned The difference between the values is integrated; wherein the second correspondence is a correspondence between an ambient temperature and a maximum current input to the telescopic proportional valve; the third correspondence is an ambient temperature and an orientation The correspondence between the minimum currents input by the telescopic proportional valve. The single cylinder latch type boom telescopic control device 41 of FIG. 4 may further include a computing device (not shown) for determining the target state, current state, and expansion of the boom before the boom begins to perform the telescopic action. The length detection value of the cylinder determines the target telescopic speed of the cylinder. The construction machine in this embodiment has a boom, and specifically may be a single cylinder plug type boom. The construction machine also has a control device for the boom extension and contraction in this embodiment. According to the technical solution of the embodiment of the present invention, when the boom is telescopically controlled, the current ambient temperature is obtained, and according to these environmental factors, the nominal current required for the stable operation of the telescopic action is obtained and the boom is stretched. The nominal current is adjusted during the process to obtain the current actually input to the expansion proportional valve. This method considers the external environmental factors under the current working conditions, and helps to eliminate the influence of the viscosity of the hydraulic oil in different environments on the telescopic telescopic control, thereby improving the accuracy of the positioning of the telescopic low-speed section and improving the automatic telescopic expansion of the boom. The completion rate. In the embodiment of the present invention, the limit-incremented integral PID algorithm is adopted, and in order to prevent the output current from being too high or too low, an integral saturation region is provided, which is helpful for optimizing the start-up of the telescopic cylinder at a low temperature, and optimizing the expansion and contraction speed from a high speed. The telescopic control lag caused by the process to the low speed. In addition, in the embodiment of the present invention, the nominal current I, the integral saturation upper limit I max , and the integral saturation lower limit I min of the telescopic proportional valve are only in the automatic expansion and contraction with the ambient temperature and the telescopic cylinder length in each control. Before the one-time assignment, the assignment is not performed during the telescopic process, and the frequent adjustment of the parameters is avoided to cause the cylinder expansion and contraction speed to oscillate. Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general-purpose computing device, which can be concentrated on a single computing device or distributed over a network composed of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in the storage device by the computing device, or they may be separately fabricated into individual integrated circuit modules, or they may be Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.
Claims
1. 一种吊臂伸缩的控制方法， 其特征在于， 包括： A control method for boom expansion and contraction, comprising:
在所述吊臂进行伸缩动作时， 根据获取的当前环境温度和预先保存的第一 对应关系确定本次伸缩动作在稳定运行时所需的标称电流， 并向伸缩比例阀输 入该标称电流， 所述第一对应关系为环境温度与所述吊臂的伸缩动作稳定运行 时所需的标称电流之间的第一对应关系； When the boom performs the telescopic action, determining a nominal current required for the stable operation of the telescopic action according to the obtained current ambient temperature and the first corresponding relationship stored in advance, and inputting the nominal current to the telescopic proportional valve The first correspondence relationship is a first correspondence between an ambient temperature and a nominal current required for stable operation of the telescopic movement of the boom;
在所述吊臂进行所述伸缩动作过程中， 确定伸缩油缸的实际伸缩速度， 根 据预设的所述油缸的伸缩速度减去所述实际伸缩速度得到的差值调整向所述伸 缩比例阀输入的电流。 During the telescopic movement of the boom, determining the actual telescopic speed of the telescopic cylinder, and inputting the difference adjustment obtained by subtracting the actual telescopic speed from the telescopic speed of the cylinder to the telescopic proportional valve Current.
2. 根据权利要求 1所述的控制方法， 其特征在于， 所述调整向所述伸缩比例阀输 入的电流包括： 对所述偏差使用比例微分积分控制算法进行计算得出电流调整 值， 根据该电流调整值和所述标称电流得出向所述伸缩比例阀输入的电流。 The control method according to claim 1, wherein the adjusting the current input to the telescopic proportional valve comprises: calculating a current adjustment value using the proportional differential integral control algorithm for the deviation, according to the The current adjustment value and the nominal current result in a current input to the telescoping proportional valve.
3. 根据权利要求 2所述的控制方法， 其特征在于， 3. The control method according to claim 2, wherein
在对所述偏差使用比例微分积分控制算法进行计算时， 若当前向所述伸缩 比例阀输入的电流大于按照第二对应关系所确定的当前环境温度所对应的最大 电流， 则在所述比例微分积分控制算法中只对负值的所述差值进行积分计算； 若当前向所述伸缩比例阀输入的电流小于按照第三对应关系所确定的当前环境 温度所对应的最小电流， 则在所述比例微分积分控制算法中只对正值的所述差 值进行积分计算； 其中， When calculating the deviation using the proportional differential integral control algorithm, if the current input to the telescopic proportional valve is greater than the maximum current corresponding to the current ambient temperature determined according to the second correspondence, the proportional differential is In the integral control algorithm, only the difference of the negative value is integrated; if the current input to the telescopic proportional valve is less than the minimum current corresponding to the current ambient temperature determined according to the third correspondence, then In the proportional differential integral control algorithm, only the difference of the positive values is integrated; wherein
所述第二对应关系是环境温度与向所述伸缩比例阀输入的最大电流之间的 对应关系； 所述第三对应关系是环境温度与向所述伸缩比例阀输入的最小电流 之间的对应关系。 The second correspondence relationship is a correspondence between an ambient temperature and a maximum current input to the telescopic proportional valve; the third correspondence is a correspondence between an ambient temperature and a minimum current input to the telescopic proportional valve relationship.
4. 根据权利要求 1， 2或 3所述的控制方法， 其特征在于， 在所述吊臂开始进行伸 缩动作之前， 还包括： 根据所述吊臂的目的状态、 当前状态和所述伸缩油缸的 长度检测值确定所述预设的所述油缸的伸缩速度。 The control method according to claim 1, 2 or 3, further comprising: before the boom begins to perform the telescopic movement, further comprising: according to the target state of the boom, the current state, and the telescopic cylinder The length detection value determines the telescopic speed of the preset cylinder.
5. 一种吊臂伸缩的控制装置， 其特征在于， 包括： A control device for telescopic expansion of a boom, comprising:
获取设备， 用于在所述吊臂进行伸缩动作时获取当前环境温度；
输出设备， 用于在所述吊臂进行伸缩动作时， 根据预先保存的第一对应关 系确定本次伸缩动作在稳定运行时所需的标称电流， 并向伸缩比例阀输入该标 称电流， 所述第一对应关系为环境温度与所述吊臂的伸缩动作稳定运行时所需 的标称电流之间的第一对应关系； Obtaining a device, configured to acquire a current ambient temperature when the boom performs a telescopic movement; And an output device, configured to determine, according to the first correspondence relationship saved in advance, a nominal current required for the stable operation of the telescopic operation, and input the nominal current to the telescopic proportional valve when the boom is performing the telescopic operation, The first correspondence relationship is a first correspondence between an ambient temperature and a nominal current required for stable operation of the telescopic movement of the boom;
调整设备， 用于在所述吊臂进行所述伸缩动作过程中， 计算伸缩油缸的实 际伸缩速度， 根据预设的所述油缸的伸缩速度减去所述实际伸缩速度得到的差 值调整向所述伸缩比例阀输入的电流。 根据权利要求 5所述的控制装置， 其特征在于， 所述调整设备还用于对所述差 值使用比例微分积分控制算法进行计算得出电流调整值， 根据该电流调整值和 所述标称电流得出向所述伸缩比例阀输入的电流。 根据权利要求 6所述的控制装置， 其特征在于， And an adjusting device, configured to calculate an actual telescopic speed of the telescopic cylinder during the telescopic movement of the boom, and adjust the difference according to the preset telescopic speed of the cylinder minus the actual telescopic speed The current input by the telescopic proportional valve. The control device according to claim 5, wherein the adjusting device is further configured to calculate, by using a proportional differential integral control algorithm, the current adjustment value, according to the current adjustment value and the nominal The current is the current input to the telescopic proportional valve. The control device according to claim 6, wherein
所述调整设备还用于若当前向所述伸缩比例阀输入的电流大于按照第二对 应关系所确定的当前环境温度所对应的最大电流， 则在所述比例微分积分控制 算法中只对负值的所述差值进行积分计算； 若当前向所述伸缩比例阀输入的电 流小于按照第三对应关系所确定的当前环境温度所对应的最小电流， 则在所述 比例微分积分控制算法中只对正值的所述差值进行积分计算； 其中， The adjusting device is further configured to: if the current input to the telescopic proportional valve is greater than a maximum current corresponding to the current ambient temperature determined according to the second correspondence relationship, only the negative value is used in the proportional differential integral control algorithm The difference is calculated by integrating; if the current input to the telescopic proportional valve is less than the minimum current corresponding to the current ambient temperature determined according to the third correspondence, then only the proportional differential integral control algorithm is The difference of the positive values is integrated; wherein
所述第二对应关系是环境温度与向所述伸缩比例阀输入的最大电流之间的 对应关系； 所述第三对应关系是环境温度与向所述伸缩比例阀输入的最小电流 之间的对应关系。 根据权利要求 5， 6或 7所述的控制装置， 其特征在于， 还包括计算设备， 用于 在所述吊臂开始进行伸缩动作之前， 根据所述吊臂的目的状态、 当前状态和所 述伸缩油缸的长度检测值确定所述预设的所述油缸的伸缩速度。 一种工程机械， 具有吊臂， 其特征在于， 所述工程机械还具有权利要求 5至 8 中任一项所述的控制装置。 根据权利要求 9所述的工程机械， 其特征在于， 所述吊臂为单缸插销式吊臂。
The second correspondence relationship is a correspondence between an ambient temperature and a maximum current input to the telescopic proportional valve; the third correspondence is a correspondence between an ambient temperature and a minimum current input to the telescopic proportional valve relationship. The control device according to claim 5, 6 or 7, further comprising: calculating means for: according to the target state, the current state and the said arm of the boom before the boom begins to perform the telescopic action The length detection value of the telescopic cylinder determines the speed of expansion and contraction of the preset cylinder. A construction machine having a boom, characterized in that the construction machine further has the control device according to any one of claims 5 to 8. The construction machine according to claim 9, wherein the boom is a single cylinder plug type boom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2011/080386 WO2013044487A1 (en) | 2011-09-29 | 2011-09-29 | Control method and control apparatus for telescoping of boom and engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2011/080386 WO2013044487A1 (en) | 2011-09-29 | 2011-09-29 | Control method and control apparatus for telescoping of boom and engineering machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2013044487A1 true WO2013044487A1 (en) | 2013-04-04 |
Family
ID=47994153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2011/080386 WO2013044487A1 (en) | 2011-09-29 | 2011-09-29 | Control method and control apparatus for telescoping of boom and engineering machinery |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2013044487A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103879907A (en) * | 2014-02-25 | 2014-06-25 | 中联重科股份有限公司 | Control method and system of single cylinder bolt telescoping mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3913516A1 (en) * | 1989-04-25 | 1990-10-31 | Century Ii Gmbh Mobilkrane | Arrangement for controlling a telescopic jib crane |
| CN1152541A (en) * | 1995-10-06 | 1997-06-25 | 基德工业有限公司(美国) | Electric hydrolic operation system capable of telescoping crane arm |
| JP2004091142A (en) * | 2002-08-30 | 2004-03-25 | Kobelco Contstruction Machinery Ltd | Crane |
| CN101792092A (en) * | 2009-01-21 | 2010-08-04 | 曼尼托沃克起重机有限责任公司 | Hydraulic system thermal contraction compensation apparatus and method |
| CN102431911A (en) * | 2011-09-29 | 2012-05-02 | 中联重科股份有限公司 | Suspension arm telescopic action control method, device and engineering machinery |
-
2011
- 2011-09-29 WO PCT/CN2011/080386 patent/WO2013044487A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3913516A1 (en) * | 1989-04-25 | 1990-10-31 | Century Ii Gmbh Mobilkrane | Arrangement for controlling a telescopic jib crane |
| CN1152541A (en) * | 1995-10-06 | 1997-06-25 | 基德工业有限公司(美国) | Electric hydrolic operation system capable of telescoping crane arm |
| JP2004091142A (en) * | 2002-08-30 | 2004-03-25 | Kobelco Contstruction Machinery Ltd | Crane |
| CN101792092A (en) * | 2009-01-21 | 2010-08-04 | 曼尼托沃克起重机有限责任公司 | Hydraulic system thermal contraction compensation apparatus and method |
| CN102431911A (en) * | 2011-09-29 | 2012-05-02 | 中联重科股份有限公司 | Suspension arm telescopic action control method, device and engineering machinery |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103879907A (en) * | 2014-02-25 | 2014-06-25 | 中联重科股份有限公司 | Control method and system of single cylinder bolt telescoping mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102431911B (en) | Suspension arm telescopic action control method, device and engineering machinery | |
| CN107084124B (en) | A kind of frequency limit control method and system for frequency-changeable compressor | |
| CN103296940B (en) | Self-adaptive PI (proportional-integral) control method and self-adaptive PI control system | |
| CN110147039B (en) | Hydraulic servo system and control device thereof | |
| WO2008050595A1 (en) | Pump off control method for pump jack and pump jack control device | |
| JPWO2016056142A1 (en) | Electric motor control device | |
| US10416612B2 (en) | Control device and method for tuning a servo motor | |
| WO2013044487A1 (en) | Control method and control apparatus for telescoping of boom and engineering machinery | |
| CN115145761A (en) | Chip frequency control method and device, block chain server and storage medium | |
| KR20120016213A (en) | Command generation device | |
| CN113374001B (en) | Excavator rotating speed control method and device | |
| WO2014175628A1 (en) | Servo motor controller and control method therefor | |
| CN105159080A (en) | Variable optical attenuator control method and system based on automatic calibration and intelligent learning | |
| JP2011202553A (en) | Feedback control device | |
| WO2024087508A1 (en) | Hydraulic system control method and apparatus, and petroleum machinery | |
| US20200192326A1 (en) | Automatic evaluation of a machine behaviour | |
| JP6290602B2 (en) | Hydraulic control device | |
| CN110868109B (en) | Motor control method and device, storage medium and robot thereof | |
| CN109236806B (en) | Control system and method for telescopic oil cylinder and engineering machinery | |
| KR101094988B1 (en) | Anti-windup pid controller | |
| US9798296B2 (en) | Method for controlling inverter | |
| JP2008022598A (en) | Digital water power generation control device | |
| US20170212497A1 (en) | Automatic control device | |
| JP6740937B2 (en) | Intelligent power module for motor controller | |
| CN113062890B (en) | Method for controlling operation of leg of work vehicle and work vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 11873302 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 11873302 Country of ref document: EP Kind code of ref document: A1 |