CN110077998B - Position and speed control method and system for working column of aerial working platform - Google Patents

Position and speed control method and system for working column of aerial working platform Download PDF

Info

Publication number
CN110077998B
CN110077998B CN201810081109.0A CN201810081109A CN110077998B CN 110077998 B CN110077998 B CN 110077998B CN 201810081109 A CN201810081109 A CN 201810081109A CN 110077998 B CN110077998 B CN 110077998B
Authority
CN
China
Prior art keywords
angle
buffer
buffer zone
arm support
omega
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810081109.0A
Other languages
Chinese (zh)
Other versions
CN110077998A (en
Inventor
刘国良
邹俊辉
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Sinoboom Intelligent Equipment Co Ltd
Original Assignee
Hunan Sinoboom Intelligent Equipment Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hunan Sinoboom Intelligent Equipment Co Ltd filed Critical Hunan Sinoboom Intelligent Equipment Co Ltd
Priority to CN201810081109.0A priority Critical patent/CN110077998B/en
Publication of CN110077998A publication Critical patent/CN110077998A/en
Application granted granted Critical
Publication of CN110077998B publication Critical patent/CN110077998B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F13/00—Common constructional features or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention discloses a position and speed control method and a system for a working column of an aerial work platform1Amplitude variation motion; the cantilever crane moves in a buffer zone in a variable amplitude manner at a second angular velocity omega, wherein the second angular velocity omega is gradually reduced along with the increase of the entering amount of the cantilever crane entering the buffer zone, and the second angular velocity omega in the buffer zone is gradually changed along with the entering amount of the buffer zone, so that the angular velocity control of different positions of the working boom can be realized under the condition of not increasing the cost, the in-place buffering impact of the working boom is reduced to the minimum, the linear velocity of the variable amplitude is controlled within a standard range, the action time of the full stroke is reduced, and the working efficiency and the operation comfort are greatly improved.

Description

Position and speed control method and system for working column of aerial working platform
Technical Field
The invention relates to the field of aerial work platforms, in particular to a position and speed control method and a system for an aerial work platform working column.
Background
When the high-altitude operation platform arm support is extended to work, the position state of the working column, including the amplitude and the telescopic speed of the working column, needs to be monitored in real time within a safe operation range for the stability and the non-tipping of the whole vehicle and the comfort of operation. When the arm support is in the minimum angle or the maximum angle range, or the arm support is in the full-contraction or full-extension range, the speed of the working column is limited to a certain extent. Referring to fig. 1, two angle buffers (α, β) and a protrusion length buffer L (between the curves λ 2 and λ 3 shown in fig. 1) are provided using the existing length and angle sensors on the boom. When the working column is located in the angle buffer area (alpha, beta), the working column speed is changed from the normal angular speed omega1Down to speed omega3Or ω4Running; when the working column is located in the length buffer L, the angular velocity of the working column is changed from the normal angular velocity omega1Down to speed omega2And (5) operating. Referring to FIG. 1, the angular velocity of the region surrounded by four points ABCD is ω1Wherein ω is1≥ω2，ω1≥ω3，ω1≥ω4。
In the prior art, even if the angular speed is reduced in the two angle buffer areas to limit the speed of the working column, the angular speed is rapidly changed when the working column enters the buffer areas, so that the in-place impact of the working column is still large, the angular speed adjustment does not consider the telescopic quantity of the arm support, and the speed in the length buffer area L is also instantaneously changed, so that the linear speed of the working column exceeds the standard range and is inconvenient to adjust even if the angular speed in the buffer areas meets the standard range.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a position and speed control method and a position and speed control system for a high-altitude operation platform working column, which can reduce the in-place buffering impact of the working column to the minimum, control the amplitude linear speed within a standard range, facilitate the adjustment of the working column and the amplitude linear speed, reduce the action time of the full stroke, and improve the working efficiency and the operation comfort.
The technical scheme adopted by the invention for solving the problems is as follows:
a position and speed control method for a working column of an aerial work platform comprises the following steps:
the arm is outside the buffer zone at a first angular velocity omega1Amplitude variation motion;
the cantilever crane moves in the buffer area in a variable amplitude manner at a second angular velocity omega, wherein the second angular velocity omega is gradually reduced along with the increase of the entering amount of the cantilever crane entering the buffer area.
Further, the second angular velocity ω is proportional to a buffer coefficient K, and the buffer coefficient K gradually decreases as the entering amount of the boom into the buffer area increases.
Further, the buffer area comprises an angle buffer area, the angle buffer area comprises an angle buffer area limit, and the arm support is at a first angular speed ω1And entering or leaving the limit of the angle buffer zone, wherein the entering amount is an included angle phi between the arm support and the limit of the angle buffer zone in the angle buffer zone, the second angular speed omega is in direct proportion to a buffer coefficient K1, and the buffer coefficient K1 is gradually reduced along with the increase of the phi.
Preferably, the included angle of the angle buffer area is θ, and the second angular velocity ω of the arm support in the angle buffer area is K1 ω1Where K1 is 1- (1-R) phi/theta, and R is adjustable bufferTarget coefficient, R ∈ (0, 1)]。
The angle buffer zone is arranged at the upper part of the upper amplitude variation path and/or the lower part of the lower amplitude variation path of the arm support.
The cantilever crane luffing mechanism comprises a first angle buffer area arranged at the lower part of a luffing path of the cantilever crane and a second angle buffer area arranged at the upper part of a luffing path of the cantilever crane, wherein the included angle of the first angle buffer area is alpha, the included angle of the second angle buffer area is beta, and the second angular speed omega of the cantilever crane in the angle buffer area is K1 omega1When the arm support moves up and down in the first angle buffer zone, K1 is 1- (1-R) phi/alpha, when the arm support moves up and down in the first angle buffer zone, K1 is 1, and when the arm support moves up and down in the second angle buffer zone, K1 is 1- (1-R) phi/beta.
Further, the buffer area comprises an extension buffer area, when the arm support is located in the extension buffer area, the arm support moves in an amplitude-variable mode at a second angular speed omega, and when the telescopic length of the arm support is located outside the arm support extension buffer area, the arm support moves in a first angular speed omega1And (3) amplitude variation movement, wherein the entering amount is the length L of the part of the arm support entering the elongation buffer area, the second angular speed omega is in direct proportion to a buffer coefficient K2, and the buffer coefficient K2 is gradually reduced along with the increase of L.
Preferably, the total length of the extension buffer area is L', and the second angular velocity ω of the arm support in the extension buffer area is K2 ω1Wherein, in the step (A),
k2 ═ 1- (1-R '), (L × cos γ)/(L' × cos γ), R 'is the adjustable damping target coefficient, R' is the (0, 1) and γ is the actual boom angle value.
Further, the buffer area comprises an angle buffer area and an elongation buffer area, when the arm support is positioned in the angle buffer area and/or the elongation buffer area, the arm support moves in an amplitude-variable mode at a second angular speed omega, the angle buffer area comprises an angle buffer area limit, and the arm support moves at a first angular speed omega1Entering or leaving the boundary of the angle buffer zone, wherein the entering amount comprises an included angle phi between the arm support and the boundary of the angle buffer zone in the angle buffer zone and the length L of the arm support entering the elongation buffer zone, and the second angular speed omega is proportional to the buffer coefficient K1 and the buffer coefficient K2, wherein the buffer coefficient K1 and the buffer coefficient K2 are respectively proportional to the length L of the arm supportThe impact coefficient K1 gradually decreases with increasing phi, and the buffer coefficient K2 gradually decreases with increasing L.
Preferably, ω ═ K1K2 ω1Wherein, in the step (A),
k1 is 1- (1-R) phi/theta, R is an adjustable buffer target coefficient, R belongs to (0, 1), and theta is an included angle of the angle buffer area;
k2 is 1- (1-R ') (L.times.cos gamma)/(L'. times.s gamma), R 'is an adjustable buffer target coefficient, R' belongs to (0, 1), and gamma is an actual boom angle value;
the angle buffer zone comprises a first angle buffer zone arranged at the lower part of the arm support lower amplitude variation path and a second angle buffer zone arranged at the upper part of the arm support upper amplitude variation path, the included angle of the first angle buffer zone is alpha, and the included angle of the second angle buffer zone is beta;
K1K2 ω1Wherein, in the step (A),
k2 ═ 1- (1-R '), (L × cos γ)/(L' × cos γ), R 'is the adjustable damping target coefficient, R' is the (0, 1) and γ is the actual boom angle value.
When the arm support moves in a downward amplitude mode in the first angle buffer area, K1 is 1- (1-R) phi/alpha, when the arm support moves in the upward amplitude mode in the first angle buffer area, K1 is 1, when the arm support moves in the upward amplitude mode or in the downward amplitude mode in the second angle buffer area, K1 is 1- (1-R) phi/beta, R is an adjustable buffering target coefficient, and R belongs to (0, 1).
Further, the first angular velocity ω1And the second angular velocity ω is controlled by the controller output current value.
A high-altitude operation platform work column position speed control system comprises:
a first speed control program module for controlling the arm frame to rotate at a first angular speed omega outside the buffer zone1Amplitude variation motion;
and the second speed control program module is used for controlling the arm support to move in a variable amplitude manner at a second angular speed omega in the buffer area, wherein the second angular speed omega is gradually reduced along with the increase of the entering amount of the arm support entering the buffer area part.
The invention has the beneficial effects that:
according to the position and speed control method for the working column of the aerial work platform, the arm support is arranged outside the buffer area at the first angular speed omega1Amplitude variation motion; the cantilever crane moves in a buffer zone in a variable amplitude manner at a second angular velocity omega, wherein the second angular velocity omega is gradually reduced along with the increase of the entering amount of the cantilever crane entering the buffer zone, and the second angular velocity omega in the buffer zone is gradually changed along with the entering amount of the buffer zone, so that the angular velocity control of different positions of the working boom can be realized under the condition of not increasing the cost, the in-place buffering impact of the working boom is reduced to the minimum, the linear velocity of the variable amplitude is controlled within a standard range, the action time of the full stroke is reduced, and the working efficiency and the operation comfort are greatly improved.
The invention adopts a position speed control system of a working column of an aerial work platform, which controls the jib outside a buffer zone at a first angular speed omega through a first speed control program module1Amplitude variation motion; the boom is controlled to move in a variable amplitude manner at a second angular velocity omega in the buffer zone through the second velocity control program module, wherein the second angular velocity omega is gradually reduced along with the increase of the entering amount of the boom into the buffer zone, and the second angular velocity omega in the buffer zone is gradually changed along with the entering amount of the buffer zone, so that the angular velocity control of different positions of the working boom can be realized under the condition of not increasing the cost, the in-place buffering impact of the working boom is reduced to the minimum, the linear velocity of the variable amplitude is controlled in a standard range, the action time of the full stroke is reduced, and the working efficiency and the operation comfort are greatly improved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a prior art arrangement for controlling the position and speed of a work bar;
FIG. 2 is a flow chart of a control method of the present invention;
FIG. 3 is a schematic diagram of the structure and control of the variable amplitude velocity control of the working boom of the present invention;
FIG. 4 is a schematic illustration of the structure and control of the variable amplitude velocity control of the working boom in an embodiment of the present invention;
FIG. 5 is a block diagram of the system for controlling the position and speed of the working column of the aerial work platform according to the present invention.
Detailed Description
The aerial work platform shown by the reference figure 3 comprises a rotary table 1, an arm support 2 and a working column 3, wherein one end of the arm support 2 is hinged to the working column 3, the other end of the arm support is hinged to the rotary table 1, the arm support is controlled by a hydraulic rod 4, when the hydraulic rod 4 extends, the arm support 2 is controlled to drive the working column 3 to move in an up-amplitude mode, when the hydraulic rod 4 retracts, the arm support 2 is controlled to drive the working column 3 to move in an down-amplitude mode, in addition, the length of the arm support 2 can be extended or shortened through a telescopic mechanism, and therefore the arm support can stretch out and draw back simultaneously when moving. The angle between the arm support and the horizontal plane is detected through the angle sensor arranged on the arm support 2, the telescopic length of the arm support is detected through the length sensor, the structure is the prior art, and the detailed description is omitted.
Referring to fig. 2, the position and speed control method for the working column of the aerial work platform comprises the following steps:
the arm is outside the buffer zone at a first angular velocity omega1Amplitude variation motion;
the cantilever crane moves in the buffer area in a variable amplitude manner at a second angular velocity omega, wherein the second angular velocity omega is gradually reduced along with the increase of the entering amount of the cantilever crane entering the buffer area. The entry amount indicates the degree of the boom entering the buffer area, for example, the buffer area includes an angle range, the entry amount indicates how much the boom enters the angle range, the greater the angle of the entry angle range is, the greater the entry amount is, if the buffer area is a length range, the entry amount indicates how much the boom enters the length range, and the longer the length of the entry buffer area is, the greater the entry amount is. By analogy, other ranges of buffers may also be provided, such as height buffers, distance buffers, and the like.
According to the invention, the second angular velocity omega in the buffer zone is gradually changed along with the entering amount of the buffer zone, so that the angular velocity control of different positions of the working column can be realized under the condition of not increasing the cost, the in-place buffering impact of the working column is reduced to the minimum, the amplitude-variable linear velocity is controlled in a standard range, the action time of the full stroke is reduced, and the working efficiency and the operation comfort are greatly improved.
Further, in order to conveniently control the second angular velocity ω, a buffer coefficient K is introduced, the second angular velocity ω is in direct proportion to the buffer coefficient K, the buffer coefficient K is gradually reduced along with the increase of the entering amount of the cantilever crane entering the buffer area, and the second angular velocity ω can be automatically controlled by controlling the buffer coefficient K, so that the control mode is simplified, and the operation efficiency is improved. The buffer coefficient K is composed of one or more buffer coefficients corresponding to different ranges, including a buffer coefficient K1 corresponding to an angle range and a buffer coefficient K2 corresponding to a length range.
Referring to fig. 3, the arm support moves in a variable amplitude within a certain angle range, when the arm support moves to the highest position, the maximum value of the upper variable amplitude is 75 degrees, and when the arm support moves to the lowest position, the minimum value of the lower variable amplitude is-12 degrees. Setting a buffer zone within the variable amplitude angle range of the arm support, wherein the buffer zone comprises an angle buffer zone with a certain angle range, the angle buffer zone comprises an angle buffer zone limit which the arm support must pass when entering, and the arm support is at a first angular speed omega1Entering or leaving the boundary of the angle buffer zone, wherein the entering amount is an included angle phi between the arm support and the boundary of the angle buffer zone in the angle buffer zone, a straight line X shown in FIG. 3 represents the boundary of the angle buffer zone, a dotted line Y represents the position of the arm support in the angle buffer zone, the included angle between the dotted line Y and the straight line X is phi, the phi is larger, the entering amount of phi entering the angle buffer zone is larger, the second angular speed omega is proportional to the buffer coefficient K1, and the buffer coefficient K1 is gradually reduced along with the increase of phi.
Namely, as the angle phi of the arm support in the angle buffer area is gradually increased, the buffer coefficient K1 is reduced, and the second angular velocity omega is reduced; when the arm support enters the angle buffer area, the second angular velocity omega is gradually reduced to a designated value, and conversely, when the arm support leaves the buffer area from the angle buffer area, the second angular velocity omega is gradually increased to omega1Thereby reducing the in-place buffer impact of the working column to the minimum.
Wherein the K1 is a gradual change, and a uniform deceleration or other deceleration modes can be adoptedIn the present embodiment, in order to realize a smooth transition at the time of the damping, the second angular velocity ω is K1 ω1Wherein K1 is 1- (1-R) phi/theta, theta is the included angle of the angle buffer zone, R is the adjustable buffer target coefficient, and R belongs to (0, 1)]When the arm support enters the angle buffer area, phi is continuously increased from 0 until the included angle theta between phi and the angle buffer area is equal, and then K1 is equal to the set adjustable buffer target coefficient R, and omega is equal to R omega1，When the arm support reversely leaves the angle buffer area, phi is gradually reduced to 0, and then K1 is equal to 1, and omega is equal to omega1Finally at the first angular velocity ω1Moving outside the buffer zone.
In general, the angle buffer area is disposed at the upper part of the boom upper luffing path and/or the lower part of the boom lower luffing path, and as shown in fig. 4, the angle buffer area includes a first angle buffer area disposed at the lower part of the boom lower luffing path and a second angle buffer area disposed at the upper part of the boom upper luffing path, where an included angle of the first angle buffer area is α, and an included angle of the second angle buffer area is β.
A second angular velocity ω K1 ω of the arm in the angular buffer1When the arm support moves in a downward amplitude manner in the first angle buffer area, Kdawn 1 is K1 ═ 1- (1-R) phi/alpha, when the arm support moves in an upward amplitude manner in the first angle buffer area, no buffering is needed, when Kup1 is K1 ═ 1, when the arm support moves in an upward amplitude manner in the second angle buffer area, Kup1 is K1 ═ 1- (1-R) phi/beta, when the arm support moves in a downward amplitude manner in the second angle buffer area, Kdawn 1 is K1 ═ 1- (1-R) phi/beta, wherein R is an adjustable buffering target coefficient, and R is (0, 1)]Different adjustable buffer target coefficient R values can be set for different angle buffer zones or motion directions.
Specifically, in the actual measurement, the actual boom angle value γ can be measured by the angle sensor, and the angle of the lower to-reach buffering limit for the first angle buffer zone is γ 1, and the angle of the upper to-reach buffering limit for the second angle buffer zone is γ 2.
Therefore, the above formula can be converted into that, when the boom moves in a variable amplitude manner under the first angular buffer zone, Kdown1 ═ K1 ═ 1- (1-R1) × (γ 1- γ)/α. When the arm support completely passes through the first cornerAfter the buffer zone γ 1- γ ═ α, ω ═ ω3＝R1ω1，ω3≤ω1，ω3Is a deceleration target value omega of the amplitude of the boom3Adjusted by an adjustable buffer target coefficient R1.
When the arm support moves in a variable amplitude manner on the second angle buffer zone, Kup 1-K1-1- (1-R2) x (gamma-gamma 2)/beta, and after the arm support completely passes through the second angle buffer zone, gamma-gamma 2-beta, wherein omega is omega, omega4＝Rω1，ω4≤ω1，ω4Is a deceleration target value, omega, of the amplitude variation of the arm support4Adjusted by an adjustable buffer target coefficient R2.
Similarly, when the arm support moves in a luffing mode under the second angle buffer zone, Kdawn 1 is K1 is 1- (1-R2) h (gamma-gamma 2)/beta. The arm frame is composed of omega in the second angle buffer zone3Accelerate to omega1The damping target coefficient R2 is set to be the same as that at the time of entry.
When the arm support is positioned outside the first angle buffer area and the second angle buffer area, Kup1 is 1, Kwon 1 is 1, and then omega is omega1。
The above is only one embodiment of the present invention, and the present invention may be provided with one or more angle buffers as needed.
Referring to fig. 3, the boom is extended and contracted within a certain length range, an extension buffer area is arranged within the length extension range of the boom, when the boom is in the extension buffer area, the boom moves in an amplitude-variable manner at a second angular velocity ω, and when the extension length of the boom is outside the extension buffer area, the boom moves at a first angular velocity ω1And (3) amplitude variation movement, wherein the entering amount is the length L of the part of the arm support entering the elongation buffer area, the second angular speed omega is in direct proportion to a buffer coefficient K2, and the buffer coefficient K2 is gradually reduced along with the increase of L. That is, as the length L of the part of the arm support entering the elongation buffer area is gradually increased, the buffer coefficient K2 is reduced, and the second angular velocity ω is reduced. When the arm support is extended to the maximum value, the second angular velocity omega is gradually reduced to a specified value omega2Thereby reducing the in-place buffer impact of the working column to the minimum.
Wherein the K2 is changed in a gradual change manner, and can be uniformIn the embodiment, the total length of the extension buffer area is L', and a second angular velocity ω of the arm support in the extension buffer area is K2 ω1Wherein, in the step (A),
k2 ═ 1- (1-R '), (L × cos γ)/(L' × cos γ), R 'is the adjustable damping target coefficient, R' is the (0, 1) and γ is the actual boom angle value.
Specifically, referring to fig. 4, in the actual measurement, an actual boom angle value γ may be measured by an angle sensor, a length sensor detects an actual extension length Lsc of the current boom, L1 is a boom storage state length, L2 is a length obtained by subtracting L1 from a maximum operation limit, and therefore,
when the arm support is in the extension buffer zone, the buffer coefficient of the amplitude variation motion
Kdawn 2 is K2 is 1- (1-R3) h (Lsc-L1) h cos gamma/(L2 h cos gamma), wherein R3 is an adjustable buffer target coefficient during amplitude-descending movement, and R3 belongs to (0, 1).
Buffer coefficient of upward amplitude variation motion when arm support is in extension buffer zone
Kup 2K 2K 1- (1-R4) h (Lsc-L1) h cos gamma/(L2 h cos gamma), wherein R4 is the adjustable damping target coefficient in the process of amplitude-up motion, and R4 epsilon (0, 1).
In summary, in the two cases, the arm support can be simultaneously located in the angle buffer area and the extension buffer area, as shown in fig. 4, the present invention is provided with a first angle buffer area, a second angle buffer area and an extension buffer area, four ABCD points shown in fig. 4 form an area outside the buffer area, and the arm support is in the area at a first angular velocity ω1Motion, also denoted as ω ═ K ω1When the arm support moves in a variable amplitude mode in the ABCD area, K is 1.
When the boom moves in the first angle buffer area, the second angle buffer area, or the extension buffer area, the boom moves at the second angular velocity ω, and the velocity coefficients in the angle buffer area and the extension buffer area need to be considered together, where K is K1K2 in this embodiment, but different combination modes may also be considered according to actual needs, for example, K is K1(K2/2), K is K1+ K2, and the like.
In the present embodiment, the second angular velocity ω is K1K2 ω1Wherein when the arm support moves in an upward amplitude, Kup1 and Kup2 are combined to form a total velocity coefficient of Kup, namely, the total velocity coefficient is equal to the angular velocity omega1Kup operation; when the arm support moves in a descending amplitude mode, Kdawn 1 and Kdawn 2 are combined to form a total velocity coefficient Kdawn, namely, the total velocity coefficient is formed by the angular velocity omega as omega1Kwon operation, wherein the values and specific calculation formulas of Kup1, Kup2, Kwon 1 and Kwon 2 refer to the description in the above embodiments, and are not repeated.
In the present invention, ω is1、ω2、ω3、ω4And the second angular velocity omega is controlled by the current value output by the controller, the corresponding current values are I1, I2, I3 and I4, the controller outputs current values for controlling the elongation of the hydraulic rod, and therefore the amplitude angle and the amplitude motion angular velocity of the arm support are controlled.
The invention utilizes the existing length and angle sensors to realize the control of the angular speed of different positions of the working column under the condition of not increasing the cost. The impact of the in-place buffer of the working column is reduced to the minimum, the amplitude linear velocity is controlled within the standard range, the two are convenient to adjust, the action time of the full stroke is shortened, and the working efficiency and the operation comfort are improved.
Referring to fig. 5, the present invention provides a system for controlling the position and speed of a working column of an aerial work platform, comprising:
a first speed control program module for controlling the arm frame to rotate at a first angular speed omega outside the buffer zone1Amplitude variation motion;
and the second speed control program module is used for controlling the arm support to move in a variable amplitude manner at a second angular speed omega in the buffer area, wherein the second angular speed omega is gradually reduced along with the increase of the entering amount of the arm support entering the buffer area part.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the illustrated arm support is only a structural form conforming to the algorithm of the patent, and all the arm support should fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means, and any other modifications that can utilize the principle of the algorithm without creative efforts should fall within the protection scope of the present invention.

Claims (8)

1. A position and speed control method for a working column of an aerial work platform is characterized by comprising the following steps:
the arm is outside the buffer zone at a first angular velocity omega1Amplitude variation motion;
the cantilever crane moves in a buffer zone in a variable amplitude mode at a second angular velocity omega, wherein the second angular velocity omega is gradually reduced along with the increase of the entering amount of the cantilever crane entering the buffer zone; the second angular velocity omega is in direct proportion to a buffer coefficient K, and the buffer coefficient K is gradually reduced along with the increase of the entering amount of the arm support entering a buffer area; the buffer zone comprises an angle buffer zone, the angle buffer zone comprises an angle buffer zone boundary, and the arm support is at a first angular speed omega1And entering or leaving the limit of the angle buffer zone, wherein the entering amount is an included angle phi between the arm support and the limit of the angle buffer zone in the angle buffer zone, the second angular speed omega is in direct proportion to a buffer coefficient K1, and the buffer coefficient K1 is gradually reduced along with the increase of the phi.
2. The position and speed control method for the working column of the aerial work platform as claimed in claim 1, wherein the method comprises the following steps: the included angle of the angle buffer area is theta, and the second angular speed omega of the arm support in the angle buffer area is K1 omega1Wherein K1 is 1- (1-R) phi/theta, R is an adjustable buffer target coefficient, and R is an element (0, 1)]。
3. The position and speed control method for the working column of the aerial work platform as claimed in claim 1, wherein the method comprises the following steps: the angle buffer zone is arranged at the upper part of the upper amplitude variation path and/or the lower part of the lower amplitude variation path of the arm support; the variable-amplitude cantilever crane angle buffer device comprises a first angle buffer area arranged at the lower part of a variable-amplitude path under the cantilever crane and a second angle buffer area arranged at the upper part of a variable-amplitude path on the cantilever crane, wherein the included angle of the first angle buffer area is alpha, the included angle of the second angle buffer area is beta, and the second angular speed omega of the cantilever crane in the angle buffer area is K1 omega1When the arm support moves in the first angle buffer zone in a downward amplitude mode, K1 is 1- (1-R) phi/alpha, when the arm support moves in the first angle buffer zone in an upward amplitude mode,k1 is 1, and K1 is 1- (1-R) phi/beta when the boom moves up or down in the second angular buffer zone.
4. The position and speed control method for the working column of the aerial work platform as claimed in any one of claims 1 to 3, wherein: the buffer zone comprises an extension buffer zone, when the arm support is positioned in the extension buffer zone, the arm support moves in an amplitude-variable mode at a second angular speed omega, and when the telescopic length of the arm support is positioned outside the arm support extension buffer zone, the arm support moves in a first angular speed omega1And (3) amplitude variation movement, wherein the entering amount is the length L of the part of the arm support entering the elongation buffer area, the second angular speed omega is in direct proportion to a buffer coefficient K2, and the buffer coefficient K2 is gradually reduced along with the increase of L.
5. The position and speed control method for the working column of the aerial work platform as claimed in claim 4, wherein the method comprises the following steps: the total length of the extension buffer area is L', and a second angular speed omega of the arm support in the extension buffer area is K2 omega1Wherein, in the step (A),
k2 ═ 1- (1-R ') (L × cos γ)/(L' × cos γ), R 'is the adjustable damping target coefficient, R' is the (0, 1) and γ is the actual boom angle value.
6. The position and speed control method for the working column of the aerial work platform as claimed in claim 1, wherein the method comprises the following steps: the buffer zone comprises an angle buffer zone and an elongation buffer zone, when the arm support is positioned in the angle buffer zone and/or the elongation buffer zone, the arm support moves in an amplitude-variable mode at a second angular speed omega, the angle buffer zone comprises an angle buffer zone limit, and the arm support moves at a first angular speed omega1And the entering amount comprises an included angle phi of the arm support in the angle buffer zone and the angle buffer zone limit and the length L of the arm support entering the elongation buffer zone, and the second angular speed omega is proportional to a buffer coefficient K1 and a buffer coefficient K2, wherein the buffer coefficient K1 is gradually reduced along with the increase of phi, and the buffer coefficient K2 is gradually reduced along with the increase of L.
7. The method of claim 6The position and speed control method for the working column of the aerial work platform is characterized by comprising the following steps of: K1K2 ω1Wherein, in the step (A),
k1 is 1- (1-R) phi/theta, R is an adjustable buffer target coefficient, R belongs to (0, 1), and theta is an included angle of the angle buffer area;
k2 ═ 1- (1-R ') (L × cos γ)/(L' × cos γ), R 'is an adjustable buffer target coefficient, R' belongs to (0, 1), and γ is an actual boom angle value;
the angle buffer zone comprises a first angle buffer zone arranged at the lower part of the arm support lower amplitude variation path and a second angle buffer zone arranged at the upper part of the arm support upper amplitude variation path, the included angle of the first angle buffer zone is alpha, and the included angle of the second angle buffer zone is beta;
K1K2 ω1Wherein, in the step (A),
k2 ═ 1- (1-R ') (L × cos γ)/(L' × cos γ), R 'is an adjustable buffer target coefficient, R' belongs to (0, 1), and γ is an actual boom angle value;
when the arm support moves in the first angle buffer zone in a downward amplitude mode, K1 is 1- (1-R). phi./alpha, when the arm support moves in the first angle buffer zone in an upward amplitude mode, K1 is 1, when the arm support moves in the second angle buffer zone in an upward amplitude mode or in a downward amplitude mode, K1 is 1- (1-R). phi./beta, R is an adjustable buffering target coefficient, and R belongs to (0, 1).
8. An aerial work platform work column position velocity control system for performing an aerial work platform work column position velocity control method as claimed in any one of claims 1 to 7, comprising:
a first speed control program module for controlling the arm frame to rotate at a first angular speed omega outside the buffer zone1Amplitude variation motion;
and the second speed control program module is used for controlling the arm support to move in a variable amplitude manner at a second angular speed omega in the buffer area, wherein the second angular speed omega is gradually reduced along with the increase of the entering amount of the arm support entering the buffer area part.
CN201810081109.0A 2018-01-26 2018-01-26 Position and speed control method and system for working column of aerial working platform Active CN110077998B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810081109.0A CN110077998B (en) 2018-01-26 2018-01-26 Position and speed control method and system for working column of aerial working platform

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810081109.0A CN110077998B (en) 2018-01-26 2018-01-26 Position and speed control method and system for working column of aerial working platform

Publications (2)

Publication Number Publication Date
CN110077998A CN110077998A (en) 2019-08-02
CN110077998B true CN110077998B (en) 2020-11-13

Family

ID=67412773

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810081109.0A Active CN110077998B (en) 2018-01-26 2018-01-26 Position and speed control method and system for working column of aerial working platform

Country Status (1)

Country Link
CN (1) CN110077998B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113830685A (en) * 2021-10-12 2021-12-24 临工集团济南重机有限公司 Control method and control system for rotation speed of rotary table and aerial work platform

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2909084B1 (en) * 2006-11-29 2009-02-13 Haulotte Group Sa LIFT BOOM, CONTROL METHOD, AND RECORDING MEDIUM FOR SAID BOOM.
CN101615007A (en) * 2009-07-20 2009-12-30 中国电子科技集团公司第五十二研究所 A kind of intelligent controller of overhead working truck and control method thereof
CN205222614U (en) * 2015-12-30 2016-05-11 湖南星邦重工有限公司 Aerial working platform and fly jib thereof
CN107406240A (en) * 2015-03-19 2017-11-28 株式会社多田野 Revolving gear

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004001934A (en) * 2002-05-30 2004-01-08 Aichi Corp Safety device for crawler type high position working vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2909084B1 (en) * 2006-11-29 2009-02-13 Haulotte Group Sa LIFT BOOM, CONTROL METHOD, AND RECORDING MEDIUM FOR SAID BOOM.
CN101615007A (en) * 2009-07-20 2009-12-30 中国电子科技集团公司第五十二研究所 A kind of intelligent controller of overhead working truck and control method thereof
CN107406240A (en) * 2015-03-19 2017-11-28 株式会社多田野 Revolving gear
CN205222614U (en) * 2015-12-30 2016-05-11 湖南星邦重工有限公司 Aerial working platform and fly jib thereof

Also Published As

Publication number Publication date
CN110077998A (en) 2019-08-02

Similar Documents

Publication Publication Date Title
CN107013076B (en) A kind of communication steel tower with wind-shielding function
CN110077998B (en) Position and speed control method and system for working column of aerial working platform
CN103663143A (en) Hoisting anti-swing control equipment, method and system and engineering machinery
CN208544911U (en) A kind of tension rolling control system
CN103693595A (en) Control method, device and system for leveling workbench and engineering machinery
CN201891999U (en) Electrically controlled telescopic rocker
CN104390113A (en) Spatial sliding cable double-parallel cradle head with rough and fine position and attitude regulation function
CN109650303B (en) High-altitude operation mechanical arm descending control method and device and high-altitude operation mechanical arm
CN111506075A (en) AGV attitude adjusting method and system
JP5369618B2 (en) Damping method and apparatus for tower-like structure with moving object
CN210825309U (en) Working platform capable of moving along horizontal linear track
CN113401852B (en) Aerial working platform luffing stability control method
CN116946080A (en) Control system and control method for leveling off-vehicle support of working vehicle
CN208556699U (en) A kind of six-freedom worktable
CN114439805B (en) Leveling system, leveling method and engineering machinery
CN206082608U (en) Draw materials a mesa elevating gear and platform of drawing materials
CN108414148B (en) Optimal leveling algorithm for time with constant gravity center
CN107894783A (en) A kind of autobalance microscope carrier system
JP3929344B2 (en) Control device and control method of hybrid control servo press
CN207645659U (en) It spreads cloth and assists laying device
CN110298129B (en) Modeling method for telescopic vibration characteristic of straight-arm type aerial work platform arm support
CN109250632B (en) Linear motion mechanism and control method thereof
JP2847119B2 (en) crane
KR20180045549A (en) Method for reducing vabration of hydraulic lift
CN114439804A (en) Leveling system, leveling method and engineering machinery

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information

Address after: 410600 Jinzhou Avenue East 128, Ningxiang hi tech Industrial Park, Changsha, Hunan

Applicant after: Hunan Xingbang Intelligent Equipment Co.,Ltd.

Address before: 410600 Jinzhou Avenue East 128, Ningxiang hi tech Industrial Park, Changsha, Hunan

Applicant before: HUNAN SINOBOOM HEAVY INDUSTRY Co.,Ltd.

CB02 Change of applicant information
GR01 Patent grant
GR01 Patent grant
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: A position and speed control method of work bar of aerial work platform and its system

Effective date of registration: 20220112

Granted publication date: 20201113

Pledgee: Agricultural Bank of China Limited Ningxiang sub branch

Pledgor: Hunan Xingbang Intelligent Equipment Co.,Ltd.

Registration number: Y2022430000002

PE01 Entry into force of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20231110

Granted publication date: 20201113

Pledgee: Agricultural Bank of China Limited Ningxiang sub branch

Pledgor: Hunan Xingbang Intelligent Equipment Co.,Ltd.

Registration number: Y2022430000002

PC01 Cancellation of the registration of the contract for pledge of patent right