CN113321143B - Efficient object lifting method and system of tower crane - Google Patents
Efficient object lifting method and system of tower crane Download PDFInfo
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- CN113321143B CN113321143B CN202110515897.1A CN202110515897A CN113321143B CN 113321143 B CN113321143 B CN 113321143B CN 202110515897 A CN202110515897 A CN 202110515897A CN 113321143 B CN113321143 B CN 113321143B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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
- B66C23/84—Slewing gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- 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
- B66C23/82—Luffing gear
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- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to a high-efficiency object lifting method and system of a tower crane, and belongs to the field of tower cranes. The invention also provides a high-efficiency object lifting method of the tower crane, which is convenient to operate, wherein the rotation angle of the measuring device is calibrated with the zero position of the rotation angle of the tower crane; the amplitude and the lifting of the tower crane are both provided with a plurality of gears; operating the measuring device before lifting to enable the light beam of the infrared distance measuring instrument to be quickly aligned to the lifting ring of the lifted object; and the PLC calculates the three-gear amplitude variation. The system is reasonable, safe, reliable, convenient to operate and high in working efficiency, can accurately judge the speed reduction points of amplitude variation and lifting, enables the lifting hook to accurately and stably stop, improves the stability of the moving process of the lifting hook, avoids low working efficiency caused by the fact that a driver judges the position of the lifting ring of a lifted object and operates and adjusts the position of the lifting hook back and forth, is energy-saving and environment-friendly, and meets the use requirements.
Description
Technical Field
The invention relates to a method and a system, in particular to a method and a system for efficiently lifting objects by a tower crane, and belongs to the field of tower cranes.
Background
The existing tower crane system has no method for accurately calculating the early deceleration point of the amplitude and the hoisting mechanism, but stops amplitude and hoisting actions when the system is instantly stopped when the system reaches an approximate position by the experience of a driver, so that the system is not decelerated stably, the back-and-forth shaking of the lifting hook is severe, the shaking of the tower crane and the large-amplitude shaking of the lifting hook are caused, great potential safety hazards are increased, and the working efficiency is reduced; the motor power of the tower crane is very high, the optimal scheme display is increased, and the energy can be effectively saved on the premise of ensuring the efficiency; the system is designed.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides the efficient object lifting method and system of the tower crane, which are reasonable in system, safe, reliable, convenient to operate, high in working efficiency, energy-saving and environment-friendly.
The technical scheme adopted by the invention for solving the problems is as follows: the efficient object lifting method of the tower crane is characterized in that: the method comprises the following specific steps:
(1) calibrating the rotation angle of the measuring device and the zero position of the rotation angle of the tower crane: a rotation angle calibration confirmation key is additionally arranged on the display screen, the tower crane rotation handle and the operating rod of the measuring device are respectively operated to enable the suspension arm and the infrared distance meter to be on the same parallel line, and the rotation angle of the measuring device and the tower crane rotation angle are simultaneously displayed as 0, namely the same zero position when the confirmation key is pressed;
the height of the measuring device is calibrated with the height zero position of the tower crane: a height calibration confirmation key is additionally arranged on the display screen, the lifting motor of the tower crane is operated to enable the lifting hook to be tightly attached to the ground, an operation rod of the measuring device is operated to control the lifting of the screw rod to enable the light beam of the infrared distance measuring instrument to be aligned to the lifting hook, and the height calibration confirmation key is pressed, so that the height of the measuring device and the height of the tower crane are simultaneously displayed as 0, namely the same zero position;
calibrating the height of the measuring device and the amplitude zero position of the tower crane: an amplitude calibration confirmation key is added on the display screen, the tower crane luffing motor is operated to enable the luffing trolley to move to the inner limit position, the lifting motor is operated to enable the lifting hook to be close to the ground, the operation rod of the measuring device is operated to control the lifting of the screw rod to enable the light beam of the infrared distance meter to be aligned to the lifting hook, and the PLC records the zero difference value A of the measuring device and the tower crane amplitude at the moment when the amplitude calibration confirmation key is pressed;
(2) the tower crane has multiple gears for amplitude variation and lifting, which is defined as the tower crane with three gears, and the following customizations are calculated according to the characteristic experiments of the amplitude variation motor and the frequency converter, the lifting motor and the frequency converter and the transmission mechanism of the tower crane: the optimal stable acceleration and stopping stage time of the gears 0-1, 0-2 and 0-3 in amplitude is respectively S1, S2, S3, S4, S5 and S6, the displacement during acceleration and stopping is L1, L2, L3, L4, L5 and L6, and the time required by the displacement per meter of the three gears is respectively S7, S8 and S9;
the optimal stable acceleration and stop stage time of lifting 0-1, 0-2 and 0-3 gears is respectively S10, S20, S30 and S40, S50 and S60, the displacement during acceleration and stop is L10, L20, L30 and L40, L50 and L60, and the time required by the displacement per meter of the three gears is respectively S70, S80 and S90;
(3) operating the measuring device before lifting to enable the light beam of the infrared distance meter to be quickly aligned to a lifting ring of a lifted object, pressing a confirmation alignment key of the display screen at the moment, acquiring and storing a rotation angle value B, an amplitude value C and a height value D of the detecting device by the PLC, wherein the rotation angle B1, which is actually required to move by the tower crane, is = the current angle-rotation angle value B, the amplitude C1= C-A-the current amplitude value and the height D1= the current height-D;
(4) the PLC calculates the time S required by the amplitude variation of 1, 2 and 3 gears, S = (C-L-L/S) + S + S, the time S required by the lifting height of 1, 2 and 3 gears, D-L-L/S) + S + S, S = (D-L-L/S) + S + S, the PLC judges 1, when S < S, the PLC displays the amplitude variation of the optimal scheme 3 gears and the lifting 3 gears, 2, when S < S and S < =, the PLC displays the amplitude variation of the optimal scheme 2 gears, 3, when S < S and S < =, the PLC displays the amplitude variation of the optimal scheme 2 gears and the lifting 3, and when S < S and S < =, the PLC displays the optimal scheme 1, Lifting a 3-gear, 4, when S13> S16, if S13< S15, the display screen displays an optimal scheme amplitude-variation 3-gear and a lifting 3-gear, 5, when S13> S16 and S13> = S15, if S13< S14, the display screen displays an optimal scheme amplitude-variation 3-gear and a lifting 2-gear, 6, and when S13> S16, S13> S15 and S13> = S14, the display screen displays an optimal scheme amplitude-variation 3-gear and a lifting 1-gear;
(5) an automatic rotation key is added on the display screen, the PLC sends a command to the rotation frequency converter to enable the rotation motor to rotate until the rotation motor stops when the rotation angle reaches B1, meanwhile, a driver operates the amplitude variation handle and the lifting handle according to the optimal scheme displayed by the display screen, the optimal scheme is assumed to be amplitude variation three-gear and lifting 2-gear, when the amplitude variation reaches C1-L6, the PLC sends a command to the amplitude variation frequency converter to enable the amplitude variation motor to stably decelerate to stop, when the lifting reaches D1-L50, the PLC sends a command to the lifting frequency converter to enable the lifting motor to stably decelerate to stop, and at the moment, the lifting hook stably and accurately reaches the lifting ring of the lifted object.
The invention also provides a system of the efficient object lifting method of the tower crane, which comprises the existing programmable display screen, a PLC, a rotary motor, a rotary frequency converter, a rotary encoder, a variable-amplitude trolley motor, a variable-amplitude frequency converter, a variable-amplitude encoder, a lifting motor, a lifting frequency converter and a lifting encoder of the tower crane system, and is characterized in that: the measuring device comprises a tower crane standard knot, a lead screw motor, a standard knot connecting block, a lead screw motor, a lead screw, a ball nut, a small motor, a rotary platform and an infrared distance meter; the lead screw motor passes through lead screw motor and standard festival connecting block and connects in tower machine standard festival perpendicularly, and the rotation of this lead screw motor drives the lift of ball nut on the lead screw, and the small motor is connected with ball nut, and the rotation of this small motor drives rotary platform, infrared distance meter rotation.
Preferably, the screw motor is parallel to the standard joint of the tower crane and drives the ball nut to move up and down, and the small motor rotates parallel to the rotary platform.
Preferably, the small motor of the invention adopts a small stepping motor with a small encoder.
Compared with the prior art, the invention has the following advantages and effects: the whole system is reasonable, safe and reliable, convenient to operate, and can effectively save energy on the premise of ensuring efficiency, accurately calculate the advance deceleration point of the amplitude variation and the hoisting mechanism, and meet the use requirements.
Drawings
FIG. 1 is a schematic structural diagram of a measuring apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a tower crane according to an embodiment of the invention.
In the figure: a measuring device: the tower crane standard knot 1, lead screw motor and standard knot connecting block 2, lead screw motor 3, lead screw 4, ball nut 5, small motor 6, rotary platform 7, infrared distancer 8.
Detailed Description
The present invention will be described in further detail below by way of examples with reference to the accompanying drawings, which are illustrative of the present invention and are not to be construed as limiting the present invention.
Examples are given.
Referring to fig. 1 to 2, the measuring device mechanism of the embodiment comprises a tower crane standard knot 1, a lead screw motor and standard knot connecting block 2, a lead screw motor 3, a lead screw 4, a ball nut 5, a small motor 6, a rotary platform 7 and an infrared distance meter 8; the screw motor 3 is vertically connected to the tower crane standard knot 1 through the screw motor and the standard knot connecting block 2, the rotation of the screw motor 3 drives 5 the ball nut 5 to ascend and descend on the screw rod 4, the small motor 6 is connected with the ball nut 5, and the rotation of the small motor 6 which drives the rotation platform 7 also drives the infrared distance meter 8 to rotate.
The screw motor 3 of the embodiment drives the ball nut 5 to move up and down in parallel with the standard section 1 of the tower crane, and the small motor 6 rotates in parallel with the rotary platform 7.
The small motor 6 of the embodiment adopts a small stepping motor with a small encoder.
The efficient object lifting method and system of the tower crane in the embodiment specifically comprise the following steps:
(1) the system comprises the existing programmable display screen of the tower crane system, a PLC, a rotary motor, a rotary frequency converter, a rotary encoder, a trolley motor with variable amplitude, a variable amplitude frequency converter, a variable amplitude encoder, a lifting motor, a lifting frequency converter and a lifting encoder, wherein a set of device for measuring the position of a place where a lifting object is lifted is arranged on a standard section 1 of the tower crane is added, the device is called a measuring device for short, the measuring device comprises an infrared distance meter 8 and a small stepping motor with a small encoder, the small stepping motor rotates to drive the infrared distance meter 8 to rotate, a lead screw stepping motor with an encoder is connected with the small stepping motor with the infrared distance meter 8 through a connecting piece, a lead screw motor 3 drives a ball nut 5 to move up and down in parallel with the standard section 1 of the tower crane, the small stepping motor rotates in parallel with a rotary platform 7, the infrared distance meter, the two motors and the two encoders are both connected with the existing PLC of the tower crane, an operating rod is added in the cab and is connected with a PLC control small motor 6 and a screw rod motor 3;
(2) calibrating the rotation angle of the measuring device and the zero position of the rotation angle of the tower crane: a rotation angle calibration confirmation key is additionally arranged on the display screen, the tower crane rotation handle and the operation rod of the measuring device are respectively operated to enable the suspension arm and the beam of the infrared distance meter 8 to be on the same parallel line, and the rotation angle of the measuring device and the tower crane rotation angle are simultaneously displayed as 0, namely the same zero position when the confirmation key is pressed. The height of the measuring device is calibrated with the height zero position of the tower crane: the display screen is additionally provided with a height calibration confirmation key, the tower crane lifting motor is operated to enable the lifting hook to be tightly attached to the ground, the operation rod of the measurement device is operated to control the lifting of the screw rod to enable the light beam of the infrared distance meter 8 to be aligned to the lifting hook, and the height of the measurement device and the height of the tower crane are simultaneously displayed to be 0, namely the same zero position when the height calibration confirmation key is pressed. Calibrating the height of the measuring device and the amplitude zero position of the tower crane: an amplitude calibration confirmation key is added on the display screen, the tower crane luffing motor is operated to enable the luffing trolley to move to the inner limit position, the lifting motor is operated to enable the lifting hook to be close to the ground, the operation rod of the measuring device is operated to control the lifting of the screw rod to enable the light beam of the infrared distance meter 8 to be aligned to the lifting hook, and the PLC records the zero difference value A of the measuring device and the tower crane amplitude at the moment when the amplitude calibration confirmation key is pressed;
(3) the tower crane has multiple gears for amplitude variation and lifting, which is defined as the tower crane with three gears, and the following customizations are calculated according to the characteristic experiments of the amplitude variation motor and the frequency converter, the lifting motor and the frequency converter and the transmission mechanism of the tower crane: the optimal stable acceleration and stopping stage time of the gears 0-1, 0-2 and 0-3 in amplitude is respectively S1, S2, S3, S4, S5 and S6, the displacement during acceleration and stopping is L1, L2, L3, L4, L5 and L6, and the time required by the displacement per meter of the three gears is respectively S7, S8 and S9. The optimal stable acceleration and stop stage time of lifting 0-1, 0-2 and 0-3 gears is respectively S10, S20, S30 and S40, S50 and S60, the displacement during acceleration and stop is L10, L20, L30 and L40, L50 and L60, and the time required by the displacement per meter of the three gears is respectively S70, S80 and S90;
(4) operating the measuring device before lifting to enable the light beam of the infrared distance meter 8 to be quickly aligned to a lifting ring of a lifted object, pressing a confirmation alignment key of the display screen at the moment, acquiring and storing a rotation angle value B, an amplitude value C and a height value D of the detecting device by the PLC, wherein the rotation angle B1, which is actually required to move by the tower crane, is = the current angle-rotation angle value B, the amplitude C1= C-A-the current amplitude value and the height D1= the current height-D;
(5) the PLC calculates the time S required by the amplitude variation of 1, 2 and 3 gears, S = (C-L-L/S) + S + S, the time S required by the lifting height of 1, 2 and 3 gears, D-L-L/S) + S + S, S = (D-L-L/S) + S + S, the PLC judges 1, when S < S, the PLC displays the amplitude variation of the optimal scheme 3 gears and the lifting 3 gears, 2, when S < S and S < =, the PLC displays the amplitude variation of the optimal scheme 2 gears, 3, when S < S and S < =, the PLC displays the amplitude variation of the optimal scheme 2 gears and the lifting 3, and when S < S and S < =, the PLC displays the optimal scheme 1, Lifting 3 gear, 4, when S13> S16, if S13< S15, the display screen displays the optimal scheme amplitude-changing 3 gear and lifting 3 gear, 5, when S13> S16 and S13> = S15, if S13< S14, the display screen displays the optimal scheme amplitude-changing 3 gear and lifting 2 gear, 6, and when S13> S16, S13> S15 and S13> = S14, the display screen displays the optimal scheme amplitude-changing 3 gear and lifting 1 gear, the purpose of displaying the optimal scheme calculation result is that a driver can intuitively know gear selection of amplitude-changing and lifting on the premise of ensuring efficiency, and energy can be effectively saved;
(6) an automatic rotation key is added on the display screen (the existing tower crane only has two operating handles, so that the three actions of rotation, amplitude variation and lifting can only be completed at the same time, in order to improve the working efficiency, the automatic rotation function is added, the amplitude variation and lifting are simultaneously operated by using the left and right operating handles, so that a high-efficiency system with three actions simultaneously acts is realized), a PLC sends a command to a rotation frequency converter to enable a rotation motor to rotate until the rotation angle reaches B1, and then the rotation motor stops rotating, meanwhile, a driver operates the amplitude variation handle and the lifting handle according to the optimal scheme displayed by the display screen, supposing that the optimal scheme is amplitude variation three-gear and lifting 2-gear, when the amplitude reaches C1-L6, the PLC sends a command to the amplitude transformer to enable the amplitude transformer to smoothly decelerate the amplitude motor to stop, when the lifting reaches D1-L50, the PLC sends a command to the lifting frequency converter to enable the lifting motor to stably decelerate to stop, and at the moment, the lifting hook stably and accurately reaches the lifting ring of the lifted object.
The system is characterized in that a set of device which is arranged on a standard section 1 of the tower crane and used for measuring the position of a hanging object is added in the existing tower crane system and is connected with a PLC of the tower crane, and the PLC can accurately control and acquire rotation, amplitude and height data;
the embodiment increases the optimal scheme display, and can effectively save energy on the premise of ensuring the efficiency.
The system can accurately judge the speed reduction point of amplitude variation and lifting, so that the lifting hook can accurately and stably stop, the stability of the moving process of the lifting hook is improved, and the low working efficiency caused by the condition that a driver judges the position of the lifting ring of a lifted object and operates and adjusts the position of the lifting hook back and forth is avoided.
And will be apparent to those skilled in the art from the foregoing description.
In addition, it should be noted that the specific embodiments described in the present specification may be different in the components, the shapes of the components, the names of the components, and the like, and the above description is only an illustration of the structure of the present invention. Equivalent or simple changes in the structure, characteristics and principles of the invention are included in the protection scope of the patent. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (4)
1. A high-efficiency object lifting method of a tower crane is characterized in that: the method comprises the following specific steps:
(1) calibrating the rotation angle of the measuring device and the zero position of the rotation angle of the tower crane: a rotation angle calibration confirmation key is additionally arranged on the display screen, the tower crane rotation handle and the operating rod of the measuring device are respectively operated to enable the suspension arm and the infrared distance meter to be on the same parallel line, and the rotation angle of the measuring device and the tower crane rotation angle are simultaneously displayed as 0, namely the same zero position when the confirmation key is pressed;
the height of the measuring device is calibrated with the height zero position of the tower crane: a height calibration confirmation key is additionally arranged on the display screen, the lifting motor of the tower crane is operated to enable the lifting hook to be tightly attached to the ground, an operation rod of the measuring device is operated to control the lifting of the screw rod to enable the light beam of the infrared distance measuring instrument to be aligned to the lifting hook, and the height calibration confirmation key is pressed, so that the height of the measuring device and the height of the tower crane are simultaneously displayed as 0, namely the same zero position;
calibrating the height of the measuring device and the amplitude zero position of the tower crane: an amplitude calibration confirmation key is added on the display screen, the tower crane luffing motor is operated to enable the luffing trolley to move to the inner limit position, the lifting motor is operated to enable the lifting hook to be close to the ground, the operation rod of the measuring device is operated to control the lifting of the screw rod to enable the light beam of the infrared distance meter to be aligned to the lifting hook, and the PLC records the zero difference value A of the measuring device and the tower crane amplitude at the moment when the amplitude calibration confirmation key is pressed;
(2) the amplitude variation and the lifting of the tower crane are all provided with a plurality of gears, which are defined as the tower crane with three gears, and the following fixed values are calculated according to the characteristic experiments of the amplitude variation motor and the frequency converter, the lifting motor and the frequency converter and the transmission mechanism of the tower crane: the optimal stable acceleration and stopping stage time of the gears 0-1, 0-2 and 0-3 in amplitude is respectively S1, S2, S3, S4, S5 and S6, the displacement during acceleration and stopping is L1, L2, L3, L4, L5 and L6, and the time required by the displacement per meter of the three gears is respectively S7, S8 and S9;
the optimal stable acceleration and stop stage time of lifting 0-1, 0-2 and 0-3 gears is respectively S10, S20, S30 and S40, S50 and S60, the displacement during acceleration and stop is L10, L20, L30 and L40, L50 and L60, and the time required by the displacement per meter of the three gears is respectively S70, S80 and S90;
(3) operating the measuring device before lifting to enable the light beam of the infrared distance meter to be quickly aligned to a lifting ring of a lifted object, pressing a confirmation alignment key of the display screen at the moment, acquiring and storing a rotation angle value B, an amplitude value C and a height value D of the detecting device by the PLC, wherein the rotation angle B1, which is actually required to move by the tower crane, is = the current angle-rotation angle value B, the amplitude C1= C-A-the current amplitude value and the height D1= the current height-D;
(4) the PLC calculates the time S required by the amplitude variation of 1, 2 and 3 gears, S = (C-L-L/S) + S + S, the time S required by the lifting height of 1, 2 and 3 gears, D-L-L/S) + S + S, S = (D-L-L/S) + S + S, the PLC judges 1, when S < S, the PLC displays the optimal amplitude variation scheme of 3 gears and 3 gears, and when S < S and S =, the PLC displays the optimal amplitude variation scheme of 2 gears, 3, when S < S and S =, the PLC displays the optimal amplitude variation scheme of 2 gears and 3, and when S < S and S =, the PLC displays the optimal amplitude variation scheme of 1 gear, Lifting a 3-gear, 4, when S13> S16, if S13< S15, the display screen displays an optimal scheme amplitude-variation 3-gear and a lifting 3-gear, 5, when S13> S16 and S13> = S15, if S13< S14, the display screen displays an optimal scheme amplitude-variation 3-gear and a lifting 2-gear, 6, and when S13> S16, S13> S15 and S13> = S14, the display screen displays an optimal scheme amplitude-variation 3-gear and a lifting 1-gear;
(5) an automatic rotation key is added on the display screen, the PLC sends a command to the rotation frequency converter to enable the rotation motor to rotate until the rotation motor stops when the rotation angle reaches B1, meanwhile, a driver operates the amplitude variation handle and the lifting handle according to the optimal scheme displayed by the display screen, the optimal scheme is assumed to be amplitude variation three-gear and lifting 2-gear, when the amplitude variation reaches C1-L6, the PLC sends a command to the amplitude variation frequency converter to enable the amplitude variation motor to stably decelerate to stop, when the lifting reaches D1-L50, the PLC sends a command to the lifting frequency converter to enable the lifting motor to stably decelerate to stop, and at the moment, the lifting hook stably and accurately reaches the lifting ring of the lifted object.
2. The system of the high-efficiency object lifting method of the tower crane according to claim 1, which comprises the existing programmable display screen, a PLC, a rotary motor, a rotary frequency converter, a rotary encoder, a variable-amplitude trolley motor, a variable-amplitude frequency converter, a variable-amplitude encoder, a lifting motor, a lifting frequency converter and a lifting encoder of the tower crane system, and is characterized in that: the measuring device comprises a tower crane standard knot, a lead screw motor, a standard knot connecting block, a lead screw motor, a lead screw, a ball nut, a small motor, a rotary platform and an infrared distance meter; the lead screw motor passes through lead screw motor and standard festival connecting block and connects in tower machine standard festival perpendicularly, and the rotation of this lead screw motor drives the lift of ball nut on the lead screw, and the small motor is connected with ball nut, and the rotation of this small motor drives rotary platform, infrared distance meter rotation.
3. The system of the high-efficiency object lifting method of the tower crane according to claim 2, characterized in that: the lead screw motor is parallel to the standard knot of the tower crane and drives the ball nut to move up and down, and the small motor rotates parallel to the rotary platform.
4. The system of the high-efficiency object lifting method of the tower crane according to claim 2, characterized in that: the small motor is a small stepping motor with a small encoder.
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| CN110836263A (en) * | 2019-11-14 | 2020-02-25 | 重庆大学 | Step transmission gear control method considering energy recovery efficiency |
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