CN115108471A - Method and device for preventing forward movement of crane boom and crane - Google Patents
Method and device for preventing forward movement of crane boom and crane Download PDFInfo
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- CN115108471A CN115108471A CN202210612571.5A CN202210612571A CN115108471A CN 115108471 A CN115108471 A CN 115108471A CN 202210612571 A CN202210612571 A CN 202210612571A CN 115108471 A CN115108471 A CN 115108471A
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- 239000003921 oil Substances 0.000 description 30
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- 239000010720 hydraulic oil Substances 0.000 description 4
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- 239000007788 liquid Substances 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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Abstract
The application discloses a method and a device for preventing a crane boom from moving forward and a crane. The method comprises the following steps: the method comprises the steps of obtaining state data of the crane at the current moment, determining initial boom driving reaction force according to the state data, determining a transfer function according to the state data, inputting the initial boom driving reaction force to the transfer function to obtain a predicted quantity of forward displacement, obtaining an initial tracking error according to the predicted quantity and an expected value, determining a final compensation pressure value according to the initial tracking error, and correcting the pressure of a telescopic oil cylinder of the crane through the final compensation pressure value. According to the method, the transfer function of the driving counter force of the suspension arm and the forward movement amount of the suspension arm is determined, the iterative control method is combined, the pressure of the telescopic oil cylinder of the crane is further dynamically corrected, the purpose of preventing the suspension arm from moving forward when the crane is braked emergently is effectively achieved, and the problems that the method for preventing the suspension arm from moving forward in the prior art is high in system complexity and not accurate in control are solved.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a method and a device for preventing a crane jib from moving forward and a crane.
Background
The crane is an important device widely applied in engineering construction, when an automobile crane is braked emergently, the problem of forward movement of a boom is often caused, and the forward movement of the boom is generally caused by compression of hydraulic oil in a telescopic oil cylinder and air dissolved in the hydraulic oil; therefore, the prior art adopts a pressure balance mode to solve the problem of boom forward movement. The method is characterized in that a pressure control valve and an oil supplementing valve are added at the front section of a rod cavity of the telescopic oil cylinder, so that hydraulic oil in the rod cavity flows back to an oil tank. However, the control method adopted by the prior art needs a plurality of pressure valves to simultaneously act to ensure the pressure of the working oil port, the hydraulic system is complex, the problem of acting force delay exists, and the control is not accurate enough. Therefore, the method for preventing the boom from moving forward in the prior art has the problems of high system complexity and insufficient control precision.
Disclosure of Invention
The embodiment of the application aims to provide a method and a device for preventing a crane jib from moving forward and a crane, and aims to solve the problems that the method for preventing the crane jib from moving forward in the prior art is high in system complexity and not accurate enough in control.
In order to achieve the above object, a first aspect of the present application provides a method for preventing a forward movement of a crane boom, the method comprising:
acquiring state data of the crane at the current moment;
determining an initial suspension arm driving counter force according to the state data;
determining a transfer function according to the state data;
inputting the driving reaction force of the initial suspension arm into a transfer function to obtain the pre-measurement of the displacement of the forward movement;
obtaining an initial tracking error according to the predicted quantity and the expected value;
determining a final compensation pressure value according to the initial tracking error;
and correcting the pressure of the telescopic oil cylinder of the crane through the final compensation pressure value.
In the embodiment of the present application, the method further includes:
and determining the nonlinear relation of the compensation pressure, the speed of the crane and the mass of the crane according to the final compensation pressure value.
In the embodiment of the present application, the state data of the crane at the current time includes:
the running speed of the crane, the boom mass of the crane, the body braking time of the crane and the rod cavity area of a telescopic oil cylinder of the crane.
In an embodiment of the present application, determining the transfer function from the state data includes:
determining a hydraulic load balance force equation according to the state data;
determining the action relation of the inertia force on the suspension arm of the crane according to a hydraulic load balance force equation;
and determining a transfer function through Laplace transformation according to the action relation of the inertia force on the suspension arm.
In the embodiment of the application, the action relation of the inertia force on the suspension arm satisfies the formula (1):
the system comprises a telescopic oil cylinder, a boom, a telescopic oil cylinder, a boom and a vehicle, wherein the F is the driving counter force of the boom, m is the mass of the boom, F is the friction coefficient between the booms, A is the area of a rod cavity of the telescopic oil cylinder, P is the compensation pressure of the rod cavity, y is the forward displacement of the boom, and F is the inertial force of the whole vehicle; wherein
M is the vehicle body mass.
In the embodiment of the present application, the transfer function satisfies formula (2):
wherein s is a variable, y(s) is the output of the transfer function, F(s) is the input of the transfer function, M is the mass of the vehicle body, M is the mass of the boom, and f is the coefficient of friction between the arms.
In an embodiment of the present application, determining the final compensated pressure value according to the initial tracking error includes:
determining a compensation pressure value corresponding to the initial tracking error as a final compensation pressure value under the condition that the initial tracking error meets a preset condition;
and under the condition that the initial tracking error does not meet the preset condition, inputting the initial tracking error into the iterative controller to determine a final compensation pressure value.
In this embodiment of the present application, in a case that the initial tracking error does not satisfy the preset condition, inputting the initial tracking error into the iterative controller to determine the final compensated pressure value includes:
inputting the initial tracking error into an iterative controller for iterative operation to obtain a corresponding compensation pressure value;
correcting the system input according to the corresponding compensation pressure value to obtain a corrected tracking error;
and under the condition that the corrected tracking error meets a preset condition, stopping iteration and determining the corresponding compensation pressure value as a final compensation pressure value.
In the embodiment of the present application, the iterative operation satisfies formula (3):
wherein t is braking time, k is kth iterative operation, k +1 represents kth iterative operation, and U k (t) is the kth input, U k+1 (t) is the compensated (K + 1) th input, (e), (t) is the tracking error, K p As a proportional control coefficient, K d Is a differential control coefficient, K i Is an integral control coefficient.
A second aspect of the present application provides a controller comprising:
a memory configured to store instructions; and
a processor configured to call instructions from the memory and when executing the instructions to implement a method for preventing a crane boom from jumping forward according to any of claims 1 to 9.
A third aspect of the present application provides a device for preventing forward movement of a crane boom, comprising the above controller.
A fourth aspect of the application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform a method for preventing a jump of a crane boom according to any of the above.
According to the technical scheme, the state data of the crane at the current moment is obtained, the initial boom driving counter force and the transfer function are determined according to the state data, the initial boom driving counter force is input to the transfer function to obtain the pre-measurement of the forward displacement, the initial tracking error is obtained according to the pre-measurement of the forward displacement and the expected value, the final compensation pressure value is determined according to the tracking error, and finally the pressure of the telescopic oil cylinder of the crane is corrected according to the determined final compensation pressure value. This application combines iteration control method through the transfer function of confirming davit drive counter-force and davit volume of scurrying forward, and then carries out dynamic correction to the pressure of hoist telescopic cylinder for it is simpler and the accuracy is higher to prevent that the davit from scurrying forward, has solved the method that prevents that the davit from scurrying forward that adopts among the prior art system complexity height, and control not accurate enough problem, effectively reaches the purpose that prevents that the hoist from taking place the davit and scurrying forward when emergency braking.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the detailed description serve to explain the embodiments of the application and not to limit the embodiments of the application. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a method for preventing a forward movement of a crane boom according to an embodiment of the present application;
FIG. 2 schematically illustrates a control principle diagram of a method for preventing forward movement of a crane boom according to an embodiment of the present application;
fig. 3 schematically shows a block diagram of a controller according to an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are referred to in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Fig. 1 schematically shows a flow diagram of a method for preventing a forward movement of a crane boom according to an embodiment of the present application. As shown in fig. 1, embodiments of the present application provide a method for preventing a boom of a crane from moving forward, which may include the steps of:
105, obtaining an initial tracking error according to the pre-measurement and the expected value;
and step 107, correcting the pressure of the telescopic oil cylinder of the crane through the final compensation pressure value.
In the embodiment of the application, the state data of the crane at the current moment is obtained firstly. Because the forward movement of the boom of the crane is generally caused by the inertia force generated during the emergency braking of the automobile crane body, the state data of the crane at the current moment acquired by the processor mainly comprises data influencing the inertia force, at least including data such as the traveling speed of the crane, the mass of the boom of the crane, the mass of the body of the crane, the braking time of the body of the crane, the area of a rod cavity of a telescopic oil cylinder of the crane and the like. Substituting the acquired state data of the crane at the current moment into a hydraulic load force balance equation, and deriving the action relation of inertia force on the suspension arm based on the hydraulic load force balance equation; furthermore, the inertia force can be calculated through the state data of the crane at the current moment, and the determined inertia force is substituted into the action relation of the inertia force on the suspension arm, so that the initial suspension arm driving reaction force can be obtained. The boom driving reaction force is a physical quantity which is equal to and opposite to the boom driving force, and represents a tendency of hindering the boom from stretching outward. The transfer function of the driving counterforce and the forward movement amount of the suspension arm can be determined through the state data of the crane at the current moment, and the transfer function of the driving counterforce and the forward movement amount of the suspension arm can be derived through Laplace transformation based on the derived action relation of the inertia force on the suspension arm.
After the initial boom drive reaction force and the transfer function are determined, the initial boom drive reaction force may be input to the transfer function, so that the corresponding predicted amount of the lead displacement at the current time is obtained from the output of the transfer function. And then, the processor acquires an expected value of the displacement of the lead, and obtains a difference value through the acquired predicted amount of the displacement of the lead and the acquired expected value of the displacement of the lead, so that the initial tracking error can be obtained. A final compensated pressure value may be determined based on the initial tracking error. The compensation pressure refers to the acting force generated by the hydraulic oil pressed in the oil cylinder and acting on the surface of the piston, and can be understood as the direction opposite to the driving counter force for counteracting the driving counter force. Specifically, whether the initial tracking error meets a preset condition or not is judged, and a compensation pressure value corresponding to the initial tracking error can be determined as a final compensation pressure value under the condition that the initial tracking error meets the preset condition; when the initial tracking error does not meet the preset condition, the initial tracking error can be corrected in a selected control form, and under the condition that the corrected tracking error meets the preset condition, the corresponding corrected compensation pressure value is determined as the final compensation pressure value. Wherein the selected control form may include, but is not limited to, an iterative control form and others.
And finally, correcting the pressure value of the telescopic oil cylinder of the crane according to the final compensation pressure value until the pressure value is balanced with the inertia force generated by the automobile crane during emergency braking, thereby achieving the purpose of preventing the boom from moving forward. This application is mainly based on electric liquid servo, because electric liquid servo has higher ageing efficiency and accuracy, can accurately set for the change that telescopic cylinder has pole chamber pressure, compares with traditional hydraulic control system, and electric liquid servo is simple high-efficient more.
According to the technical scheme, the state data of the crane at the current moment is obtained, the initial boom driving reaction force and the transfer function are determined according to the state data, the initial boom driving reaction force is input into the transfer function to obtain the pre-measurement of the forward movement displacement, the initial tracking error is obtained according to the pre-measurement of the forward movement displacement and the expected value, the final compensation pressure value is determined according to the tracking error, and finally the pressure of the telescopic oil cylinder of the crane is corrected according to the determined final compensation pressure value. This application combines iteration control method through the transfer function of confirming davit drive counter-force and davit volume of scurrying forward, and then carries out dynamic correction to the pressure of hoist telescopic cylinder for it is simpler and the accuracy is higher to prevent that the davit from scurrying forward, has solved the method that prevents that the davit from scurrying forward that adopts among the prior art system complexity height, and control not accurate enough problem, effectively reaches the purpose that prevents that the hoist from taking place the davit and scurrying forward when emergency braking.
In an embodiment of the present application, the method may further include:
and determining the nonlinear relation of the compensation pressure, the speed of the crane and the mass of the crane according to the final compensation pressure value.
In particular, since the main factors influencing the inertial force are the speed of the crane and the mass of the crane, the nonlinear relationship between the speed of the crane, the mass of the crane and the compensation pressure value during the operation of the crane can be solidified. Furthermore, the corresponding compensation pressure value can be determined through the nonlinear relation based on the electro-hydraulic servo system under different conditions, so that the pressure of the telescopic oil cylinder of the crane is dynamically adjusted, and the aim of preventing the boom of the crane from moving forwards is fulfilled. In one example, after the final compensation pressure value of the telescopic oil cylinder of the crane is determined, data corresponding to the speed of the crane and the mass of the crane under the condition can be obtained, and then under the condition that the tracking error meets the preset condition, the nonlinear relation between the compensation pressure and the speed of the crane and the mass of the crane can be determined according to the change relation of the compensation pressure along with the speed of the crane and the mass of the crane. By determining the nonlinear relation between the compensation pressure and the speed of the crane and the mass of the crane, the pressure of the telescopic oil cylinder of the crane can be dynamically corrected according to the nonlinear relation, so that the forward movement of the crane boom is effectively and accurately prevented.
In this embodiment, the state data of the crane at the current time may include:
the running speed of the crane, the boom mass of the crane, the body braking time of the crane and the rod cavity area of a telescopic oil cylinder of the crane.
Specifically, the state data of the crane at the current moment acquired by the processor mainly comprises data influencing the magnitude of inertia force generated when the crane is emergently braked; the data influencing the magnitude of the inertia force mainly comprises the running speed of the crane, the boom mass of the crane and the body mass of the crane, and in addition, the braking time of the crane also has certain influence on the magnitude of the inertia force generated when the crane is emergently braked. The area of a rod cavity of the telescopic oil cylinder of the crane is data influencing the magnitude of the compensation pressure value. In one example, the state data of the crane at the current moment can be acquired in a real-time online acquisition mode; in another example, the state data of the crane at the current moment can be acquired in an off-line collection manner.
In this embodiment of the application, the step 103 of determining the transfer function according to the state data may include:
determining a hydraulic load balance force equation according to the state data;
determining the action relation of the inertia force on the suspension arm of the crane according to a hydraulic load balance force equation;
and determining a transfer function through Laplace transformation according to the action relation of the inertia force on the suspension arm.
Specifically, a hydraulic load balance force equation can be determined through the acquired state data of the crane at the current moment, and the action relation of inertia force on the crane jib can be further deduced according to the hydraulic load balance force equation, namely, a formula of jib driving counter force corresponding to the inertia force is determined; and further determining a transfer function of the driving counter force of the suspension arm and the forward movement amount of the suspension arm by using a formula of the action relation of the inertia force on the suspension arm through Laplace transform.
In the embodiment of the application, the action relation of the inertia force on the suspension arm can satisfy the formula (1):
the system comprises a telescopic oil cylinder, a boom, a telescopic oil cylinder, a boom and a vehicle, wherein the F is the driving counter force of the boom, m is the mass of the boom, F is the friction coefficient between the booms, A is the area of a rod cavity of the telescopic oil cylinder, P is the compensation pressure of the rod cavity, y is the forward displacement of the boom, and F is the inertial force of the whole vehicle; wherein
M is the vehicle body mass.
Specifically, formula (4) can be obtained by performing laplace transform on formula (1);
f(s) ═ y(s) [ (M + M) s 2 +fs]； (4)
Wherein s is a variable, Fhoist(s) is the input of the transfer function, y(s) is the output of the transfer function, M is the mass of the vehicle body, M is the mass of the boom, and F is the coefficient of friction between the arms. And (4) obtaining a transfer function of the driving counter force of the suspension arm and the forward movement amount of the suspension arm through the deformation of the formula (4).
In the embodiment of the present application, the transfer function may satisfy formula (2):
wherein s is a variable, y(s) is the output of the transfer function, F(s) is the input of the transfer function, M is the mass of the vehicle body, M is the mass of the boom, and f is the coefficient of friction between the arms.
In an embodiment of the present application, the step 106 of determining the final compensated pressure value according to the initial tracking error may include:
determining a compensation pressure value corresponding to the initial tracking error as a final compensation pressure value under the condition that the initial tracking error meets a preset condition;
and under the condition that the initial tracking error does not meet the preset condition, inputting the initial tracking error into the iterative controller to determine a final compensation pressure value.
Specifically, the tracking error, that is, the difference between the predicted amount of boom forward movement displacement and the expected value of boom forward movement displacement, obviously, when the tracking error is infinitely close to zero or equal to zero, it can be determined that the predicted amount of boom forward movement displacement is wirelessly close to or equal to the expected value of boom forward movement displacement, at this time, it can be considered that the boom is not forward movement, at this time, a corresponding compensation pressure value can be obtained, and the compensation pressure value is used as a final compensation pressure value, and the pressure of the telescopic cylinder of the crane is corrected by the final compensation pressure value, so as to achieve the purpose of preventing the boom of the crane from forward movement. In one example, when the initial tracking error meets a preset condition, the compensation pressure value corresponding to the initial tracking error may be directly determined as a final compensation pressure value, and the pressure of the telescopic cylinder of the crane may be corrected. In another example, in the case that the initial tracking error does not satisfy the preset condition, the initial tracking error is input to the iterative controller for iterative operation until the tracking error corrected by the iterative controller satisfies the preset condition.
In this embodiment of the present application, in the case that the initial tracking error does not satisfy the preset condition, inputting the initial tracking error into the iterative controller to determine the final compensated pressure value may include:
inputting the initial tracking error into an iterative controller for iterative operation to obtain a corresponding compensation pressure value;
correcting the system input according to the corresponding compensation pressure value to obtain a corrected tracking error;
and under the condition that the corrected tracking error meets a preset condition, stopping iteration and determining the corresponding compensation pressure value as a final compensation pressure value.
Specifically, under the condition that the initial tracking error does not meet the preset condition, the initial tracking error is input into an iteration controller for iteration operation, a corresponding compensation pressure value can be output in each iteration, the corresponding compensation pressure value output by the iteration controller is input into a transfer function and corrects the system, and the corrected boom forward movement displacement prediction quantity is output through the transfer function; and then obtaining the corrected tracking error through the corrected boom forward shift pre-measurement and the expected value of the boom forward shift. Further, judging whether the corrected tracking error meets a preset condition, stopping iteration under the condition that the corrected tracking error meets the preset condition, and determining a corresponding compensation pressure value as a final compensation pressure value; and under the condition that the corrected tracking error does not meet the preset condition, continuously iterating until the corrected tracking error meets the preset condition.
In the embodiment of the present application, the iterative operation satisfies the following formula (3):
wherein t is braking time, k is kth iterative operation, k +1 represents kth iterative operation, and U k (t) is the kth input, U k+1 (t) is the compensated (K + 1) th input, (e), (t) is the tracking error, K p As a proportional control coefficient, K d Is a differential control coefficient, K i Is an integral control coefficient.
Fig. 2 schematically shows a control principle diagram of a method for preventing a forward movement of a crane boom according to an embodiment of the present application. As shown in fig. 2, in one embodiment, the raw data collector performs data collection, processes the collected data, and converts the digital signal into an analog signal through a digital-to-analog converter, and the analog signal is used as an input of the control system. And deducing a transfer function of the forward movement amount of the suspension arm and the driving reaction force of the suspension arm according to the load force balance characteristic of the hydraulic system. Setting an output expected value E(s), calculating a tracking error e(s) according to the system output y(s) and the expected value E(s), feeding the tracking error e(s) back to an iterative controller to obtain a compensation pressure value P(s), correcting the system input U(s) through the compensation pressure value P(s), and finishing control when the system output y(s) is approximate to the expected value E(s) according to the iterative control principle.
Fig. 3 schematically shows a block diagram of a controller according to an embodiment of the present application. As shown in fig. 3, an embodiment of the present application provides a controller, which may include:
a memory 310 configured to store instructions; and
a processor 320 configured to call instructions from the memory 310 and upon execution of the instructions to implement the method for preventing a crane boom from jumping forward described above.
Specifically, in the embodiment of the present application, the processor 320 may be configured to:
acquiring state data of the crane at the current moment;
determining an initial suspension arm driving counter force according to the state data;
determining a transfer function according to the state data;
inputting the initial suspension arm driving reaction force to a transfer function to obtain a pre-measurement of forward displacement;
obtaining an initial tracking error according to the predicted quantity and the expected value;
determining a final compensation pressure value according to the initial tracking error;
and correcting the pressure of the telescopic oil cylinder of the crane through the final compensation pressure value.
Further, the processor 320 may also be configured to:
and determining the nonlinear relation of the compensation pressure, the speed of the crane and the mass of the crane according to the final compensation pressure value.
Further, the processor 320 may also be configured to
The state data of the crane at the current moment comprises:
the running speed of the crane, the boom mass of the crane, the body braking time of the crane and the rod cavity area of a telescopic oil cylinder of the crane.
Further, the processor 320 may also be configured to:
determining a transfer function from the state data includes:
determining a hydraulic load balance force equation according to the state data;
determining the action relation of the inertia force on the suspension arm of the crane according to a hydraulic load balance force equation;
and determining a transfer function through Laplace transformation according to the action relation of the inertia force on the suspension arm.
Further, the processor 320 may also be configured to:
the action relation of the inertia force on the suspension arm meets the formula (1):
the system comprises a telescopic oil cylinder, a boom, a telescopic oil cylinder, a boom and a vehicle, wherein the F is the driving counter force of the boom, m is the mass of the boom, F is the friction coefficient between the booms, A is the area of a rod cavity of the telescopic oil cylinder, P is the compensation pressure of the rod cavity, y is the forward displacement of the boom, and F is the inertial force of the whole vehicle; wherein
M is the vehicle body mass.
Further, the processor 320 may also be configured to:
the transfer function satisfies formula (2):
wherein s is a variable, y(s) is the output of the transfer function, F(s) is the input of the transfer function, M is the mass of the vehicle body, M is the mass of the boom, and f is the coefficient of friction between the arms.
Further, the processor 320 may also be configured to:
determining a final compensated pressure value from the initial tracking error comprises:
determining a compensation pressure value corresponding to the initial tracking error as a final compensation pressure value under the condition that the initial tracking error meets a preset condition;
and under the condition that the initial tracking error does not meet the preset condition, inputting the initial tracking error into the iterative controller to determine a final compensation pressure value.
Further, the processor 320 may also be configured to:
in the case that the initial tracking error does not satisfy the preset condition, inputting the initial tracking error into the iterative controller to determine the final compensated pressure value includes:
inputting the initial tracking error into an iterative controller for iterative operation to obtain a corresponding compensation pressure value;
correcting the system input according to the corresponding compensation pressure value to obtain a corrected tracking error;
and under the condition that the corrected tracking error meets a preset condition, stopping iteration, and determining the corresponding compensation pressure value as a final compensation pressure value.
Further, the processor 320 may also be configured to:
the iterative operation satisfies formula (3):
wherein t is braking time, k is kth iterative operation, k +1 represents kth iterative operation, and U k (t) is the kth input, U k+1 (t) is the compensated (K + 1) th input, (e), (t) is the tracking error, K p As a proportional control coefficient, K d Is a differential control coefficient, K i Is an integral control coefficient.
According to the technical scheme, the state data of the crane at the current moment is obtained, the initial boom driving reaction force and the transfer function are determined according to the state data, the initial boom driving reaction force is input into the transfer function to obtain the pre-measurement of the forward movement displacement, the initial tracking error is obtained according to the pre-measurement of the forward movement displacement and the expected value, the final compensation pressure value is determined according to the tracking error, and finally the pressure of the telescopic oil cylinder of the crane is corrected according to the determined final compensation pressure value. This application combines iteration control method through the transfer function of confirming davit drive counter-force and davit volume of scurrying forward, and then carries out dynamic correction to the pressure of hoist telescopic cylinder for it is simpler and the accuracy is higher to prevent that the davit from scurrying forward, has solved the method that prevents that the davit from scurrying forward that adopts among the prior art system complexity height, and control not accurate enough problem, effectively reaches the purpose that prevents that the hoist from taking place the davit and scurrying forward when emergency braking.
The embodiment of the application also provides a device for preventing the crane jib from moving forward, which can comprise the controller.
Embodiments of the present application also provide a machine-readable storage medium having instructions stored thereon for causing a machine to perform the above-described method for preventing a forward movement of a crane boom.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. A method for preventing forward play of a crane boom, comprising:
acquiring state data of the crane at the current moment;
determining an initial suspension arm driving reaction force according to the state data;
determining a transfer function according to the state data;
inputting the initial suspension arm driving reaction force to the transfer function to obtain a pre-measurement of forward displacement;
obtaining an initial tracking error according to the pre-measurement and the expected value;
determining a final compensation pressure value according to the initial tracking error;
and correcting the pressure of the telescopic oil cylinder of the crane through the final compensation pressure value.
2. The method of claim 1, further comprising:
and determining the nonlinear relation between the compensation pressure and the speed of the crane and the mass of the crane according to the final compensation pressure value.
3. The method of claim 1, wherein the crane current time status data comprises:
the crane comprises a crane body, a crane boom, a crane body braking time and a telescopic oil cylinder rod cavity area, wherein the crane body is arranged on the crane body.
4. The method of claim 1, wherein determining a transfer function from the state data comprises:
determining a hydraulic load balance force equation according to the state data;
determining the action relation of inertia force on the suspension arm of the crane according to the hydraulic load balance force equation;
and determining the transfer function through Laplace transformation according to the action relation of the inertia force on the suspension arm.
5. The method of claim 4, wherein the inertial force acts on the boom in a relationship satisfying formula (1):
the system comprises a telescopic oil cylinder, a boom, a telescopic oil cylinder, a boom and a vehicle, wherein the F is the driving counter force of the boom, m is the mass of the boom, F is the friction coefficient between the booms, A is the area of a rod cavity of the telescopic oil cylinder, P is the compensation pressure of the rod cavity, y is the forward displacement of the boom, and F is the inertial force of the whole vehicle; wherein
M is the vehicle body mass.
6. The method of claim 4, wherein the transfer function satisfies formula (2):
wherein s is a variable, y(s) is the output of the transfer function, F(s) is the input of the transfer function, M is the mass of the vehicle body, M is the mass of the boom, and f is the coefficient of friction between the arms.
7. The method of claim 1, wherein said determining a final compensated pressure value from said initial tracking error comprises:
determining a compensation pressure value corresponding to the initial tracking error as a final compensation pressure value under the condition that the initial tracking error meets a preset condition;
and under the condition that the initial tracking error does not meet a preset condition, inputting the initial tracking error into an iterative controller to determine a final compensation pressure value.
8. The method of claim 7, wherein the inputting the initial tracking error to an iterative controller to determine a final compensated pressure value if the initial tracking error does not satisfy a preset condition comprises:
inputting the initial tracking error into an iterative controller for iterative operation to obtain a corresponding compensation pressure value;
correcting the system input according to the corresponding compensation pressure value to obtain a corrected tracking error;
and under the condition that the corrected tracking error meets a preset condition, stopping iteration and determining a corresponding compensation pressure value as a final compensation pressure value.
9. The method of claim 8, wherein the iterative operation satisfies equation (3):
wherein t is braking time, k is kth iterative operation, k +1 represents kth iterative operation, and U k (t) is the kth input, U k+1 (t) is the compensated (K + 1) th input, (e), (t) is the tracking error, K p As a proportional control coefficient, K d Is a differential control coefficient, K i Is an integral control coefficient.
10. A controller, comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and to enable the method for preventing a crane boom from heading according to any of claims 1 to 9 when executing the instructions.
11. A device for preventing forward play of a crane jib, comprising a controller according to claim 10.
12. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method for preventing a crane boom from heading as claimed in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210612571.5A CN115108471A (en) | 2022-05-31 | 2022-05-31 | Method and device for preventing forward movement of crane boom and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210612571.5A CN115108471A (en) | 2022-05-31 | 2022-05-31 | Method and device for preventing forward movement of crane boom and crane |
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| CN115108471A true CN115108471A (en) | 2022-09-27 |
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| CN202210612571.5A Pending CN115108471A (en) | 2022-05-31 | 2022-05-31 | Method and device for preventing forward movement of crane boom and crane |
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| Country | Link |
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| CN (1) | CN115108471A (en) |
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