WO2013033888A1 - Method, apparatus, and system for use in controlling position of boom end of boom apparatus - Google Patents

Method, apparatus, and system for use in controlling position of boom end of boom apparatus Download PDF

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Publication number
WO2013033888A1
WO2013033888A1 PCT/CN2011/079351 CN2011079351W WO2013033888A1 WO 2013033888 A1 WO2013033888 A1 WO 2013033888A1 CN 2011079351 W CN2011079351 W CN 2011079351W WO 2013033888 A1 WO2013033888 A1 WO 2013033888A1
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WO
WIPO (PCT)
Prior art keywords
boom
angle
cylinder
length
boom cylinder
Prior art date
Application number
PCT/CN2011/079351
Other languages
French (fr)
Chinese (zh)
Inventor
易伟春
李葵芳
王帅
李仁玉
尹君
Original Assignee
长沙中联重工科技发展股份有限公司
湖南中联重科专用车有限责任公司
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 长沙中联重工科技发展股份有限公司, 湖南中联重科专用车有限责任公司 filed Critical 长沙中联重工科技发展股份有限公司
Priority to PCT/CN2011/079351 priority Critical patent/WO2013033888A1/en
Publication of WO2013033888A1 publication Critical patent/WO2013033888A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms

Definitions

  • This invention relates to the field of machinery and, in particular, to a method, apparatus and system for controlling the position of the end of a boom of a boom apparatus. Background technique
  • the boom device includes a multi-section boom connected to each other, and a boom cylinder is connected between adjacent booms, and the boom cylinder can drive two adjacent booms connected to the boom cylinder to surround the two phases
  • the connecting shaft of the adjacent boom rotates at a considerable angle.
  • the boom device is integrally fixed to the base through the turntable, and the boom device as a whole is driven by the turntable to perform 360-degree rotation about a vertical axis perpendicular to the horizontal plane.
  • a typical application of such a boom device is as a construction device for moving objects from one location to another and lifting objects.
  • this type of boom equipment is widely used in various construction sites for concrete pouring and other similar work.
  • a typical construction vehicle with boom equipment is a concrete pump truck. This type of vehicle is used for concrete pouring construction at the construction site where concrete is required.
  • boom equipment is used for concrete pouring and other similar occasions, its control has high requirements, especially the position of the end of the boom needs to be accurately controlled.
  • an overall boom model can be established, and the target of each boom at the end of the boom to the target position can be calculated by using the integral boom model and the target position of the end of the boom.
  • the tilt angle is then applied to the corresponding boom cylinder by applying a control current such that each boom has its target tilt angle.
  • the control current it will be continuously installed
  • the inclination angle measured by the inclination sensor on each boom is fed back to the controller, and the controller compares the inclination angle with the target inclination angle, and controls the control current applied to the boom cylinder according to the comparison result until each A boom has its target tilt angle.
  • the method and apparatus do not have the drawbacks of the above control modes, and are not limited by the attitude of the boom apparatus, and accurately Control the position of the end of the boom.
  • the present invention provides a method for controlling a position of a boom end of a boom apparatus, the boom apparatus including a multi-section boom connected to each other, and a boom cylinder connected between adjacent booms,
  • ⁇ 1... « -1
  • ⁇ 2 ⁇ is when the boom end is in the target position, the first arm and the first An angle of the i + 1 pitch boom; an amount of change in the horizontal rotation angle of the boom when the end of the boom is moved from the current position to the target position; according to %, ⁇ 2 ⁇ , and pre-stored
  • the control model of each boom cylinder / A ( , U), calculate / for each boom cylinder, which represents the boom / cylinder connected between the boom and the + 1 boom
  • the end of the boom can be controlled to move from the current position to the target position.
  • the horizontal plane rotates by an amount of change in angle, thereby completing control of the position of the end of the boom.
  • FIG. 1 is a flow chart of a method for controlling a position of a boom end of a boom apparatus provided by the present invention
  • Figure 2 is a schematic view showing the connection relationship between the boom and the boom cylinder
  • Figure 3 is a schematic diagram of the geometric relationship between the boom and the boom cylinder
  • Figure 4 is a schematic view showing another geometric relationship between the boom and the boom cylinder
  • Figure 5 is a block diagram of an apparatus for controlling the position of a boom end of a boom apparatus provided by the present invention
  • Figure 6 is a block diagram of a system for controlling the position of a boom end of a boom apparatus provided by the present invention
  • FIG. 7 is a schematic diagram showing the connection relationship between the inclination sensor, the boom, and the boom cylinder provided by the present invention. Description of the reference numerals
  • FIG. 1 is a flow chart of a method for controlling the position of a boom end of a boom apparatus provided by the present invention.
  • the present invention provides a method for controlling the position of a boom end of a boom apparatus, the boom apparatus including a multi-section boom connected to each other, and a boom cylinder connected between adjacent booms.
  • the angle between the section boom and the +i section boom when the end of the boom is in the current position is the angle between the section boom and the section +1 boom when the arm end is in the target position.
  • the cylinder coordinates at the end of the boom (the cylinder coordinate system is established As known to those skilled in the art, it is: Cyl(z, 0, r), wherein the cylinder coordinates can be obtained by a combination of (/ ;, S in a ; , C . S a ; ) of each boom.
  • the following describes the process of establishing the length model of the boom cylinder and the process of establishing the length change rate model of the boom cylinder.
  • the length model of the boom cylinder is calculated as: & ( ⁇ ) includes: obtaining an angle between the section boom and the + 1 section boom; and according to the angle and the boom cylinder and the section arm Rack and number + The connection relationship between the 1 booms is calculated, and the length of the boom cylinder is calculated.
  • the following is a detailed description of how to calculate the length of the boom cylinder based on the angle and the connection relationship between the boom cylinder and the boom and the i+1 arm.
  • Figure 2 is a schematic view showing the connection relationship between the boom and the boom cylinder.
  • the boom cylinder 2 is fixed at the fulcrum A of the first boom la, and the other end is connected to the first straight link 3a and the second straight link 3b at the connection point B, and respectively passed
  • the first straight link 3a and the second straight link 3b are connected to a fulcrum C on the first boom la and a fulcrum D on the second boom lb, the first boom la Connected to the second arm lb at the connection point E, and set a point F and a point G
  • the straight line FC is parallel to the extending direction of the first arm la
  • the extension line of the straight line FC intersects the extension line of the straight line GD at point 0.
  • Figure 3 is a schematic diagram of the geometric relationship between the boom and the boom cylinder.
  • the angles of the angles Z FCE, ZFCA, and ZGDE and the lengths of the line segments AC, BC, BD, CE, and DE are the length characteristics of the first straight link 3a and the second straight link 3b, respectively.
  • the inherent connection relationship between the first straight link 3a, the second straight link 3b, the boom cylinder 2, the first boom la and the second boom lb is a fixed known amount . Based on these quantities, the length of the line segment AB, i.e., the length of the boom cylinder 2, can be calculated in conjunction with the angle ZFOG.
  • the angle ZCED can be calculated according to the angles ZFOG, ZFCE, ZGDE and the following formula
  • ZCED ZFCE + ZGDE - ZFOG
  • angle ZBCE is calculated according to the angles ZBCD, ZECD and the following formula
  • ZBCE ZBCD - ZECD
  • ZACB ZFCE - ZFCA - ZBCE
  • the length of the line segment AB is calculated based on the angles ZACB, AC, BC and the following formula.
  • the above specific calculation manner is only an example, and the present invention is not limited to the specific calculation manner, and any person skilled in the art according to the angle ZFOG, the lengths of the first straight link 3a and the second straight link 3b And the method of calculating the length of the line segment AB by the connection relationship between the first straight link 3a, the second straight link 3b, the boom cylinder 2, the first boom la and the second boom lb Can be applied to this.
  • the obtaining an angle between the section boom and the +1 section boom may include: acquiring an inclination angle of the section boom; acquiring a tilt angle of the section + 1 boom And calculating a difference between the inclination angle of the first section boom and the inclination angle of the first + section boom as an angle between the i-th arm and the i-th 1st boom.
  • the control current applied to the boom cylinder described herein specifically refers to the current applied to the solenoid valve of the boom cylinder.
  • the solenoid valve operates in the linear region, ie the current applied to the solenoid valve is proportional to the rate of change of the length of the boom cylinder, but in reality the solenoid valve is different in individual Is a purely linear relationship, setting the functional relationship between them as:
  • control current / and length L of the boom cylinder can be measured to obtain the slope of the length L at a certain control current I:
  • FIG. 5 is a block diagram of an apparatus for controlling the position of the end of a boom of a boom apparatus provided by the present invention. As shown in FIG.
  • the present invention also provides a device for controlling the position of the end of the boom of the boom apparatus, the boom apparatus comprising a multi-section boom connected to each other, and a boom cylinder connected between the adjacent booms
  • / represents the function of the boom cylinder connected between the boom and the +1 boom, the rate of change of the length of the boom cylinder, and the length of the boom cylinder during the time
  • a control model establishing device for establishing a control model of each boom cylinder according to the length model and the length change rate model, wherein / 1 is an inverse function of the function.
  • the length model establishing device may include: an angle acquiring device, configured to acquire an angle between the first segment arm and the +1 segment arm; and a length calculating device, configured to be according to the angle and the The connection relationship between the boom cylinder and the i-th boom and the +1 boom is calculated, and the length of the boom cylinder is calculated.
  • the angle obtaining device may include: a first tilt angle acquiring device, configured to acquire a tilt angle of the first section boom; and a second tilt angle acquiring device, configured to acquire the first + 1 arm rack a tilt angle; and an angle calculating device for calculating a difference between a tilt angle of the first boom and an inclination angle of the first + 1 boom as the first boom and the +1 arm The angle of the frame.
  • Figure 6 is a block diagram of a system for controlling the position of the end of a boom of a boom apparatus provided by the present invention.
  • the present invention also provides a system for controlling the position of the end of the boom of the boom apparatus, the boom apparatus comprising a plurality of articulated arms connected to each other, and a boom cylinder connected between the adjacent booms
  • the controller 200 can establish the control model by the following steps:
  • Length change rate model where /; indicates the connection between the arm of the boom and the arm of the + 1 boom
  • the system may further include: an angle measuring device for measuring an angle between the section boom and the +1 section boom; the controller 200 is further configured to according to the angle and the The length of the boom cylinder is calculated by the connection relationship between the boom cylinder and the first boom and the first boom.
  • the inclination angle of the first boom and the inclination angle of the +1 boom can be measured by a tilt sensor.
  • the included angle measuring apparatus may include: a first tilt sensor located on the section boom for measuring a tilt angle of the section boom; and a second tilt sensor located at the +1 section arm On the rack, used to measure the tilt angle of the +1st arm.
  • FIG. 7 is a schematic diagram showing the connection relationship between the tilt sensor, the boom, and the boom cylinder 2 according to the present invention.
  • the first tilt sensor may be disposed on the first boom 1a and the second boom lb, respectively.
  • 10a and the second inclination sensor 10b to measure the inclination angles of the first arm frame 1a and the second arm frame 1b, respectively.
  • the inclination angles obtained by the first and second inclination sensors are absolute inclination angles, and if assumed to be «, £ [-180, 180], respectively, the angle ZFOG can be calculated by the following formula: FOG di ⁇ _ ⁇ .
  • the angle measuring device may comprise a rotary encoder
  • the rotary encoder is located at a connection point of the section boom and the +1th boom, and is configured to measure the section boom and the + The angle between the 1 booms.
  • the rotary encoder can be mounted at a connection point E between the first boom la and the second boom lb.
  • the control current of each boom cylinder is calculated by the control model of each boom cylinder, and the current is applied to the corresponding boom cylinder and continues The current is applied for a duration such that an angle between adjacent booms reaches a target angle, and the turret is controlled to rotate the horizontal rotation angle change amount, thereby completing control of the boom end position.
  • the application of current there is no need to feedback the tilt angle of the boom, and the position of the end of the boom can be accurately controlled without considering the attitude of the boom, which has good applicability and engineering practicability.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

A method, apparatus, and system for use in controlling the position of a boom end of a boom apparatus. The boom apparatus comprises multi-segment booms (1a and 1b) connected to each other, while adjacent booms are provided therebetween with a boom oil cylinder (2). The method comprises: prior to controlling the boom end to move from a current position to a target position, calculating for each boom oil cylinder a current angle, a target angle, and a change in an angle of horizontal rotation; calculating a control current of each boom oil cylinder on the basis of this data and of a prestored control model of each boom oil cylinder; applying the control current calculated to the corresponding boom oil cylinder, continuing for a corresponding length of time, and controlling each boom to rotate horizontally to the change in the angle, thereby controlling the boom end to move from the current position to the target position. During the period when the current is applied, as the need for feeding back the inclination angle of the boom is obviated, and as the need for considering the posture of the boom is obviated, the method, apparatus, and system allow for precise control of the position of the boom end, thus providing great applicability and engineering practicability.

Description

用于控制臂架设备的臂架末端位置的方法、 装置以及*** 技术领域  Method, device and system for controlling the position of the end of a boom of a boom device
本发明涉及机械领域， 具体地， 涉及一种用于控制臂架设备的臂架末 端位置的方法、 装置以及***。 背景技术  Field of the Invention This invention relates to the field of machinery and, in particular, to a method, apparatus and system for controlling the position of the end of a boom of a boom apparatus. Background technique
在建筑业、 高铁等的蓬勃发展背景下， 混凝土机械行业这几年呈现了 强劲的发展， 混凝土机械设备向着个性化、 智能化方向发展， 出现了泵车 智能臂架的概念， 以使得臂架操作更为实用及方便。  In the background of the booming construction industry and high-speed rail, the concrete machinery industry has shown strong development in recent years. The concrete machinery and equipment are developing in a personalized and intelligent direction. The concept of the intelligent boom of the pump truck has emerged to make the boom The operation is more practical and convenient.
具有臂架设备的各种施工车辆被广泛使用。 所述臂架设备包括相互连 接的多节臂架， 相邻臂架之间连接有臂架油缸， 该臂架油缸可驱动与该臂 架油缸相连的两个相邻臂架绕该两个相邻臂架的连接轴旋转相当角度。 同 时， 该臂架设备整体通过转台固定在机座上， 臂架设备整体在转台的带动 下， 可以绕垂直于水平面的竖轴进行 360度的旋转。 这种臂架设备的典型 应用是作为施工设备， 用于将物体从一个地点移动到另一个地点， 以及将 物体吊起。 目前， 该种臂架设备广泛使用于各种施工现场进行混凝土浇筑 以及其他类似的工作。 一种典型的具有臂架设备的施工车辆是混凝土泵车， 这种车辆在需要混凝土浇筑的施工现场， 按照操控要求进行混凝土浇筑施 工。 当臂架设备用于混凝土浇筑以及其他类似场合时， 对其控制具有较高 的要求， 尤其是对其臂架未端的位置需要进行准确的控制。  Various construction vehicles with boom equipment are widely used. The boom device includes a multi-section boom connected to each other, and a boom cylinder is connected between adjacent booms, and the boom cylinder can drive two adjacent booms connected to the boom cylinder to surround the two phases The connecting shaft of the adjacent boom rotates at a considerable angle. At the same time, the boom device is integrally fixed to the base through the turntable, and the boom device as a whole is driven by the turntable to perform 360-degree rotation about a vertical axis perpendicular to the horizontal plane. A typical application of such a boom device is as a construction device for moving objects from one location to another and lifting objects. Currently, this type of boom equipment is widely used in various construction sites for concrete pouring and other similar work. A typical construction vehicle with boom equipment is a concrete pump truck. This type of vehicle is used for concrete pouring construction at the construction site where concrete is required. When the boom equipment is used for concrete pouring and other similar occasions, its control has high requirements, especially the position of the end of the boom needs to be accurately controlled.
通常， 为了对臂架末端的位置进行控制， 可建立整体臂架模型， 并利 用该整体臂架模型及臂架未端的目标位置， 计算每一臂架在臂架末端运动 至目标位置时的目标倾斜角， 之后通过施加控制电流至相应的臂架油缸， 以使每一臂架具有其目标倾斜角。 在施加控制电流期间， 需不断将安装于 每一臂架上的倾角传感器所测的倾斜角反馈至控制器， 该控制器将该倾斜 角与目标倾斜角进行比较， 并根据比较结果对施加至臂架油缸的控制电流 进行控制， 直至每一臂架具有其目标倾斜角。 然而， 由于整个臂架设备包 括相连的多节臂架， 具有很强的非线性， 一臂架的倾斜角的变化会影响到 其他臂架的倾斜角的变化， 而且随着臂架姿态的不同， 臂架设备的非线性 性质也是不同的， 故对臂架末端位置进行精确控制且又适应所以姿态是非 常困难的。 发明内容 Generally, in order to control the position of the end of the boom, an overall boom model can be established, and the target of each boom at the end of the boom to the target position can be calculated by using the integral boom model and the target position of the end of the boom. The tilt angle is then applied to the corresponding boom cylinder by applying a control current such that each boom has its target tilt angle. During the application of the control current, it will be continuously installed The inclination angle measured by the inclination sensor on each boom is fed back to the controller, and the controller compares the inclination angle with the target inclination angle, and controls the control current applied to the boom cylinder according to the comparison result until each A boom has its target tilt angle. However, since the entire boom device includes a connected multi-section boom with strong nonlinearity, the change in the tilt angle of one boom affects the variation of the tilt angle of the other booms, and the attitude of the boom varies. The nonlinear nature of the boom equipment is also different, so it is very difficult to accurately control and adapt the position of the end of the boom. Summary of the invention
本发明的目的是提供一种用于控制臂架设备的臂架末端位置的方法、 装置以及***， 该方法及装置不存在以上控制方式的缺陷， 可不受臂架设 备的姿态的限制， 准确地控制臂架末端的位置。  It is an object of the present invention to provide a method, apparatus and system for controlling the position of the end of a boom of a boom apparatus. The method and apparatus do not have the drawbacks of the above control modes, and are not limited by the attitude of the boom apparatus, and accurately Control the position of the end of the boom.
为了实现上述目的， 本发明提供一种用于控制臂架设备的臂架末端位 置的方法， 该臂架设备包括相互连接的多节臂架， 相邻臂架之间连接有臂 架油缸， 该方法包括： 在控制所述臂架末端从当前位置移动到目标位置之 前， 计算每一臂架油缸的( , %;^ ， 其中 = 1...« -1， 为臂架总量； 为 当所述臂架末端处于所述当前位置时，第 节臂架与第 + 1节臂架的夹角； φ2ί 为当所述臂架末端处于所述目标位置时， 第 i节臂架与第 i + 1节臂架的夹角； 为当所述臂架末端从所述当前位置移动到所述目标位置时， 所述臂架的 水平面旋转角度变化量； 根据％、 φ2ί , 以及预先存储的每一臂架油缸的控 制模型 / = A ( , U)， 计算每一臂架油缸的 /， 其中 表示连接于第 节臂架 与第 + 1节臂架之间的臂架油缸的 /与 ， 以及 之间的函数关系， I为施 加至该臂架油缸的控制电流， 为该电流的施加持续时间； 以及将所计算的 控制电流 /施加至相应的臂架油缸， 持续时间 ， 并控制每一臂架于水平面 旋转所述角度变化量 ， 以控制所述臂架末端从所述当前位置移动到所述 目标位置。 In order to achieve the above object, the present invention provides a method for controlling a position of a boom end of a boom apparatus, the boom apparatus including a multi-section boom connected to each other, and a boom cylinder connected between adjacent booms, The method comprises: calculating (, %; ^, where = 1...« -1, is the total amount of the boom) of each boom cylinder before controlling the end of the boom to move from the current position to the target position; When the end of the boom is in the current position, the angle between the first boom and the +1 boom; φ 2ί is when the boom end is in the target position, the first arm and the first An angle of the i + 1 pitch boom; an amount of change in the horizontal rotation angle of the boom when the end of the boom is moved from the current position to the target position; according to %, φ 2ί , and pre-stored The control model of each boom cylinder / = A ( , U), calculate / for each boom cylinder, which represents the boom / cylinder connected between the boom and the + 1 boom And the functional relationship between them, I is the control current applied to the boom cylinder, for this electricity The duration of application of the flow; and applying the calculated control current to the respective boom cylinder for a duration, and controlling each boom to rotate the angular change in the horizontal plane to control the boom end from the The current position is moved to the target location.
另外， 本发明还提供一种用于控制臂架设备的臂架末端位置的装置， 该臂架设备包括相互连接的多节臂架， 相邻臂架之间连接有臂架油缸， 该 装置包括： 角度计算设备， 用于在控制所述臂架末端从当前位置移动到目 标位置之前， 计算每一臂架油缸的( , ^ ， 其中 =1...«-1， w为臂架总 量； ％为当所述臂架末端处于所述当前位置时， 第 节臂架与第 +1节臂架 的夹角； 为当所述臂架末端处于所述目标位置时， 第 节臂架与第 +1节 臂架的夹角； 为当所述臂架末端从所述当前位置移动到所述目标位置时， 所述臂架的水平面旋转角度变化量； 电流计算设备， 用于根据％、 φ2ί, 以 及预先存储的每一臂架油缸的控制模型 / = A( ,U)， 计算每一臂架油缸的In addition, the present invention also provides a device for controlling the position of the end of the boom of the boom apparatus, the boom apparatus comprising a plurality of articulated arms connected to each other, and a boom cylinder connected between the adjacent booms, the device comprising : an angle calculation device for calculating (, ^, where = 1...«-1, w is the total amount of the boom before controlling the end of the boom from the current position to the target position % is the angle between the first boom and the +1th boom when the boom end is in the current position; when the boom end is in the target position, the first boom is The angle of the +1th boom; the amount of change in the horizontal rotation angle of the boom when the end of the boom is moved from the current position to the target position; the current calculation device is used according to %, φ 2ί , and the pre-stored control model for each boom cylinder / = A( , U), calculate the cylinder of each boom
I， 其中 表示连接于第 节臂架与第 + 1节臂架之间的臂架油缸的 /与 ， 以及 之间的函数关系， /为施加至该臂架油缸的控制电流， 为该电流 的施加持续时间； 以及执行设备， 用于将所计算的控制电流 /施加至相应的 臂架油缸， 持续时间 ， 并控制每一臂架于水平面旋转所述角度变化量 Δ ， 以控制所述臂架末端从所述当前位置移动到所述目标位置。 I, where the relationship between the / and the boom cylinder connected between the section boom and the +1 boom is /, and the control current applied to the boom cylinder is the current Applying a duration; and executing means for applying the calculated control current / to the respective boom cylinder for a duration, and controlling each boom to rotate the angular change amount Δ at a horizontal plane to control the boom The end moves from the current position to the target position.
另外， 本发明还一种用于控制臂架设备的臂架末端位置的***， 该臂 架设备包括相互连接的多节臂架， 相邻臂架之间连接有臂架油缸， 该*** 包括： 存储器， 用于存储每一臂架油缸的控制模型 / = ^^;, ,0， 其中 i = l...n-l, w为臂架总量； 表示连接于第 节臂架与第 + 1节臂架之间的臂 架油缸的 /与％， 以及 之间的函数关系； 为当所述臂架末端处于当前 位置时， 第 节臂架与第 + 1节臂架的夹角； 为当所述臂架末端处于目标 位置时，第 节臂架与第 + 1节臂架的夹角； /为施加至该臂架油缸的控制电 流； 为该电流的施加持续时间； 控制器， 与所述存储器相连， 该控制器为 上述用于控制臂架设备的臂架末端位置的装置。 In addition, the present invention also provides a system for controlling the position of the end of the boom of the boom apparatus, the boom apparatus comprising a plurality of articulated arms connected to each other, and a boom cylinder connected between the adjacent booms, the system comprising: Memory, used to store the control model of each boom cylinder / = ^^ ; , , 0, where i = l...nl, w is the total number of booms; indicates connection to the boom and section + 1 The function of the boom cylinder between the boom and the %, and the angle between the boom and the +1 boom when the boom end is in the current position; The angle between the boom and the +1 boom when the end of the boom is at the target position; / is the control current applied to the boom cylinder; the duration of application of the current; the controller, The memory is connected, and the controller is the above-described means for controlling the position of the end of the boom of the boom apparatus.
通过上述技术方案， 可在控制所述臂架末端从当前位置移动到目标位 置之前， 计算每一臂架油缸的当前夹角、 目标夹角以及水平面旋转角度变 化量； 之后， 根据该当前夹角、 目标夹角以及电流施加持续时间， 通过每 一臂架油缸的控制模型， 计算每一臂架油缸的控制电流， 将该电流施加至 相应的臂架油缸， 并持续所述电流施加持续时间， 使得相邻臂架之间的夹 角达到目标夹角， 并控制转台旋转所述水平面旋转角度变化量， 藉此完成 对臂架末端位置的控制。 在施加电流期间， 无需反馈臂架的倾斜角， 且无 需考虑臂架姿态， 可使得臂架末端位置得到准确的控制， 具有很好的适用 性和工程实用性。 With the above technical solution, the end of the boom can be controlled to move from the current position to the target position. Before the setting, calculate the current angle of each boom cylinder, the angle of the target and the change of the rotation angle of the horizontal plane; then, according to the current angle, the angle of the target and the duration of the current application, the control model of each boom cylinder is passed. Calculating the control current of each boom cylinder, applying the current to the corresponding boom cylinder, and continuing the current application duration, so that the angle between the adjacent booms reaches the target angle, and controlling the rotation of the turret The horizontal plane rotates by an amount of change in angle, thereby completing control of the position of the end of the boom. During the application of current, there is no need to feedback the tilt angle of the boom, and the position of the end of the boom can be accurately controlled without considering the attitude of the boom, which has good applicability and engineering practicability.
本发明的其他特征和优点将在随后的具体实施方式部分予以详细说 明。 附图说明  Other features and advantages of the invention will be described in detail in the detailed description which follows. DRAWINGS
附图是用来提供对本发明的进一步理解， 并且构成说明书的一部分， 与下面的具体实施方式一起用于解释本发明， 但并不构成对本发明的限制。 在附图中：  The drawings are intended to provide a further understanding of the invention, and are in the In the drawing:
图 1 为本发明提供的用于控制臂架设备的臂架末端位置的方法的流程 图；  1 is a flow chart of a method for controlling a position of a boom end of a boom apparatus provided by the present invention;
图 2为臂架以及臂架油缸之间的连接关系示意图；  Figure 2 is a schematic view showing the connection relationship between the boom and the boom cylinder;
图 3为臂架以及臂架油缸之间的几何关系示意图；  Figure 3 is a schematic diagram of the geometric relationship between the boom and the boom cylinder;
图 4为臂架以及臂架油缸之间的另一几何关系示意图；  Figure 4 is a schematic view showing another geometric relationship between the boom and the boom cylinder;
图 5为本发明提供的用于控制臂架设备的臂架末端位置的装置的框图； 图 6为本发明提供的用于控制臂架设备的臂架末端位置的***的框图； 以及  Figure 5 is a block diagram of an apparatus for controlling the position of a boom end of a boom apparatus provided by the present invention; Figure 6 is a block diagram of a system for controlling the position of a boom end of a boom apparatus provided by the present invention;
图 7为本发明提供的倾角传感器、 臂架以及臂架油缸之间的连接关系 示意图。 附图标记说明 FIG. 7 is a schematic diagram showing the connection relationship between the inclination sensor, the boom, and the boom cylinder provided by the present invention. Description of the reference numerals
la 第一臂架 lb 第二臂架  La first boom lb second boom
2 臂架油缸 3a 第一直连杆  2 boom cylinder 3a first straight link
3b 第二直连杆 4 拉线传感器  3b second straight link 4 wire sensor
10a 第一倾角传感器 10b 第二倾角传感器  10a first inclination sensor 10b second inclination sensor
10 角度计算设备 20 电流计算设备  10 angle calculation device 20 current calculation device
30 执行设备 100 存储器  30 Execution device 100 Memory
200 控制器 具体实施方式  200 controller specific implementation
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是， 此处所描述的具体实施方式仅用于说明和解释本发明， 并不用于限制本发 明。  The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are intended to be illustrative and not restrictive.
图 1 为本发明提供的用于控制臂架设备的臂架末端位置的方法的流程 图。 如图 1 所示， 本发明提供一种用于控制臂架设备的臂架末端位置的方 法， 该臂架设备包括相互连接的多节臂架， 相邻臂架之间连接有臂架油缸， 该方法包括： 在控制所述臂架末端从当前位置移动到目标位置之前， 计算 每一臂架油缸的( , ^ ， 其中 = 1...M -1， w为臂架总量， 为当所述臂 架末端处于当前位置时第 节臂架与第 +i节臂架的夹角， 为当所述臂架 末端处于目标位置时第 节臂架与第 +1节臂架的夹角， 为当所述臂架末 端从当前位置移动到目标位置时， 臂架的水平面旋转角度变化量； 根据％、 φ2ί , 以及预先存储的每一臂架油缸的控制模型 / = A( ,U)， 计算每一臂 架油缸的 /，其中 表示连接于第 节臂架与第 + 1节臂架之间的臂架油缸的 I与 <pu， 以及 之间的函数关系， 为施加至该臂架油缸的控制电流， t为 该电流的施加持续时间； 以及将所计算的控制电流 施加至相应的臂架油 缸， 持续时间^ 并控制每一臂架于水平面旋转角度 Δ 以控制所述臂架末 端从当前位置移动到目标位置。 1 is a flow chart of a method for controlling the position of a boom end of a boom apparatus provided by the present invention. As shown in FIG. 1, the present invention provides a method for controlling the position of a boom end of a boom apparatus, the boom apparatus including a multi-section boom connected to each other, and a boom cylinder connected between adjacent booms. The method includes: calculating (a, ^, where = 1...M -1, w is the total amount of the boom) before controlling the end of the boom to move from the current position to the target position The angle between the section boom and the +i section boom when the end of the boom is in the current position is the angle between the section boom and the section +1 boom when the arm end is in the target position. The amount of change in the horizontal rotation angle of the boom when the end of the boom is moved from the current position to the target position; according to %, φ 2ί , and the pre-stored control model of each boom cylinder / = A( , U) Calculating / for each boom cylinder, which represents the relationship between I and <p u , and the relationship between the boom cylinders connected between the boom and the +1 boom, for application to the arm The control current of the cylinder, t is the duration of application of the current; and the calculated control It is applied to the corresponding oil boom Cylinder, duration ^ and controls the angle of rotation Δ of each boom at a horizontal plane to control the end of the boom to move from the current position to the target position.
设每节臂架的倾斜角及长度分别为《;和/;， 其中 = i...w， w为臂架总量， 则臂架末端的柱面坐标 （柱面坐标系的建立为本领域技术人员所公知） 为： Cyl(z, 0, r)， 其中该柱面坐标可由每一节臂架的（/;, Sin a;,C。S a; )组合变换得 到。 Let the inclination angle and length of each boom be "; and / ; , where = i... w , w is the total amount of the boom, then the cylinder coordinates at the end of the boom (the cylinder coordinate system is established As known to those skilled in the art, it is: Cyl(z, 0, r), wherein the cylinder coordinates can be obtained by a combination of (/ ;, S in a ; , C . S a ; ) of each boom.
之后， 当臂架末端需从当前位置 (z。 。, r。)移动到目标位置^， ^)时， 可 根据现有的整体臂架模型， 得到每一臂架的 (Δ«;, Δ^) ; 之后， 可根据每一臂 架的 (Δ«;, Δ^)， 计算出 ， 即目标位置时第 节臂架与第 + 1节臂架的夹角。 至于当前位置时的夹角％， 可根据当前位置时臂架的倾斜角计算得出。 After that, when the end of the boom needs to move from the current position (z. . . , r.) to the target position ^, ^), according to the existing overall boom model, (Δ« ; , Δ can be obtained for each boom. ^) ; After that, according to (Δ« ; , Δ^) of each boom, the angle between the boom and the + 1 boom can be calculated at the target position. The angle % of the current position can be calculated from the tilt angle of the boom at the current position.
其中， 所述控制模型 / = A( ,U)通过以下步骤来建立： 针对每一臂架 油缸， 建立该臂架油缸的长度模型 L = &( )， 其中&表示连接于第 节臂架 与第 + 1节臂架之间的臂架油缸的 L与 之间函数关系， L为该臂架油缸的 长度， ^为第 节臂架与第 + 1节臂架的夹角； 针对每一臂架油缸， 建立该 臂架油缸的长度变化速率模型 = (/) = ，其中 表示连接于第 节臂架与 第 + 1节臂架之间的臂架油缸的 与 /之间函数关系， 为该臂架油缸的长 度变化速率， AL该臂架油缸在时间 期间的长度变化量； 以及根据所述长度 模型和长度变化速率模型， 建立每一臂架油缸的控制模型 其中 为函数 的逆函数。
Figure imgf000008_0001
Wherein, the control model / = A( , U) is established by the following steps: For each boom cylinder, the length model L = &( ) of the boom cylinder is established, where & represents the connection to the section boom and The relationship between the L and the boom of the boom cylinder between the +1 booms, L is the length of the boom cylinder, ^ is the angle between the boom and the +1 boom; for each arm a cylinder, establishing a length change rate model of the boom cylinder = (/) = , wherein the function relationship between the arm and the cylinder connected between the boom and the +1 boom is The rate of change of the length of the boom cylinder, the amount of change in the length of the boom cylinder during the time; and the control model of each boom cylinder is established as an inverse function of the function according to the length model and the length change rate model.
Figure imgf000008_0001
以下分别对臂架油缸的长度模型建立过程和臂架油缸的长度变化速率 模型建立过程分别进行描述。  The following describes the process of establishing the length model of the boom cylinder and the process of establishing the length change rate model of the boom cylinder.
( 1 )臂架油缸的长度模型建立过程  (1) The process of establishing the length model of the boom cylinder
所述建立臂架油缸的长度模型 = &(^)包括： 获取所述第 节臂架与第 + 1节臂架的夹角； 以及根据所述夹角以及所述臂架油缸与第 节臂架和第 + 1节臂架之间的连接关系， 计算所述臂架油缸的长度。 以下针对如何根据 所述夹角以及所述臂架油缸与第 节臂架和第 i + 1节臂架之间的连接关系来 计算所述臂架油缸的长度进行详细描述。 The length model of the boom cylinder is calculated as: & (^) includes: obtaining an angle between the section boom and the + 1 section boom; and according to the angle and the boom cylinder and the section arm Rack and number + The connection relationship between the 1 booms is calculated, and the length of the boom cylinder is calculated. The following is a detailed description of how to calculate the length of the boom cylinder based on the angle and the connection relationship between the boom cylinder and the boom and the i+1 arm.
图 2为臂架以及臂架油缸之间的连接关系示意图。 如图 2所示， 臂架 油缸 2—端固定于第一臂架 la的支点 A上， 另一端与第一直连杆 3a和第 二直连杆 3b于连接点 B相连接， 并分别通过所述第一直连杆 3a和所述第 二直连杆 3b连接于所述第一臂架 la上的支点 C和所述第二臂架 lb上的支 点 D, 所述第一臂架 la与所述第二臂架 lb于连接点 E相连接， 设点 F和 点 G, 直线 FC与所述第一臂架 la的延伸方向平行， 直线 GD与所述第二 臂架 lb的延伸方向平行， 直线 FC的延长线与直线 GD的延长线相交于点 0。  Figure 2 is a schematic view showing the connection relationship between the boom and the boom cylinder. As shown in FIG. 2, the boom cylinder 2 is fixed at the fulcrum A of the first boom la, and the other end is connected to the first straight link 3a and the second straight link 3b at the connection point B, and respectively passed The first straight link 3a and the second straight link 3b are connected to a fulcrum C on the first boom la and a fulcrum D on the second boom lb, the first boom la Connected to the second arm lb at the connection point E, and set a point F and a point G, the straight line FC is parallel to the extending direction of the first arm la, the straight line GD and the extending direction of the second arm lb In parallel, the extension line of the straight line FC intersects the extension line of the straight line GD at point 0.
图 3为臂架以及臂架油缸之间的几何关系示意图。 如图 3所示， 角 Z FCE、 ZFCA和 ZGDE的角度以及线段 AC、 BC、 BD、 CE和 DE的长度 均为所述第一直连杆 3a和第二直连杆 3b的自身长度特性以及所述第一直 连杆 3a、 第二直连杆 3b、 臂架油缸 2、 第一臂架 la和第二臂架 lb这五者 之间的固有连接关系特性， 均为固定的已知量。 在已知这些量的基础上， 可结合角 ZFOG, 计算出线段 AB的长度， 即所述臂架油缸 2的长度。  Figure 3 is a schematic diagram of the geometric relationship between the boom and the boom cylinder. As shown in FIG. 3, the angles of the angles Z FCE, ZFCA, and ZGDE and the lengths of the line segments AC, BC, BD, CE, and DE are the length characteristics of the first straight link 3a and the second straight link 3b, respectively. The inherent connection relationship between the first straight link 3a, the second straight link 3b, the boom cylinder 2, the first boom la and the second boom lb is a fixed known amount . Based on these quantities, the length of the line segment AB, i.e., the length of the boom cylinder 2, can be calculated in conjunction with the angle ZFOG.
首先，可根据角 ZFOG、 ZFCE、 ZGDE以及以下公式，计算角 ZCED; First, the angle ZCED can be calculated according to the angles ZFOG, ZFCE, ZGDE and the following formula;
ZCED = ZFCE + ZGDE - ZFOG ZCED = ZFCE + ZGDE - ZFOG
之后， 根据 CE、 DE、 ZCED以及以下公式， 计算线段 CD的长度；
Figure imgf000009_0001
Then, according to CE, DE, ZCED and the following formula, calculate the length of the line segment CD;
Figure imgf000009_0001
之后， 由于三角形 ACBD和 ACED的三条边的边长已知， 可计算角 Z BCD和 ZECD;  Thereafter, since the sides of the three sides of the triangles ACBD and ACED are known, the angles Z BCD and ZECD can be calculated;
之后， 根据角 ZBCD、 ZECD以及以下公式， 计算角 ZBCE;  Thereafter, the angle ZBCE is calculated according to the angles ZBCD, ZECD and the following formula;
ZBCE = ZBCD - ZECD  ZBCE = ZBCD - ZECD
之后， 根据角 ZBCE、 FCA , FCE 以及以下公式， 计算角 Z ACB; After that, calculate the angle Z based on the angles ZBCE, FCA, FCE and the following formula ACB;
ZACB = ZFCE - ZFCA - ZBCE  ZACB = ZFCE - ZFCA - ZBCE
最后， 根据角 ZACB、 AC、 BC 以及以下公式， 计算线段 AB 的长 度， 即臂架油缸 2的长度。  Finally, the length of the line segment AB, that is, the length of the boom cylinder 2, is calculated based on the angles ZACB, AC, BC and the following formula.
AB = ] AC2 + C2 - Ix AC x BC x cos(ZACB) AB = ] AC 2 + C 2 - Ix AC x BC x cos(ZACB)
然而， 以上具体计算方式仅为一示例， 本发明并不限于该具体计算方 式， 任何本领域技术人员根据所述夹角 ZFOG、 所述第一直连杆 3a和第二 直连杆 3b的长度、 以及所述第一直连杆 3a、 第二直连杆 3b、 臂架油缸 2、 第一臂架 la和第二臂架 lb这五者之间的连接关系计算线段 AB的长度的方 法皆可适用于此。  However, the above specific calculation manner is only an example, and the present invention is not limited to the specific calculation manner, and any person skilled in the art according to the angle ZFOG, the lengths of the first straight link 3a and the second straight link 3b And the method of calculating the length of the line segment AB by the connection relationship between the first straight link 3a, the second straight link 3b, the boom cylinder 2, the first boom la and the second boom lb Can be applied to this.
例如， 如图 4所示， 可在以上计算过程中计算出 CD之后， 根据三角 形 ACBD和 ACED, 计算出线段 BE及角 ZCEB; 之后， 由于角 ZCEA为 固定已知量， 可计算^^ = ^^ - ¾ ; 最后， 由于线段 AE为固定已知 量， 在三角形 ΔΑΕΒ中， 可根据 AE、 BE及其夹角 ZAEB, 计算出线段 AB 的长度， 即臂架油缸 2的长度。 For example, as shown in FIG. 4, after calculating the CD in the above calculation process, the line segment BE and the angle ZCEB are calculated according to the triangle ACBD and ACED; after that, since the angle ZCEA is a fixed known amount, ^^ = ^ can be calculated. ^ - 3⁄4 ; Finally, since the line segment AE is a fixed known amount, in the triangle ΔΑΕΒ, the length of the line segment AB, that is, the length of the boom cylinder 2, can be calculated from AE, BE and its angle ZAEB.
其中， 所述获取第 节臂架与第 + 1节臂架的夹角 （即， ZFOG) 可包 括： 获取所述第 节臂架的倾斜角； 获取所述第 + 1节臂架的倾斜角； 以及 计算所述第 节臂架的倾斜角与所述第 + 1节臂架的倾斜角之差， 以作为所 述第 i节臂架与第 i + 1节臂架的夹角。  The obtaining an angle between the section boom and the +1 section boom (ie, ZFOG) may include: acquiring an inclination angle of the section boom; acquiring a tilt angle of the section + 1 boom And calculating a difference between the inclination angle of the first section boom and the inclination angle of the first + section boom as an angle between the i-th arm and the i-th 1st boom.
可根据上述计算过程， 建立臂架油缸的长度模型 L = & ( )， 其中 &为连 接于第 节臂架与第 + 1节臂架之间的臂架油缸的 L与 之间的非线性函数。  According to the above calculation process, the length model L = & ( ) of the boom cylinder can be established, where & is a nonlinear function between L and the boom cylinder connected between the section boom and the section + 1 boom. .
(2)臂架油缸的长度变化速率模型建立过程 (2) The process of establishing the rate of change of the length of the boom cylinder
在此所述的施加至臂架油缸的控制电流具体指施加至臂架油缸的电磁 阀的电流。 理想状态下， 该电磁阀工作在线性区， 即施加至电磁阀的电流 与臂架油缸的长度变化速率成正比， 但实际上电磁阀个体存在差异， 也不 是纯粹的线性关系， 设他们之间的函数关系为： The control current applied to the boom cylinder described herein specifically refers to the current applied to the solenoid valve of the boom cylinder. Ideally, the solenoid valve operates in the linear region, ie the current applied to the solenoid valve is proportional to the rate of change of the length of the boom cylinder, but in reality the solenoid valve is different in individual Is a purely linear relationship, setting the functional relationship between them as:
K = fi{l) K = f i {l)
其中，其中 /；表示连接于第 节臂架与第 + 1节臂架之间的臂架油缸的 与 /之间函数关系， 为该臂架油缸的长度变化速率， /为施加至该臂架油 缸的控制电流只要 /一定， 也是一定的。  Wherein, wherein: represents a function of the relationship between the boom cylinder connected between the boom and the +1 boom, the rate of change of the length of the boom cylinder, / is applied to the boom The control current of the cylinder is constant as long as it is constant.
可针对每一臂架油缸， 测量有关该臂架油缸的控制电流 /和长度 L , 得 到一定控制电流 I下长度 L的斜率：  For each boom cylinder, the control current / and length L of the boom cylinder can be measured to obtain the slope of the length L at a certain control current I:
κ0 = (ΐ0) κ 0 = (ΐ 0 )
其中， /。为臂架油缸工作区间内的某一固定控制电流， 为 /。所对应的 臂架油缸的长度变化速率， 通过多次进行该测量， 可拟合出整个工作区间 的函数关系式：
Figure imgf000011_0001
among them, /. Is a fixed control current in the working range of the boom cylinder, /. The rate of change of the length of the corresponding boom cylinder can be fitted to the functional relationship of the entire working interval by performing the measurement multiple times:
Figure imgf000011_0001
其中， t为控制电流 /的施加持续时间， 该臂架油缸在时间 期间的 长度变化量。 图 5为本发明提供的用于控制臂架设备的臂架末端位置的装置的框图。 如图 5所示， 本发明还提供一种用于控制臂架设备的臂架末端位置的装置， 该臂架设备包括相互连接的多节臂架， 相邻臂架之间连接有臂架油缸， 该 装置包括： 角度计算设备 10， 用于在控制所述臂架末端从当前位置移动到 目标位置之前， 计算每一臂架油缸的 (^, ,Δ^) , 其中 = 1...M - 1， w为臂架 总量； ^为当所述臂架末端处于所述当前位置时， 第 节臂架与第 + 1节臂 架的夹角； 为当所述臂架末端处于所述目标位置时，第 节臂架与第 + 1节 臂架的夹角； 为当所述臂架末端从所述当前位置移动到所述目标位置时， 所述臂架的水平面旋转角度变化量； 电流计算设备 20， 用于根据 、 φ2ί , 以及预先存储的每一臂架油缸的控制模型 /
Figure imgf000011_0002
0， 计算每一臂架油 缸的 /， 其中 A表示连接于第 节臂架与第 + 1节臂架之间的臂架油缸的 /与 φ1{ , 以及 之间的函数关系， /为施加至该臂架油缸的控制电流， t为该 电流的施加持续时间； 以及执行设备 30， 用于将所计算的控制电流 /施加 至相应的臂架油缸， 持续时间 ， 并控制每一臂架于水平面旋转所述角度变 化量 ， 以控制所述臂架末端从所述当前位置移动到所述目标位置。 Where t is the duration of application of the control current / the amount of change in the length of the boom cylinder during the time. Figure 5 is a block diagram of an apparatus for controlling the position of the end of a boom of a boom apparatus provided by the present invention. As shown in FIG. 5, the present invention also provides a device for controlling the position of the end of the boom of the boom apparatus, the boom apparatus comprising a multi-section boom connected to each other, and a boom cylinder connected between the adjacent booms The device comprises: an angle calculation device 10 for calculating (^, Δ^) of each boom cylinder before controlling the end of the boom to move from the current position to the target position, wherein = 1...M - 1, w is the total amount of the boom; ^ is the angle between the boom and the +1 boom when the end of the boom is in the current position; The angle between the section boom and the +1 section boom; the amount of change in the horizontal rotation angle of the boom when the boom end moves from the current position to the target position; Current calculation device 20 for controlling model according to , φ 2ί , and pre-stored each boom cylinder /
Figure imgf000011_0002
0, calculate each boom oil / of the cylinder, where A represents the relationship between / and φ 1{ , and the function of the boom cylinder connected between the section boom and the section + 1 boom, / is the control applied to the boom cylinder Current, t is the duration of application of the current; and an actuator 30 for applying the calculated control current to the respective boom cylinder for a duration and controlling the angular change of each boom to rotate in a horizontal plane And controlling the end of the boom to move from the current position to the target position.
其中， 该***还可包括： 长度模型建立设备， 用于针对每一臂架油缸， 建立该臂架油缸的长度模型 L = 8i (φ) , 其中 gi表示连接于第 i节臂架与第 + 1 节臂架之间的臂架油缸的 L与 ^之间函数关系， L为该臂架油缸的长度， φί 为第 节臂架与第 + 1节臂架的夹角； 长度变化速率模型建立设备， 用于针 对每一臂架油缸， 建立该臂架油缸的长度变化速率模型 = /;(/) =^， 其中 Wherein, the system may further comprise: a length model establishing device for establishing a length model L = 8i (φ) of the boom cylinder for each boom cylinder, wherein gi is connected to the i-th arm and the + The relationship between L and ^ of the boom cylinder between the 1 boom, L is the length of the boom cylinder, φί is the angle between the boom and the +1 boom; the length change rate model is established. Equipment, for each boom cylinder, establish a length change rate model of the boom cylinder = /; (/) = ^, where
/；表示连接于第 节臂架与第 + 1节臂架之间的臂架油缸的 与 /之间函数 关系， 为该臂架油缸的长度变化速率， 为该臂架油缸在时间 期间的长 度变化量； 以及控制模型建立设备， 用于根据所述长度模型和长度变化速 率 模 型 ， 建 立 每 一 臂 架 油 缸 的 控 制 模 型 其中/；- 1为函数 的逆函数。
Figure imgf000012_0001
/; represents the function of the boom cylinder connected between the boom and the +1 boom, the rate of change of the length of the boom cylinder, and the length of the boom cylinder during the time And a control model establishing device for establishing a control model of each boom cylinder according to the length model and the length change rate model, wherein / 1 is an inverse function of the function.
Figure imgf000012_0001
其中， 所述长度模型建立设备可包括： 夹角获取设备， 用于获取所述 第 节臂架与第 + 1节臂架的夹角； 以及长度计算设备， 用于根据所述夹角 以及所述臂架油缸与第 i节臂架和第 + 1节臂架之间的连接关系， 计算所述 臂架油缸的长度。  The length model establishing device may include: an angle acquiring device, configured to acquire an angle between the first segment arm and the +1 segment arm; and a length calculating device, configured to be according to the angle and the The connection relationship between the boom cylinder and the i-th boom and the +1 boom is calculated, and the length of the boom cylinder is calculated.
其中， 所述夹角获取设备可包括： 第一倾斜角获取设备， 用于获取所 述第 节臂架的倾斜角； 第二倾斜角获取设备， 用于获取所述第 + 1节臂架 的倾斜角； 以及夹角计算设备， 用于计算所述第 节臂架的倾斜角与所述第 + 1节臂架的倾斜角之差， 以作为所述第 节臂架与第 + 1节臂架的夹角。  The angle obtaining device may include: a first tilt angle acquiring device, configured to acquire a tilt angle of the first section boom; and a second tilt angle acquiring device, configured to acquire the first + 1 arm rack a tilt angle; and an angle calculating device for calculating a difference between a tilt angle of the first boom and an inclination angle of the first + 1 boom as the first boom and the +1 arm The angle of the frame.
有关该用于控制臂架设备的臂架末端位置的装置的详细描述可参照之 前所述的用于控制臂架设备的臂架末端位置的方法的详细描述， 于此不在 赘述。 A detailed description of the device for controlling the position of the end of the boom of the boom device can be referred to The foregoing detailed description of the method for controlling the position of the end of the boom of the boom apparatus will not be repeated here.
图 6为本发明提供的用于控制臂架设备的臂架末端位置的***的框图。 如图 6所示， 本发明还提供一种用于控制臂架设备的臂架末端位置的***， 该臂架设备包括相互连接的多节臂架， 相邻臂架之间连接有臂架油缸， 该 ***包括： 存储器 100， 用于存储每一臂架油缸的控制模型 / = ^(%,^,0， 其中 = l...w-l， 为臂架总量； 表示连接于第 节臂架与第 + 1节臂架之间 的臂架油缸的 /与％， 以及 之间的函数关系； 为当所述臂架末端处于 当前位置时， 第 节臂架与第 + 1节臂架的夹角； 为当所述臂架末端处于 目标位置时，第 节臂架与第 + 1节臂架的夹角； /为施加至该臂架油缸的控 制电流； 为该电流的施加持续时间； 以及控制器 200， 与所述存储器 100 相连， 并被配置为： 在控制所述臂架末端从所述当前位置移动到所述目标 位置之前，计算每一臂架油缸的 (^, ,Δ^) , 其中 为当所述臂架末端从所 述当前位置移动到所述目标位置时， 所述臂架的水平面旋转角度变化量； 根据％、 、 以及所述存储器 100 所存储的每一臂架油缸的控制模型 l = q ,P2,t) , 计算每一臂架油缸的 /; 以及将所计算的控制电流 /施加至 相应的臂架油缸， 持续时间 ， 并控制每一臂架于水平面旋转所述角度变化 量 以控制所述臂架末端从所述当前位置移动到所述目标位置。 Figure 6 is a block diagram of a system for controlling the position of the end of a boom of a boom apparatus provided by the present invention. As shown in FIG. 6, the present invention also provides a system for controlling the position of the end of the boom of the boom apparatus, the boom apparatus comprising a plurality of articulated arms connected to each other, and a boom cylinder connected between the adjacent booms The system includes: a memory 100 for storing a control model of each boom cylinder / = ^(%,^,0, where = l... w -l is the total amount of the boom; indicating connection to the section The function of the boom cylinder and the % between the boom and the +1 boom; and the relationship between the boom and the +1 boom when the boom end is in the current position The angle between the section boom and the +1 boom when the end of the boom is at the target position; / is the control current applied to the boom cylinder; the duration of application of the current And a controller 200 coupled to the memory 100 and configured to: calculate (^, Δ) of each boom cylinder before controlling the end of the boom to move from the current position to the target position ^) , wherein the boom is when the boom end moves from the current position to the target position The amount of change in the horizontal rotation angle; based on the %, , and the control model l = q , P 2 , t) of each boom cylinder stored in the memory 100, calculate / for each boom cylinder; The control current/applies to the respective boom cylinder for a duration, and controls each boom to rotate the angular change amount at a horizontal plane to control the boom end to move from the current position to the target position.
其中， 所述控制器 200 可通过以下步骤来建立所述控制模型 The controller 200 can establish the control model by the following steps:
I = qi(9u,92i,t) 针对每一臂架油缸， 建立该臂架油缸的长度模型 L = &(^)， 其中&表示连接于第 节臂架与第 l节臂架之间的臂架油缸的 L与 之间 函数关系， L为该臂架油缸的长度， 为第 节臂架与第 + 1节臂架的夹角； 针对每一臂架油缸， 建立该臂架油缸的长度变化速率模型 = 其 中/；表示连接于第 节臂架与第 + 1节臂架之间的臂架油缸的 与 /之间函 数关系， 为该臂架油缸的长度变化速率， AL该臂架油缸的长度变化量； 以及根据所述长度模型和长度变化速率模型， 建立每一臂架油缸的控制模 型 / = Α (φ, , φ2ί ,t) = f = f ) ))， 其中/；- 1为函数 的逆函数。 其中， 该***还可包括： 夹角测量设备， 用于测量所述第 节臂架与第 + 1节臂架的夹角； 所述控制器 200还被配置为根据所述夹角以及所述臂架 油缸与第 节臂架和第 l节臂架之间的连接关系， 计算所述臂架油缸的长 度。 I = qi (9 u , 9 2i , t) For each boom cylinder, establish the length model L = & (^) of the boom cylinder, where & means connected to the boom and the 1st boom The relationship between the L and the cylinder of the boom cylinder, L is the length of the boom cylinder, which is the angle between the boom and the +1 boom; for each boom cylinder, the boom cylinder is established. Length change rate model = where /; indicates the connection between the arm of the boom and the arm of the + 1 boom The relationship between the number, the length change rate of the boom cylinder, the length change of the boom cylinder, and the control model of each boom cylinder according to the length model and the length change rate model / = Α (φ, , φ 2ί , t) = f = f ) )), where /; - 1 is the inverse of the function. Wherein, the system may further include: an angle measuring device for measuring an angle between the section boom and the +1 section boom; the controller 200 is further configured to according to the angle and the The length of the boom cylinder is calculated by the connection relationship between the boom cylinder and the first boom and the first boom.
其中， 所述第 节臂架的倾斜角以及第 + 1节臂架的倾斜角的测量可通 过倾角传感器实现。 所述夹角测量设备可包括： 第一倾角传感器， 位于所 述第 节臂架上， 用于测量所述第 节臂架的倾斜角； 以及第二倾角传感器， 位于所述第 + 1节臂架上， 用于测量所述第 + 1节臂架的倾斜角。 图 7为本 发明提供的倾角传感器、 臂架以及臂架油缸 2之间的连接关系示意图， 如 图 5所示，可分别于第一臂架 la和第二臂架 lb上设置第一倾角传感器 10a 和第二倾角传感器 10b，以分别测量该第第一臂架 la和第二臂架 lb的倾斜 角。 该第一和第二倾角传感器所得的倾斜角为绝对倾斜角， 假设分别为 «, £ [-180,180] , 则所述夹角 ZFOG可由以下公式计算得到： FOG二 β _ α 。  Wherein, the inclination angle of the first boom and the inclination angle of the +1 boom can be measured by a tilt sensor. The included angle measuring apparatus may include: a first tilt sensor located on the section boom for measuring a tilt angle of the section boom; and a second tilt sensor located at the +1 section arm On the rack, used to measure the tilt angle of the +1st arm. FIG. 7 is a schematic diagram showing the connection relationship between the tilt sensor, the boom, and the boom cylinder 2 according to the present invention. As shown in FIG. 5, the first tilt sensor may be disposed on the first boom 1a and the second boom lb, respectively. 10a and the second inclination sensor 10b to measure the inclination angles of the first arm frame 1a and the second arm frame 1b, respectively. The inclination angles obtained by the first and second inclination sensors are absolute inclination angles, and if assumed to be «, £ [-180, 180], respectively, the angle ZFOG can be calculated by the following formula: FOG di β _ α .
其中， 所述夹角测量设备可包括旋转编码器， 该旋转编码器位于所述 第 节臂架与所述第 + 1节臂架的连接点处， 用于测量所述第 节臂架和第 + 1节臂架之间的夹角。 如图 7所示， 该旋转编码器可安装于第一臂架 la 与第二臂架 lb的连接点 E处。  Wherein the angle measuring device may comprise a rotary encoder, the rotary encoder is located at a connection point of the section boom and the +1th boom, and is configured to measure the section boom and the + The angle between the 1 booms. As shown in Fig. 7, the rotary encoder can be mounted at a connection point E between the first boom la and the second boom lb.
有关该用于控制臂架设备的臂架末端位置的***的详细描述可参照之 前所述的用于控制臂架设备的臂架末端位置的方法的详细描述， 于此不在 后， 根据该当前夹角、 目标夹角以及电流施加持续时间， 通过每一臂架油 缸的控制模型， 计算每一臂架油缸的控制电流， 将该电流施加至相应的臂 架油缸， 并持续所述电流施加持续时间， 使得相邻臂架之间的夹角达到目 标夹角， 并控制转台旋转所述水平面旋转角度变化量， 藉此完成对臂架末 端位置的控制。 在施加电流期间， 无需反馈臂架的倾斜角， 且无需考虑臂 架姿态， 可使得臂架末端位置得到准确的控制， 具有很好的适用性和工程 实用性。 For a detailed description of the system for controlling the position of the end of the boom of the boom apparatus, reference may be made to the detailed description of the method for controlling the position of the end of the boom of the boom apparatus, which is not here. After that, according to the current angle, the target angle and the current application duration, the control current of each boom cylinder is calculated by the control model of each boom cylinder, and the current is applied to the corresponding boom cylinder and continues The current is applied for a duration such that an angle between adjacent booms reaches a target angle, and the turret is controlled to rotate the horizontal rotation angle change amount, thereby completing control of the boom end position. During the application of current, there is no need to feedback the tilt angle of the boom, and the position of the end of the boom can be accurately controlled without considering the attitude of the boom, which has good applicability and engineering practicability.
以上结合附图详细描述了本发明的优选实施方式， 但是， 本发明并不 限于上述实施方式中的具体细节， 在本发明的技术构思范围内， 可以对本 发明的技术方案进行多种简单变型， 这些简单变型均属于本发明的保护范 围。  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments, and various simple modifications of the technical solutions of the present invention may be made within the scope of the technical idea of the present invention. These simple variations are within the scope of the invention.
另外需要说明的是， 在上述具体实施方式中所描述的各个具体技术特 征， 在不矛盾的情况下， 可以通过任何合适的方式进行组合。 为了避免不 必要的重复， 本发明对各种可能的组合方式不再另行说明。  It should be further noted that the specific technical features described in the above specific embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not be further described in various possible combinations.
此外， 本发明的各种不同的实施方式之间也可以进行任意组合， 只要 其不违背本发明的思想， 其同样应当视为本发明所公开的内容。  In addition, any combination of various embodiments of the invention may be made, as long as it does not deviate from the idea of the invention, and should also be regarded as the disclosure of the invention.

Claims

权利要求 Rights request
1、 一种用于控制臂架设备的臂架末端位置的方法， 该臂架设备包括相 互连接的多节臂架， 相邻臂架之间连接有臂架油缸， 其特征在于， 该方法 包括： What is claimed is: 1. A method for controlling a position of a boom end of a boom apparatus, the boom apparatus comprising a multi-section boom connected to each other, and a boom cylinder connected between adjacent booms, wherein the method comprises :
在控制所述臂架末端从当前位置移动到目标位置之前， 计算每一臂架 油缸的 (^, ,Δ^) , 其中 = 1...M - 1， w为臂架总量； ％为当所述臂架末端处 于所述当前位置时， 第 节臂架与第 + 1节臂架的夹角； 为当所述臂架末 端处于所述目标位置时， 第 节臂架与第 + 1节臂架的夹角； 为当所述臂 架末端从所述当前位置移动到所述目标位置时， 所述臂架的水平面旋转角 度变化量；  Calculate (^, , Δ^) of each boom cylinder before controlling the end of the boom to move from the current position to the target position, where = 1...M - 1, w is the total amount of the boom; % is When the end of the boom is in the current position, an angle between the boom and the +1 boom; when the boom end is in the target position, the boom is + 1 An angle of the boom boom; an amount of change in the horizontal rotation angle of the boom when the boom end moves from the current position to the target position;
根据％、 、 以及预先存储的每一臂架油缸的控制模型 / = ^(^^,0， 计算每一臂架油缸的 /，其中 表示连接于第 节臂架与第 + 1节臂架之间的 臂架油缸的 /与％， 以及 之间的函数关系， /为施加至该臂架油缸的控 制电流， 为该电流的施加持续时间； 以及  According to the %, , and pre-stored control model of each boom cylinder / = ^(^^,0, calculate / for each boom cylinder, which means connected to the boom and the +1 boom The relationship between / and % of the boom cylinder, / is the control current applied to the boom cylinder, the duration of application of the current;
将所计算的控制电流 /施加至相应的臂架油缸， 持续时间 ， 并控制每 一臂架于水平面旋转所述角度变化量 ， 以控制所述臂架末端从所述当前 位置移动到所述目标位置。  Calculating the calculated control current / to the corresponding boom cylinder for a duration, and controlling each boom to rotate the angular change amount in a horizontal plane to control the boom end to move from the current position to the target position.
2、根据权利要求 1所述的方法，其特征在于，所述控制模型 / = ^^, ,0 通过以下步骤来建立： 2. Method according to claim 1, characterized in that the control model / = ^^, , 0 is established by the following steps:
针对每一臂架油缸， 建立该臂架油缸的长度模型 L = &( )， 其中 &表示 连接于第 节臂架与第 + 1节臂架之间的臂架油缸的 L与 之间函数关系， L 为该臂架油缸的长度， 为第 节臂架与第 + 1节臂架的夹角；  For each boom cylinder, establish a length model L = &( ) of the boom cylinder, where & represents a functional relationship between the L and the boom cylinder connected between the boom and the +1 boom. , L is the length of the boom cylinder, which is the angle between the section boom and the section + 1 boom;
针对每一臂架油缸， 建立该臂架油缸的长度变化速率模型 Κ = ί(Ι) = , 其中 /；表示连接于第 节臂架与第 l节臂架之间的臂架油缸 的 与 /之间函数关系， 为该臂架油缸的长度变化速率， AL为该臂架油缸 在时间 期间的长度变化量； 以及 Establish a length change rate model for the boom cylinder for each boom cylinder Κ = ί (Ι) = , where /; represents the relationship between the / and the boom cylinder connected between the boom and the boom, the rate of change of the length of the boom cylinder, AL is The amount of change in length of the boom cylinder during time;
根据所述长度模型和长度变化速率模型， 建立每一臂架油缸的控制模 型 ι υ, = = - 、 ， 其中 /；- 1为函数 的逆函数。According to the length model and the length change rate model, the control model ι υ of each boom cylinder is established, = = - , , where /; - 1 is the inverse function of the function.
Figure imgf000017_0001
Figure imgf000017_0001
3、 根据权利要求 2所述的方法， 其特征在于， 所述建立臂架油缸的长 度模型 L = g»包括： 3. The method of claim 2, wherein the establishing a length model of the boom cylinder L = g» comprises:
获取所述第 节臂架与第 + 1节臂架的夹角； 以及  Obtaining an angle between the first boom and the +1 boom; and
根据所述夹角以及所述臂架油缸与第 节臂架和第 + 1节臂架之间的连 接关系， 计算所述臂架油缸的长度。  The length of the boom cylinder is calculated based on the included angle and the connection relationship between the boom cylinder and the boom and the +1 boom.
4、 根据权利要求 3所述的方法， 其特征在于， 所述获取第 节臂架与 第 + 1节臂架的夹角包括： 4. The method according to claim 3, wherein the obtaining the angle between the boom and the +1 boom comprises:
获取所述第 i节臂架的倾斜角；  Obtaining a tilt angle of the i-th arm;
获取所述第 + 1节臂架的倾斜角； 以及  Obtaining a tilt angle of the +1th boom; and
计算所述第 节臂架的倾斜角与所述第 + 1节臂架的倾斜角之差， 以作 为所述第 i节臂架与第 i + 1节臂架的夹角。  A difference between the inclination angle of the first boom and the inclination angle of the +1th boom is calculated as an angle between the i-th arm and the i-+1 arm.
5、 一种用于控制臂架设备的臂架末端位置的装置， 该臂架设备包括相 互连接的多节臂架， 相邻臂架之间连接有臂架油缸， 其特征在于， 该装置 包括： 5. A device for controlling the position of a boom end of a boom apparatus, the boom apparatus comprising a multi-section boom connected to each other, and a boom cylinder connected between adjacent booms, characterized in that the device comprises :
角度计算设备（10)， 用于在控制所述臂架末端从当前位置移动到目标 位置之前， 计算每一臂架油缸的 (^, , Δ^) , 其中 = 1...« - 1， 为臂架总量; An angle calculating device (10) for calculating (^, , Δ^) of each boom cylinder before controlling the end of the boom to move from the current position to the target position, wherein = 1...« - 1, The total amount of the boom;
%为当所述臂架末端处于所述当前位置时， 第 节臂架与第 + 1节臂架的夹 角； 为当所述臂架末端处于所述目标位置时， 第 节臂架与第 + 1节臂架 的夹角； 为当所述臂架末端从所述当前位置移动到所述目标位置时， 所 述臂架的水平面旋转角度变化量； % is the clip of the first boom and the +1 boom when the boom end is in the current position An angle between the first boom and the +1th boom when the boom end is in the target position; to when the boom end moves from the current position to the target position , the amount of change in the horizontal rotation angle of the boom;
电流计算设备 （20)， 用于根据％、 φ2ί , 以及预先存储的每一臂架油 缸的控制模型 / = ^ (^ , 0， 计算每一臂架油缸的 /， 其中 表示连接于第 节臂架与第 + 1节臂架之间的臂架油缸的 /与％， 以及 之间的函数关系， /为施加至该臂架油缸的控制电流， 为该电流的施加持续时间； 以及 A current calculation device (20) for calculating a model of each boom cylinder according to %, φ 2ί , and a pre-stored control model of each boom cylinder / = ^ (^, 0, wherein the connection is connected to the section The //, as a function of the boom cylinder between the boom and the +1 boom, / is the control current applied to the boom cylinder, the duration of application of the current;
执行设备 （30)， 用于将所计算的控制电流 /施加至相应的臂架油缸， 持续时间 ，并控制每一臂架于水平面旋转所述角度变化量 以控制所述 臂架末端从所述当前位置移动到所述目标位置。  Execution device (30) for applying the calculated control current / to the corresponding boom cylinder for a duration, and controlling each boom to rotate the angular change amount in a horizontal plane to control the boom end from the The current position is moved to the target position.
6、 根据权利要求 5所述的装置， 其特征在于， 该装置还包括： 长度模型建立设备， 用于针对每一臂架油缸， 建立该臂架油缸的长度 模型 L = & ( )， 其中&表示连接于第 节臂架与第 + 1节臂架之间的臂架油缸 的 L与 之间函数关系， L为该臂架油缸的长度， 为第 节臂架与第 l节 臂架的夹角； 6. The apparatus according to claim 5, further comprising: a length model establishing device for establishing a length model L = & ( ) of the boom cylinder for each boom cylinder, wherein Indicates the L-to-function relationship between the boom cylinder connected between the boom and the +1 boom, L is the length of the boom cylinder, and is the clamp of the boom and the first boom Horn
长度变化速率模型建立设备， 用于针对每一臂架油缸， 建立该臂架油 缸的长度变化速率模型 K = =^, 其中 表示连接于第 i节臂架与第 + 1 节臂架之间的臂架油缸的 与 /之间函数关系， 为该臂架油缸的长度变化 速率， 为该臂架油缸在时间 期间的长度变化量； 以及  A length change rate model establishing device for establishing a length change rate model K = =^ for the boom cylinder for each boom cylinder, wherein the connection is between the i-th arm and the +1 boom The relationship between the arm and the cylinder is the rate of change of the length of the boom cylinder, which is the amount of change in the length of the boom cylinder during the time;
控制模型建立设备， 用于根据所述长度模型和长度变化速率模型， 建 立每一臂架油缸的控制模型 / = Α ^. , ^ , Ο =厂1 ;(^) =厂1 ;(^^^)，其中 /Γ1为函数 ；的逆函数。 A control model establishing device for establishing a control model for each boom cylinder according to the length model and the length change rate model / = Α ^. , ^ , Ο = plant 1 ; (^) = plant 1 ; (^^ ^), where /Γ 1 is the function; the inverse function.
7、 根据权利要求 6所述的装置， 其特征在于， 所述长度模型建立设备 包括： The apparatus according to claim 6, wherein the length model establishing device comprises:
夹角获取设备， 用于获取所述第 节臂架与第 + 1节臂架的夹角； 以及 长度计算设备， 用于根据所述夹角以及所述臂架油缸与第 节臂架和第 + 1节臂架之间的连接关系， 计算所述臂架油缸的长度。  An angle acquisition device for acquiring an angle between the section boom and the +1 section boom; and a length calculating device for, according to the angle, the arm cylinder and the section boom and the + The connection relationship between the 1 booms is calculated, and the length of the boom cylinder is calculated.
8、根据权利要求 7所述的装置，其特征在于，所述夹角获取设备包括: 第一倾斜角获取设备， 用于获取所述第 节臂架的倾斜角； The device according to claim 7, wherein the angle acquiring device comprises: a first tilt angle acquiring device, configured to acquire a tilt angle of the first arm frame;
第二倾斜角获取设备， 用于获取所述第 + 1节臂架的倾斜角； 以及 夹角计算设备， 用于计算所述第 节臂架的倾斜角与所述第 + 1节臂架 的倾斜角之差， 以作为所述第 节臂架与第 + 1节臂架的夹角。  a second tilt angle acquiring device, configured to acquire a tilt angle of the +1st arm boom; and an angle calculating device, configured to calculate a tilt angle of the first section boom and the +1st arm boom The difference between the tilt angles is used as the angle between the first section boom and the +1th section boom.
9、 一种用于控制臂架设备的臂架末端位置的***， 该臂架设备包括相 互连接的多节臂架， 相邻臂架之间连接有臂架油缸， 其特征在于， 该*** 包括： 9. A system for controlling the position of a boom end of a boom apparatus, the boom apparatus comprising a plurality of articulated arms connected to each other, and a boom cylinder connected between adjacent booms, wherein the system comprises :
存储器（100)， 用于存储每一臂架油缸的控制模型 / = ^ (% , ^ , 0， 其中 i = \ ...n - \ , 为臂架总量； 表示连接于第 节臂架与第 l节臂架之间的臂 架油缸的 /与％， 以及 之间的函数关系； ％为当所述臂架末端处于当前 位置时， 第 节臂架与第 + 1节臂架的夹角； 为当所述臂架末端处于目标 位置时，第 节臂架与第 + 1节臂架的夹角； /为施加至该臂架油缸的控制电 流； 为该电流的施加持续时间； 以及  a memory (100) for storing a control model of each boom cylinder / = ^ (% , ^ , 0, where i = \ ...n - \ , is the total amount of the boom; indicating connection to the boom As a function of the //% of the boom cylinder between the boom and the boom; % is the clamp of the boom and the +1 boom when the boom end is in the current position An angle between the first boom and the +1 boom when the end of the boom is at the target position; / is the control current applied to the boom cylinder; the duration of application of the current;
控制器 （200)， 与所述存储器 （100 ) 相连， 该控制器为权利要求 5-8 中任一项权利要求所述的用于控制臂架设备的臂架末端位置的装置。  A controller (200) is coupled to the memory (100), the device for controlling the position of the end of the boom of the boom apparatus according to any one of claims 5-8.
10、 根据权利要求 9所述的***， 其特征在于， 该***还包括： 夹角测量设备， 用于测量所述第 节臂架与第 + 1节臂架的夹角； 所述控制器（200)还被配置为根据所述夹角以及所述臂架油缸与第 节 臂架和第 i + 1节臂架之间的连接关系， 计算所述臂架油缸的长度。 The system according to claim 9, wherein the system further comprises: an angle measuring device, configured to measure an angle between the first arm and the +1 arm; The controller (200) is further configured to calculate a length of the boom cylinder based on the included angle and a connection relationship between the boom cylinder and the first boom and the i+1st boom.
11、 根据权利要求 10所述的***， 其特征在于， 所述夹角测量设备包 括： 11. The system of claim 10, wherein the included angle measuring device comprises:
第一倾角传感器， 位于所述第 节臂架上， 用于测量所述第 节臂架的 倾斜角； 以及  a first inclination sensor located on the first arm for measuring a tilt angle of the first boom; and
第二倾角传感器， 位于所述第 + 1节臂架上， 用于测量所述第 + 1节臂 架的倾斜角。  A second tilt sensor is located on the +1st boom and is used to measure the tilt angle of the +1st arm.
12、 根据权利要求 10所述的***， 其特征在于， 所述夹角获取设备包 括旋转编码器， 该旋转编码器位于所述第 节臂架与所述第 + 1节臂架的连 接点处， 用于测量所述第 i节臂架和第 i + 1节臂架之间的夹角。 12. The system according to claim 10, wherein the included angle acquisition device comprises a rotary encoder, the rotary encoder being located at a connection point of the first section boom and the +1st section boom , for measuring an angle between the i-th arm and the i-th l-branch.
PCT/CN2011/079351 2011-09-05 2011-09-05 Method, apparatus, and system for use in controlling position of boom end of boom apparatus WO2013033888A1 (en)

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