Control method and device for stable starting and stopping of turning gear

Abstract

The invention discloses a controlling method and a controlling device of the smooth starting or braking of a swing mechanism; the controlling method comprises the specific steps: when the swing mechanism is started, a control signal inputted into a rotation power outputting mechanism ascends ramp step by ramp step with the time change; when the swing mechanism is braked, a control signal inputted into the rotation power outputting mechanism descends ramp step by ramp step with the time change; by the changes, an impact frequency is obtained and a natural frequency generated by inertial impactions is weakened, thus realizing starting or braking quickly and smoothly. The device comprises an inputting device which is used for inputting a command controlling the rotation of the swing mechanism, a controller and the rotation power inputting mechanism; when the controller outputs a controlling command for starting, the wave shape of an outputted starting signal ascends ramp step by ramp step with the time change; when the controller outputs a controlling command for braking, the wave shape of an outputted braking signal descends ramp step by ramp step with the time change; and the rotation power outputting mechanism is used for driving the swing mechanism to rotate.

Description

technical field [0001] The invention relates to the control technology of the rotary mechanism of construction machinery, in particular to a control method and device for the smooth starting and braking of the rotary mechanism. Background technique [0002] For construction machinery where the upper vehicle rotates relative to the chassis, the starting and braking stability of the slewing mechanism is one of the important indicators of the performance of the whole machine. Therefore, it is important to optimize the design to avoid the impact of inertial impact during the starting and braking process of the slewing mechanism Industry research and development hotspots, such as: concrete pump truck slewing mechanism. [0003] The boom of the concrete pump truck is used to transport concrete to the designated position, and the above functions are mainly completed by unfolding, retracting and rotating. Since the jib is usually composed of several jibs and jib cylinders, connecti...

AI Technical Summary

Problems solved by technology

Since the jib is usually composed of several jibs and jib cylinders, connecting rods, hinged shafts, delivery pipes, etc., and the delivery pipe is filled with concrete during the construction process, the moment of inertia is very large; during the rotation of the jib, the main There are the following problems: one is the instability of the rotation movement, the movement process is "one fast and one slow" swinging forward; the other is that after braking, there will be a large swing, and it cannot stop accurately at the predetermined position

However, the first method has problems such as slow starting and braking speed and increased braking distance, which seriously affects the system response time and reduces the efficiency of construction machinery. An accident where the jib collided with an obstacle

The second way is to start the rotation faster through the linkage adjustment of the oil inlet and outlet, and to brake faster by increasing the damping. This control method is undoubtedly useful for long cantilever beam structures such as concrete pump trucks and crane jibs. Inertial displacement leading to unstable operation and braking at the end

If the method of hydraulic control is adopted, such as: controlling the back pressure of the oil outlet, etc., the angular displacement change of c~d section will be reduced, thereby reducing the inertial impact; but the braking distance will increase, and the braking cannot be realized effectively and timely

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