Arm support motion control method, controller and control system

Abstract

The invention discloses an arm support motion control method including the following steps: two input components of arm support control signals are obtained; the judgment result whether the arm support is linked is obtained in the condition that both of the amplitudes of the two input components are greater than a preset control threshold value; if the arm support is linked, the two input components are respectively compared with corresponding preset benchmark values so as to determine a current linkage area; according to the difficulty value of a preset arm support motion direction, the input component corresponding to the direction in which the difficulty value of the current linkage area is smaller is selected to be a first target signal, and the other input component is selected to bea second target signal; a first and a second proportionality coefficients corresponding to the first and the second target signals are obtained, wherein, the first proportionality coefficient is smaller than 1 and the second proportionality coefficient is greater than or equal to 1; according to the first and the second proportionality coefficients, the first and the second target signals are respectively varied to generate two output components; and according to the two output components, telescopic and pitching driving signals of the arm support are respectively outputted. The invention cancoordinate the linkage of the arm support and correspondingly further discloses an arm support motion controller and a control system.

Description

technical field [0001] The invention relates to the field of construction machinery control, in particular to a boom motion control method, a controller and a control system. Background technique [0002] The container reach stacker crane (hereinafter referred to as the reach stacker) is a kind of port engineering machinery, which mainly realizes container lifting through the telescopic and pitching movements of the boom. During operation, the XY cross handle outputs the boom control signal, and after calculation and processing by the controller, the boom drive signal is output, and the actuator is controlled to push the boom to extend, retract, lift, and lower. The basic requirements are that the switching of the four actions should be smooth and smooth, the two-way linkage should be easy to realize, and the speed of the boom movement can be adjusted conveniently. [0003] In the prior art, usually only the control signal components of the two booms output by the handle ar...

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Problems solved by technology

[0007] Similar to this, the above-mentioned problems also exist in the movement of other existing construction machinery booms: the difference between the two directions of movement is large during joint actions, it is difficult to coordinate movements, and the fretting and coherence of the boom movement are poor

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