Control method and controller for crane and its composite actions of crane

Abstract

The invention discloses a control method of composite actions of a crane, which is used for controlling total flow of hydraulic oil to be distributed to multiple actuators. The liquid-feeding flow of each actuator is controlled by regulating the opening of a control valve; and the motion speed of at least one actuator is obtained in real time by using the control method, and the judgment result of regulating the opening of the valve port of the controller valve used for controlling the liquid-feeding flow of each actuator is obtained according to the fact that whether the motion speed of at least one actuator meets preset judgment conditions. Through the analysis of engineering mechanical composite actions, the preset judgment conditions of regulating the opening of the vale port of the control valve are determined, thereby effectively controlling the flow distribution from the total flow to the actuators based on the motion speeds of the actuators in real time. In addition, the invention also provides a controller and the crane with the controller.

Description

technical field [0001] The invention relates to the compound action control technology of engineering machinery, in particular to a crane and its compound action control method and controller. Background technique [0002] With the acceleration of the pace of social development, the requirements for various construction machinery are not limited to basic working performance such as safety and reliability. How to improve operating efficiency has become the key point of optimal design, especially, reasonably design compound movements and improve their operability. [0003] Taking the construction crane as an example, it has the basic actions of walking the whole machine, turning on the car, extending and retracting the boom, luffing the boom, and lifting and lowering the hook. In order to meet the needs of actual working conditions, the combination of the aforementioned basic actions can effectively improve the operating efficiency of the crane, thereby greatly shortening the...

AI Technical Summary

Problems solved by technology

When the flow through the pressure reducing valve is too low, the pressure reducing valve cannot play a role in reducing pressure; when the flow through the pressure reducing valve is too high, the pressure reducing valve will fail

[0008] 2) In actual work, the hydraulic system is greatly affected by other factors

Since the same opening and pressure difference have different flow rates under different working conditions, improving the accuracy of hydraulic valves requires higher design and manufacturing costs

[0009] 3) When the flow rate of the pump is not saturated, the flow distribution of each actuator in the composite action is uneven, resulting in the movement speed not meeting the requirements

Taking the combined operation condition of the winch motor and the luffing cylinder of the crane as an example, the load of the motor remains basically unchanged during hoisting (omitting the secondary force), and as the working range decreases, the luffing cylinder As the load decreases, the pressure at the oil inlet is determined by the maximum load, and the pressure difference between the front and rear of the luffing valve will become larger and larger, so that the flow through the luffing cylinder will become larger and larger; As a result, the speed of hoisting will slow down accordingly, and even the phenomenon of stopping the movement will appear.

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