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Tail end motion control method and system for arm support

A motion control and boom technology, which is applied to control/adjustment systems, non-electric variable control, and simultaneous control of multiple variables, etc., can solve the problem that the acceleration of the boom end cannot be adjusted in real time, and the acceleration of the boom end cannot be accurately and effectively controlled. , poor control effect, etc., to achieve the effect of smooth speed change, good control, and good acceleration control effect

Active Publication Date: 2014-05-07
ZOOMLION HEAVY IND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The invention provides a method and system for controlling the movement of the end of the boom, which is used to solve the problems in the prior art that the acceleration of the end of the boom cannot be accurately and effectively controlled, the acceleration of the end of the boom cannot be adjusted in real time, and the control effect is not good.

Method used

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  • Tail end motion control method and system for arm support
  • Tail end motion control method and system for arm support
  • Tail end motion control method and system for arm support

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0051] The method for controlling the motion of the end of the boom provided by Embodiment 1 of the present invention describes in detail the process of realizing the motion control under the automatic control mode of the end of the boom. This process includes the process of automatic control of the motion of the boom and the acceleration adjustment during the motion of the boom process, the method flow is as follows figure 2 shown, including the following steps:

[0052] Step S201: Select the jib movement to be executed, and determine the start position and target position of the jib movement selected to be executed.

[0053] Step S202: Determine the speed parameters, acceleration parameters and motion time lengths of each movement stage of the selected boom movement according to the starting position and the target position of the selected boom movement.

[0054] The automatic control mode is generally suitable for knowing the starting position and target position of the b...

Embodiment 2

[0095] The motion control method for the end of the boom provided in Embodiment 2 of the present invention is described in detail for the implementation process of motion control in the manual operation control mode of the end of the boom. The flow of the method is as follows image 3 shown, including the following steps:

[0096] Step S301: Obtain an action instruction signal of an action instruction input component.

[0097] The action command input component package may be a handle or a switch device, and in the manual operation mode, the action command is input by the action command input component such as the handle or the switch device.

[0098] Step S302: Determine the corresponding output current to the actuator according to the input action command signal.

[0099] The action command signal input by the handle can be a proportional signal, and the proportional signal input by the handle directly corresponds to the magnitude of the output current output from the progr...

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Abstract

The invention discloses a tail end motion control method and a tail end motion control system for an arm support. The tail end motion control method comprises the following steps: acquiring the acceleration, which is detected by an acceleration sensor, of the tail end of the arm support in each set direction and respectively comparing the acquired acceleration value in each set direction with an acceleration threshold in each set direction; when the acceleration of the tail end of the arm support in at least one direction is greater than the acceleration threshold in the direction, determining an acceleration deviation value between the acceleration of the tail end of the arm support in at least one direction and the acceleration threshold in the direction and determining the motion phase where the tail end of the arm support is positioned; and determining a first current adjusting parameter requiring to adjust output current output to an execution mechanism according to the acceleration deviation value and the motion phase where the tail end of the arm support is positioned and adjusting the output current output to the execution mechanism according to the first current adjusting parameter. According to the real-time feedback of the sensor, the acceleration of the tail end of the arm support can be controlled accurately and effectively and the real-time adjustment of the acceleration is realized.

Description

technical field [0001] The invention relates to the technical field of engineering machinery control, in particular to a method and system for controlling the motion of a boom end. Background technique [0002] In the field of engineering machinery, the requirements for controlling the acceleration of the end of the boom on various engineering machinery are getting higher and higher. Currently commonly used acceleration control methods are: [0003] Method 1: Control through the signal function. This method simply uses a given ramp function between the input signal and the output signal, so that the speed will not undergo a sudden change, such as sudden start or sudden stop. [0004] Method 2: Control according to the location information. This method needs to obtain the current position and target position of the boom end, calculate the control current of each boom cylinder before moving from the current position to the target position, and apply the calculated control c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D27/02
Inventor 马钰黎明和熊忆罗建利陈晓辉
Owner ZOOMLION HEAVY IND CO LTD
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