Cooperative action control method, device and system of moving parts

Abstract

The invention discloses a movement component coordination action control method, device and system. The movement component coordination action control method comprises the steps that a preparation current lower than an activate current threshold acts on each electric proportional control valve of a multi-way valve so that each electric proportional control valve of the multi-way valve can be in a preparation state; in the preparation state, a control current not lower than the activate current threshold acts on each electric proportional control valve of the multi-way valve so that each electric proportional control valve can respond; the electric proportional control valves control corresponding driving oil cylinders to act, and then movement components driven by the driving oil cylinders are controlled to act. The invention further discloses the device and system for realizing the movement component coordination action control method.

Description

technical field [0001] The present invention relates to the technical field of construction machinery control, in particular to a method, device and system for controlling the coordinated action of multiple moving parts on construction machinery. Background technique [0002] Multi-booms often appear on construction machinery. When construction machinery is equipped with a multi-boom structure, it usually requires multiple booms to move in coordination to control the trajectory of the end of the boom. Such as figure 1 The shown pump truck is equipped with multiple booms, and the principle of controlling the coordinated movement of these multiple booms is as follows: figure 2 shown. figure 2 In the multi-boom cooperative motion control system shown, an inclination sensor 1 is set on one arm, which acts under the drive of the first arm cylinder, and an inclination sensor 2 is set on the second arm, which moves under the drive of the two arm cylinder. The two arms move tog...

AI Technical Summary

Problems solved by technology

[0007] The invention provides a method, device and system for controlling the coordinated action of moving parts, which are used to solve the inaccurate control of the response time of multiple driving cylinders and the cooperative control of the actions of multiple moving parts in the prior art when multiple moving parts move cooperatively Poor accuracy, resulting in low accuracy of motion trajectory control of multiple moving parts

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