Overhead working truck tipping prevention control method
A technology for aerial work vehicles and control methods, applied in the field of anti-overturn control of aerial work vehicles, can solve problems such as complex calculation equations for the center of gravity, extremely strict sensor error requirements, and difficulty in completing anti-overturn control, etc., to achieve simplified and complex control degree of effect
Inactive Publication Date: 2015-05-06
杭州爱知工程车辆有限公司
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Problems solved by technology
[0004] With the emergence of complex boom structures (multi-joint, multi-degree of freedom of motion), the calculation equation of the center of gravity is extremely complicated, and the error requirements for the sensors that measure the telescopic length and angle of each boom are extremely strict, and the cost increase is unacceptable. Therefore, It is difficult to complete the anti-rollover control by adopting the traditional amplitude limitation or moment limitation method
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[0021] see figure 1 , The main idea of the anti-rollover control method for aerial work vehicles in the embodiment of the present invention is based on the following two basic facts: 1. When the sum of the support reaction forces (leg reaction forces) of two adjacent legs approaches 0, The entire vehicle is in danger of tipping over to the opposite side; 2. The sum of the reaction forces of all outriggers is a constant equal to the weight of the entire vehicle. During the movement of the boom, through continuous real-time monitoring of the changes in the reaction forces of the four vertical outriggers, the impact of the current boom movement on the stability of the vehicle (favorable or Unfavorable trend) and degree, when the speed limit alarm value is reached, the unfavorable action will be slowed down, and an alarm signal will be issued at the same time. When the limit value is reached, the unfavorable action will be restrained (stopped), upgraded to a warning signal, and ...
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The invention relates to an overhead working truck tipping prevention control method. The method is characterized in that the method includes the following steps that 1, pressure sensor data of four supporting legs are read and converted to counter-acting force; 2, when the counter-acting force sum of the four supporting legs is not equal to the whole truck weight, fault processing is conducted; 3, when an arm frame acts, the counter-acting force sums of all adjacent supporting legs are calculated; 4, when the counter-acting force sum of any two adjacent supporting legs is larger than or equal to the speed limiting alarm value, step 7 is executed; 5, the current action slows down and an alarm is given out; 6, when the counter-acting force sum of any two adjacent supporting legs is smaller than the action limiting value, emergency processing is conducted; 7, after the arm frame is drawn back in place, machine halt is conducted, or step 1 is executed. The speed limiting alarm value is a product of a speed reducing safety coefficient and the whole truck weight, and the action limiting value is a product of a stopping safety coefficient and the whole truck weight. According to the overhead working truck tipping prevention control method, through the concise and clear control method, the tipping risks that an overhead working truck tips over towards any side are directly determined, early warning is extracted and processing is conducted, and the control complexity is greatly lowered.
Description
technical field [0001] The invention relates to an anti-overturning control method of an aerial work vehicle, which is mainly applicable to the real-time signal monitoring and trend analysis method and trend control of the aerial work vehicle. Background technique [0002] At present, the anti-tipping control of telescopic boom aerial work vehicles (including fire trucks with high lifts) adopts the method of amplitude limitation or moment limitation, and there are many physical quantities that need to be detected: the extension length of the arm, the pitch angle of the arm or the angle of the working bucket. The load, the extension length of each horizontal outrigger (outrigger span detection), the levelness of the turntable plane (requiring the frame to be leveled), the rotation angle of the turntable, etc., the corresponding control system and control program are relatively complicated. It is necessary to calculate the amplitude limit data table according to the ideal typi...
Claims
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Login to View More IPC IPC(8): B66F11/04B66F17/00
CPCB66F11/04B66F17/00
Inventor 王世光梁鲜琪
Owner 杭州爱知工程车辆有限公司