Boom control method and system

Abstract

The invention discloses a boom control method and system. The boom control method comprises the steps that a preset angular velocity value for stretching or retracting a boom is input and a controller controls the stretching and retracting speed of a piston rod of an oil cylinder according to the preset angular velocity value and further comprises the steps that the real-time angular velocity value for stretching or retracting the boom is detected and compared with the preset angular velocity value; when the real-time angular velocity value is larger than the preset angular velocity value, the controller controls the stretching and retracting speed of the piston rod to be decreased; and when the real-time angular velocity value is smaller than the preset angular velocity value, the controller controls the stretching and retracting speed of the piston rod to be increased. After the preset angular velocity value is input, the real-time angular velocity value can be controlled to be close to the preset angular velocity value so that the boom can rotate at a constant speed, accordingly, the rotating speed of the boom is controlled stably and accurately, high operability is achieved, linear following of given input can be achieved, and rapid correction can be achieved even if under the influence of external factors.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a boom control method and system. Background technique [0002] Rotary booms are widely used in the field of construction machinery. For example, multi-stage booms are installed on concrete pump trucks, which effectively improves the operation convenience of concrete pump trucks. In the prior art, the boom is hinged to the upper device, and the oil cylinders are respectively hinged to the boom and the upper device, and the rotation of the boom is realized by controlling the expansion and contraction of the oil cylinder. The control of the jib is realized through the remote control device, and each handle of the remote control device corresponds to each section of the jib. The degree of pushing the handle is proportional to the analog output of the remote control device. When the handle is pushed, the analog signal is output to the controller. The hydraulic oil flow of the o...

AI Technical Summary

Problems solved by technology

[0003] However, due to the influence of gravity, the resistance of the cylinder movement is different under different postures of the boom, so that the flow rate of the multi-way valve of the boom is not proportional to the linear movement of the cylinder. At the same time, the linear movement of the cylinder and the expansion and retraction of the boom The angular velocity of the action is also not proportional. The above reasons prevent the boom from rotating at a constant speed when the fixed value is input.

It can be seen that when operating the boom, the command value is the value input by the remote control device, and the control value is the rotation speed of the boom. The command value and the control value are not linearly proportional, which affects the smooth and precise control of the boom

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