Boom telescoping control method, boom telescoping control apparatus, boom telescoping control system and engineering machine

Abstract

The invention discloses a boom telescoping control method, a boom telescoping control apparatus, a boom telescoping control system and an engineering machine. The method comprises the following steps: acquiring the target telescoping length of a boom; acquiring the current telescoping length of the boom in real time; determining a telescoping control signal according to the current telescoping length of the boom and the target telescoping length of the boom; and outputting the telescoping control signal to an execution mechanism in order to control the boom to telescope. The current telescoping length of the arm is acquired to realize real time adjustment of the telescoping control signal, so improvement of the stability in the boom telescoping process is facilitated, and the pressure impact of a hydraulic system is reduced; and closed loop control is adopted to realize the consistence of the boom telescoping rules under different conditions, so the telescoping efficiency is guaranteed.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a boom telescopic control method, device, system and engineering machinery. Background technique [0002] The single-cylinder plug-type telescopic boom integrates machinery, electricity and hydraulics. It has the characteristics of light weight of the boom, small change in section, good lifting rigidity, and high degree of system intelligence. It is widely used in wheeled cranes with large tonnage, full-scale Ground cranes and other construction machinery. In the automatic mode of the single-cylinder bolt-type telescopic boom, according to the actual working conditions, the operator selects the target telescopic working condition, and then only needs to send an enabling signal through the handle, and the system will automatically complete the telescopic task. [0003] In the existing telescopic control technology, the controller divides the telescopic process of the boom int...

AI Technical Summary

Problems solved by technology

The use of fixed current value to control the expansion and contraction of the boom in stages has the following disadvantages: the control method of the expansion and contraction speed of the boom is open-loop control, and it is difficult to guarantee the expansion and contraction efficiency under different working conditions; the expansion and contraction control signal changes greatly, and the hydraulic system is prone to vibration. Stretch stability is not good

[0004] In another existing telescopic control scheme, the current output value is adjusted according to the telescoping speed of the oil cylinder to control the telescopic boom. However, due to the cumbersome acquisition process of the speed signal and low measurement accuracy in this scheme, the positioning of the arm pin and the pin hole will The accuracy is low, which greatly affects the success rate of the automatic telescopic bolt of the boom

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