Control method of boom system, boom control system and boom equipment

Abstract

The invention provides a control method of a boom system, a boom control system and boom equipment. The control method comprises the following steps of: dividing the motion range of each supporting leg into a plurality of motion intervals within a motion range of each of the supporting legs, according to the combination of each of the supporting legs in different motion intervals, establishing a supporting level base, and in the supporting level base, determining an allowable motion range of the boom system under each of the supporting levels and at different revolution angles; detecting the actual supporting state of each of the supporting legs, wherein the actual supporting state comprises the actual extension length and / or the unfolding angle of each of the supporting legs; and according to the detected actual supporting state of each of the supporting legs, in the supporting level base, seeking for the supporting levels corresponding to the actual supporting states of the supporting legs, so that allowable motion ranges of the boom system in different revolution angles are determined, and according to the allowable motion range, controlling the motion of each of the boom system. According to the control method disclosed by the invention, calculating the gravity center of a complete vehicle at all times is not needed, so that the calculation amount is low, and the control error rate is low.

Description

technical field [0001] The present invention relates to the field of construction engineering machinery and equipment, and more specifically, to a boom system control method, a boom control system and boom equipment. Background technique [0002] At present, the existing stability control methods for multi-folding arm equipment are to first detect the working posture of the boom in real time, and calculate the center of gravity of the vehicle in real time, and judge whether the center of gravity of the vehicle is in a safe area within the support range. The movement of the boom makes the center of gravity of the whole vehicle exceed the safe area, and the controller will control the boom to move in a safe direction. The above control method belongs to post-event control, which cannot ensure that the multi-folding arm equipment is in a safe working state at all times, and there is a risk of accidental overturning. Moreover, all booms of the multi-folding arm equipment need to...

AI Technical Summary

Problems solved by technology

The above control method belongs to post-event control, which cannot ensure that the multi-folding arm equipment is in a safe working state at all times, and there is a risk of accidental overturning. Moreover, all booms of the multi-folding arm equipment need to be installed with attitude detection devices, which increases the probability of error and needs to be controlled. The system calculates the center of gravity of the vehicle at all times, and calculates whether the boom system is located in a safe area according to the center of gravity and the support of the outriggers. The control system has a large amount of calculation, and has high requirements for the stability of the control system and the reliability of all sensors. ,Error-prone

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