Boom system control method, boom control system and boom device

Abstract

The invention puts forward a boom system control method, a boom control system and a boom device. The boom system control method comprises the following steps: acquiring the actual support state data of each support leg, and determining the allowed amplitude angle range or scale length range of each boom section of a boom system at different rotation angles according to the actual support state data of each support leg; detecting the amplitude angle or scale length of each boom section; and making each boom section move within the allowed amplitude angle range or scale length range. According to the method, the allowed amplitude angle range or scale length range of each boom section is determined before the boom system moves, so that during movement of each boom section of the boom system, there is no need to calculate the center of gravity of the entire vehicle constantly, and there is only the need to judge whether the amplitude angle or scale length of each boom section of the boom is within the allowed amplitude angle range or scale length range of the boom section through comparison. The existing post-control is changed into pre-control. The safety of the device can be improved, and the risk of tipping can be reduced.

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 the control system has a large amount of calculation, which requires high stability of the control system and the reliability of all sensors, and is prone to errors

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