Sectioned control method and system for boom system and boom equipment

Abstract

The invention provides a sectioned control method and system for a boom system and boom equipment. The method includes the following steps that according to the actual supporting states of all supporting legs, the movement range of the boom system is divided into a plurality of supporting sections, and the allowed movement range of each boom segment of the boom system when the boom system is located in each supporting section is determined; the rotation angle of the boom system and the angles and / or expansion lengths of the boom segments are detected; and each boom segment is controlled to move in the allowed movement range when located in each supporting section, when the boom system is rotated from one supporting section to another supporting section, whether the boom segments are within the allowed movement ranges allowed by another supporting section or not is judged according to the detected angles and / or expansion lengths of the boom segments, and accordingly rotation of the boom system is controlled. By means of the method, there is no need to calculate the center of gravity of a whole vehicle at all times, the calculation amount is small, the control error rate is low, and meanwhile the boom system is high in safety when rotating.

Description

technical field [0001] The present invention relates to the field of construction engineering machinery and equipment, and more specifically, to a method and system for controlling partitions of a jib system and jib 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 equipme...

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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

[0003] At the same time, the boom system needs to rotate frequently. When the telescopic length of the boom is fixed, the choice of the boom system will also cause changes in the center of gravity of the vehicle. Therefore, the control system needs to calculate the center of gravity of the vehicle at all times, and calculate According to the support situation, calculating whether the boom system is located in the safe area, the amount of calculation is large, and the error rate is high

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