Cantilever crane end position control method and system, and construction machine including the system

Abstract

The embodiment of the invention provides a cantilever crane end position control method and system, and a construction machine. The method comprises the following steps that: a direction and an amplitude that are indicated by a control mechanism for controlling the position of the tail end of a cantilever crane are received; an actual speed and position of the tail end of the cantilever crane arereceived; according to the direction and amplitude, the actual speed of the tail end of the cantilever crane, an accelerated speed upper limit constraint and / or speed upper limit constraint, a desiredmovement speed of the tail end of the cantilever crane under the accelerated speed upper limit constraint and / or speed upper limit constraint is determined; according to the lasting time of the indication direction and amplitude of the control mechanism, integration of the desired movement speed is carried out to obtain a displacement increment of the tail end of the cantilever crane is obtained;on the basis of the displacement increment and the actual position of the tail end of the cantilever crane, a target position of the tail end of the cantilever crane is determined; and a driving mechanism of the cantilever crane is controlled, so that the tail end of the cantilever crane moves to the target position. Therefore, the operator can control the position of the tail end of the cantilever crane directly without the need to control the position of the tail end of the cantilever crane by controlling each joint of the cantilever crane.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a method for controlling the position of a boom end, a system for controlling the position of the end of a boom, and construction machinery including the system for controlling the position of the end of a boom. Background technique [0002] Many construction machinery in the construction machinery industry involve the control of the boom, which generally includes one or more joints, and the current conventional method of controlling multi-joint booms is to control the movements of each joint separately through the remote control, so that The end of the boom gradually approaches the target position. [0003] As the number of joints increases, the operation process is cumbersome, and the requirements for operator proficiency and experience are also high. It is of great significance to develop a control method and system that allows the operator to directly control the positio...

AI Technical Summary

Problems solved by technology

[0003] With the increase in the number of joints, the operation process is cumbersome, and the requirements for operator proficiency and experience are also high.

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