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Boom control system, method and work vehicle

A control system and control method technology, applied in the processing of building materials, construction, building construction, etc., can solve the problems of reducing the accuracy and efficiency of boom movements, large cumulative errors, and affecting the trajectory control of booms, etc.

Active Publication Date: 2022-02-25
SANY AUTOMOBILE MFG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current intelligent boom control only considers the static deviation, resulting in excessive accumulated errors, which eventually affects the trajectory control of the boom and reduces the accuracy and efficiency of the boom movement

Method used

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  • Boom control system, method and work vehicle
  • Boom control system, method and work vehicle
  • Boom control system, method and work vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0070] Such as image 3 As shown, this embodiment provides a boom control system 100, which is used to drive the boom 200 to move to the target position. The boom control system 100 includes: a dynamic compensation module 110, an execution module 120, a static compensation module 130 and a control module 140, the dynamic compensation module 110 is connected with the boom 200, and is used to obtain the vibration deformation data of the vibration of the boom 200, and the dynamic compensation module 110 calculates the vibration reduction data according to the vibration deformation data; the execution module 120, and the dynamic compensation module 110 and the boom Frames 200 are respectively connected with signals, and execution module 120 obtains vibration reduction data from dynamic compensation module 110, so as to drive boom 200 to perform vibration reduction motion according to the vibration reduction data; static compensation module 130 is connected with boom frame 200 to ca...

Embodiment 2

[0073] Such as Figure 4 As shown, this embodiment provides a boom control system 100 . In addition to the technical features of the above-mentioned embodiments, this embodiment also includes the following technical features:

[0074] The boom 200 includes a plurality of boom sections 210 interconnected in sequence, and the execution module 120 includes: an oil cylinder 122, arranged between two adjacent boom sections 210, for driving the movement of the boom sections 210; a multi-way valve 124, connected with the oil cylinder 122; where the control module 140 controls the flow and current of the multi-way valve 124 according to the position data, so that the oil cylinder 122 drives the arm section 210 to move to the target position.

[0075] In this embodiment, the movement of the oil cylinder 122 is controlled by the multi-way valve 124, which simplifies the control structure, which is a prior art and will not be repeated here.

Embodiment 3

[0077] Such as Figure 5 As shown, this embodiment provides a boom control system 100 . In addition to the technical features of the above-mentioned embodiments, this embodiment also includes the following technical features:

[0078]The dynamic compensation module 110 includes: an acquisition unit 112, a calculation unit 114, a pressure detection device 116 and a control unit 118. The acquisition unit 112 obtains the sinusoidal curve generated by the vibration of the arm section 210; The sinusoidal curve of the unit 112, and the calculation unit 114 obtains the vibration deformation data according to the sinusoidal curve; the pressure detection device 116 is arranged on the arm section 210, and is used to obtain the pressure value of the pressure on the arm section 210; the control unit 118 and the calculation unit 114 and The pressure detection device 116 is connected by communication respectively, and is used to obtain the vibration deformation data and the pressure value ...

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PUM

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Abstract

The invention provides a boom control system, a control method and a working vehicle, which are used to drive the boom to move to a target position. The boom control system includes: a dynamic compensation module, connected with the boom, used to obtain the vibration deformation data of the boom vibration, and the dynamic compensation module calculates the vibration reduction data according to the vibration deformation data; the execution module, and the dynamic compensation module and the boom respectively Signal connection, the execution module obtains the vibration reduction data from the dynamic compensation module, and drives the boom to perform vibration reduction movement according to the vibration reduction data; the static compensation module is connected with the boom to calculate the position data of the boom after the vibration reduction movement ; The control module communicates with the static compensation module and the execution module respectively to obtain position data from the dynamic compensation module, and the control module controls the execution module to drive the boom to the target position according to the position data. The invention minimizes the influence of the deformation of the boom, and realizes that the boom moves toward the target position faster, more accurately and more stably.

Description

technical field [0001] The present invention relates to the technical field of work vehicles, in particular, to a boom control system, a control method and a work vehicle. Background technique [0002] In the related art, the concrete pump truck is a multi-boom operating vehicle, and the concrete pump truck boom belongs to a multi-degree-of-freedom motion system, including multiple boom sections and oil cylinders, and the oil cylinder is used to control the movement trajectory of the boom sections. At present, there are large deviations in the movement results of the intelligent boom of the concrete pump truck. The main reasons are two aspects. One is the static deviation, including geometric deformation and flexible deformation, and the other is the dynamic deviation caused by the pumping impact. The current intelligent boom control only considers the static deviation, resulting in excessive accumulated errors, which eventually affects the trajectory control of the boom and...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E04G21/04
CPCE04G21/0463
Inventor 沈明星易秀明蔡自立
Owner SANY AUTOMOBILE MFG CO LTD