Aerial work platform action control method, device and equipment and storage medium

Abstract

The invention discloses an aerial work platform action control method, device and equipment and a storage medium. The method comprises the steps: calculating a target output value of an output control signal of an aerial work platform according to a control input value of an input control signal corresponding to the position of an operation handle of the aerial work platform; fitting an output variable-speed control curve of the output control signal according to a set variable-speed time and the target output value, wherein the output variable-speed control curve is a monotonous broken line, the inclination rate is increased and then decreased in the corresponding acceleration process, and the inclination rate is decreased and then increased in the corresponding deceleration process; and using the output variable-speed control curve for controlling the aerial work platform to control the aerial work platform to be slowly and stably started and stopped in the initial stage and accelerated and adjusted in the middle stage to be slowly and stably adjusted in the later stage, wherein the control curve is in a multi-line-segment broken line form instead of a cosine curve. The problem of coupling resonance with a fluctuation curve of a hydraulic system can be avoided, the problems of action shaking, shaking and the like are reduced, and the stable control on the aerial work platform is ensured.

Description

technical field [0001] The invention relates to the technical field of aerial work platform control, in particular to a control method, device, equipment and storage medium for the action of an aerial work platform. Background technique [0002] Aerial work platform (Aerial work platform) is a product that serves mobile aerial work such as aerial work, equipment installation, and maintenance in various industries. In the aerial work platform, due to its use characteristics and application scenarios, the start and stop of the aerial work platform and the acceleration and deceleration control during the action process require smooth and comfortable start and stop, timely response, and the time to reach the target current should not be too long ; And the acceleration and deceleration during the action process is also required to be stable, and there is no sudden change in the action. For this reason, in the prior art, an acceleration and deceleration ramp with a single cosine ...

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Problems solved by technology

However, although the acceleration and deceleration ramp of the single cosine function can achieve slow and stable start and stop at the initial stage, mid-term acceleration adjustment, and slow and stable start and stop effect of the target current in the later stage, and the maximum acceleration time of the action can be limited, the cosine curve is easy to be compared with the hydraulic system. The fluctuation curve coupling resonance of the aerial work platform is easy to cause problems such as shaking and shaking of the aerial work platform, which affects the stable control of the aerial work platform

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