Control method, device, equipment and storage medium for aerial work platform action

Abstract

The invention discloses a control method, device, equipment and storage medium for the action of an aerial work platform. According to the control input value of the input control signal corresponding to the position of the operating handle of the aerial work platform, the target of the output control signal of the aerial work platform is calculated. The output value, according to the set speed change time and the target output value, fits the output speed change control curve of the output control signal. The output speed change control curve is a monotonous broken line, and the time slope corresponding to the acceleration process increases first and then decreases, and the time slope corresponding to the deceleration process Decrease first and then increase, use the output variable speed control curve to control the aerial work platform, realize the control of the aerial work platform from the initial slow and stable start and stop, the mid-term acceleration adjustment to the late slow and stable, and the control curve adopts the broken line form of multi-line segments instead of cosine The curve can avoid the problem of coupling resonance with the fluctuation curve of the hydraulic system, reduce the shaking and shaking of the action, and ensure the stable control of the aerial work platform.

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 ...

AI Technical Summary

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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