Adaptive control method, system and device for stability of working platform of elevating fire truck

Abstract

The invention discloses an adaptive control method, a system and a device for stability of working platform of an elevating fire truck in the technical field of stability control. The device comprises a detection unit, a control unit and a execution unit ; the detection unit is used for collecting the inclination angle of a working platform, collecting a valve element displacement signal of a control valve for controlling a boom variable-amplitude oil cylinder, and controlling the inclination angle of the working platform, and collecting a valve core displacement signal of the control valve for controlling a telescopic oil cylinder of the boom; the control unit is used for obtaining a feed-forward control signal based on a valve element displacement signal of a control valve for controlling a boom variable-amplitude oil cylinder and a valve element displacement signal of a control valve for controlling a boom telescopic oil cylinder, and then obtaining a second control signal for controlling an electro-hydraulic proportional valve of a working platform self-adaptive control oil cylinder; and the execution unit is used for controlling the working platform to adaptively control the oil cylinder based on the obtained second control signal and driving the working platform to recover the horizontal state. According to the device, the timeliness of position self-adaptive control response is improved, and the stability of the working platform is improved.

Description

technical field [0001] The invention belongs to the technical field of stability control, and in particular relates to a method, system and device for self-adaptive control of the stability of a working platform of a lifting fire truck. Background technique [0002] A fire truck refers to a vehicle that is set up and manufactured to be suitable for firefighters to use, equipped with various firefighting equipment or fire extinguishing agents, and used by firefighting forces for firefighting, auxiliary firefighting or fire rescue. Lifting fire trucks have a special chassis and a lifting arm. The tail of the lifting arm is connected to the chassis. The working platform is a steel structure composed of a floor and a fence. thing. During operation, the professional operator controls the rise of the lifting boom to control the rise of the working platform, transports firefighters or objects to a certain height and realizes high-altitude rescue or fire fighting operations. In or...

AI Technical Summary

Problems solved by technology

[0003] First, only the influence of the vibration of the working platform caused by the mechanical vibration generated by the moving speed of the lifting boom on the accuracy of maintaining the horizontal position of the working platform is considered, and the deformation of the arm body of the long boom system and the assembly of the telescopic system are not considered. The impact of the position and inclination angle judgment error of the working platform caused by the gap;

[0004] Second, the closed-loop control based on the spool displacement feedback has the phenomenon of response delay, which leads to the adaptive adjustment of the working platform to maintain the horizontal position and the response lag;

[0005] Third, the output flow of the electro-hydraulic proportional valve is greatly affected by load pressure fluctuations, resulting in system instability

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