Crane control method, electronic equipment, crane and readable storage medium

Abstract

The crane control method disclosed by the invention comprises the following steps: acquiring dynamic data acquired by a plurality of sensors arranged on a hydraulic mechanical arm of a crane; based on the dynamic data, a first expected included angle between a dynamic first variable-amplitude arm of the hydraulic mechanical arm and the vertical direction, a second expected included angle between a dynamic second variable-amplitude arm and the dynamic first variable-amplitude arm and the expected telescopic length of a telescopic arm are calculated through a constructed moment balance equation; the first expected included angle, the second expected included angle and the expected telescopic length are imported into a control model comprising cascaded position PID and speed PID, and expected target current required in real-time dynamic action of the hydraulic mechanical arm is obtained; the expected target current comprises a first expected current used for controlling the rotary valve, a second expected current used for controlling the first variable-amplitude oil cylinder, a third expected current used for controlling the second variable-amplitude oil cylinder and a fourth expected current used for controlling the telescopic oil cylinder. In this way, the control response speed and control precision of the hydraulic mechanical arm can be improved, and shaking is reduced or eliminated.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a crane control method, electronic equipment, a crane and a computer-readable storage medium. Background Art

[0002] Existing truck crane products use the PI adjustment model as the hydraulic control output, and use the output characteristics to obtain the current output state current as the system input feedback. The remote control handle is used as the overall input end of the system. The operator uses the remote control handle to move the remote lever, that is, the valve moves, and stop the remote lever, that is, the valve stops.

[0003] However, the above control method is nonlinear. The leading characteristics of remote control operation and the lag state of valves are inconsistent under different motion postures, resulting in uneven time required for the PI model to reach a constant. The handle is a linear control input and the valve is a nonlinear output. The combined output of the two needs to resist the static stagnation force of the critical state in the drive, resulting in slow output dynamic response. At the same time, the system lacks an efficient response mechanism during acceleration and deceleration, and the high-speed stop process is prone to impact and shaking, which attenuates the overall control accuracy. Summary of the invention

[0004] The purpose of this application is to provide a crane control method, electronic equipment, crane and computer-readable storage medium, which can effectively improve the control response speed and control accuracy of the hydraulic mechanical arm, reduce or eliminate jitter, and enhance the user experience.

[0005] To achieve the above objectives:

[0006] In a first aspect, an embodiment of the present application provides a crane control method, comprising:

[0007] Acquiring dynamic data collected by a plurality of sensors disposed on the hydraulic mechanical arm of the crane;

[0008] Based on the dynamic data, a first desired angle between the first luffing arm of the hydraulic mechanical arm and the vertical direction, a second desired angle between the second luffing arm and the first luffing arm, and a desired telescopic length of the telescopic arm are calculated by constructing a moment balance equation;

[0009] The first expected angle, the second expected angle and the expected telescopic length are introduced into a control model including a cascaded position PID and a speed PID to obtain an expected target current required in the real-time dynamic action of the hydraulic mechanical arm; the expected target current includes a first expected current for controlling the rotary valve of the crane, a second expected current for controlling the first luffing cylinder of the crane, a third expected current for controlling the second luffing cylinder of the crane, and a fourth expected current for controlling the telescopic cylinder of the crane.

[0010] Optionally, the dynamic data includes: a first angle between the first luffing arm and a vertical direction, a second angle between the second luffing arm and the first luffing arm, a current telescopic length of the telescopic arm, a load weight, and a rotation angular velocity;

[0011] The method of calculating the first desired angle between the first luffing arm of the hydraulic mechanical arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm based on the dynamic data by constructing a moment balance equation includes:

[0012] According to the first angle, the second angle, the current telescopic length of the telescopic arm, the load weight, the slewing angular velocity, the third angle between the turntable of the crane and the vertical direction, the length of the turntable, the length of the first luffing arm, the length of the second luffing arm, the weight of the first rotation joint, and the weight of the second rotation joint, a first desired angle between the first luffing arm and the vertical direction of the dynamic hydraulic mechanical arm, a second desired angle between the second luffing arm and the first luffing arm, and an expected telescopic length of the telescopic arm are determined by constructing a torque balance equation; the torque balance equation includes the correlation between the position and speed of the end of the telescopic arm and the angle between the first luffing arm and the vertical direction, the angle between the second luffing arm and the first luffing arm, and the telescopic length of the telescopic arm.

[0013] Optionally, the step of importing the first desired angle, the second desired angle, and the desired telescopic length into a control model including a cascaded position PID and a speed PID to obtain a desired target current required in the real-time dynamic action of the hydraulic mechanical arm includes:

[0014] Acquire the current valve core position and current current of the target device; the target device is any one of the following: the rotary valve, the first luffing cylinder, the second luffing cylinder, the telescopic cylinder;

[0015] Determining an expected valve core position of the target device according to the first expected angle, the second expected angle, and the expected telescopic length;

[0016] According to the desired valve core position, the current valve core position and the current current, a desired current for controlling the target device is calculated through a control model including a cascaded position PID and a speed PID.

[0017] Optionally, the calculating the expected current for controlling the target device according to the expected valve core position, the current valve core position and the current current through a control model including a cascaded position PID and a speed PID includes:

[0018] Input the desired valve core position and the current valve core position into the position PID in the control model to obtain a position compensation value calculated by the position PID;

[0019] The position compensation value is converted into a speed compensation value, and the speed compensation value and the current current are input into a speed PID in a control model to obtain a calculated desired current for controlling the target device.

[0020] Optionally, the step of inputting the desired valve core position and the current valve core position into a position PID in a control model to obtain a position compensation value calculated by the position PID includes:

[0021] Acquire the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the outer three-dimensional vibration data of the first luffing arm, the inner angular acceleration of the second luffing arm, and the outer three-dimensional vibration data of the second luffing arm;

[0022] Performing preset compensation processing according to the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the outer three-dimensional vibration data of the first luffing arm, the inner angular acceleration of the second luffing arm, and the outer three-dimensional vibration data of the second luffing arm to obtain compensation information;

[0023] The desired valve core position, the current valve core position and the compensation information are input into a position PID in a control model to obtain a position compensation value calculated by the position PID.

[0024] Optionally, the preset compensation processing includes at least one of the following: leading action adaptive compensation, lagging output suppression compensation, and jitter variable gain.

[0025] In a second aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the above-mentioned crane control method is implemented.

[0026] In a third aspect, an embodiment of the present application provides a crane, comprising a hydraulic mechanical arm and an electronic device as described in the second aspect for controlling the hydraulic mechanical arm.

[0027] Optionally, the hydraulic mechanical arm includes a first luffing arm, a second luffing arm connected to the first luffing arm, and a telescopic arm connected to the second luffing arm. The crane also includes:

[0028] A first inclination sensor, a first acceleration sensor and a first attitude sensor are arranged on the first luffing arm, and are used to respectively collect data of a first angle between the first luffing arm and a vertical direction, an inner angular acceleration of the first luffing arm and an outer three-dimensional vibration of the first luffing arm;

[0029] A second inclination sensor and a second acceleration sensor provided on the second luffing arm, respectively used to correspondingly collect a second included angle between the second luffing arm and the first luffing arm and an inner angular acceleration of the second luffing arm;

[0030] A long angle sensor and a second posture sensor provided at the end of the telescopic arm are used to respectively collect the current telescopic length of the telescopic arm and the outer three-dimensional vibration data of the second luffing arm;

[0031] The stress sensor disposed at the end of the telescopic arm is used to collect the current load weight.

[0032] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above-mentioned crane control method when executed by a processor.

[0033] The crane control method, electronic device, crane and computer-readable storage medium provided by the embodiments of the present application include: acquiring dynamic data collected by multiple sensors arranged on the hydraulic mechanical arm of the crane; calculating the first expected angle between the first luffing arm and the vertical direction, the second expected angle between the second luffing arm and the first luffing arm, and the expected telescopic length of the telescopic arm of the hydraulic mechanical arm through the constructed torque balance equation based on the dynamic data; importing the first expected angle, the second expected angle and the expected telescopic length into a control model including a cascaded position PID and a speed PID to obtain the expected target current required in the real-time dynamic action of the hydraulic mechanical arm; the expected target current includes the first expected current for controlling the rotary valve, the second expected current for controlling the first luffing cylinder, the third expected current for controlling the second luffing cylinder and the fourth expected current for controlling the telescopic cylinder. In this way, the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm are analyzed through torque balance, and then the expected current for controlling each cylinder of the hydraulic mechanical arm is calculated in combination with the cascaded position PID and speed PID, which can effectively improve the control response speed and control accuracy of the hydraulic mechanical arm, reduce or eliminate jitter, and enhance the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic flow chart of a crane control method provided by an embodiment of the present invention;

[0035] Figure 2 Schematic diagram of a hydraulic mechanical arm of a crane in an embodiment of the present invention;

[0036] Figure 3Schematic diagram of the structure of the cascade PID controller in an embodiment of the present invention;

[0037] Figure 4 A schematic diagram of the structure of an adaptive fuzzy controller in an embodiment of the present invention;

[0038] Figure 5 A schematic diagram of the structure of a crane control system provided by an embodiment of the present invention;

[0039] Figure 6 Schematic diagram of the structure of the lead-lag compensation model in the embodiment of the present invention;

[0040] Figure 7 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0042] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0043] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0044] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0045] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0046] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0048] See also Figure 1 , is a crane control method provided in an embodiment of the present application. The crane control method can be executed by a crane control device provided in an embodiment of the present application. The crane control device can be implemented in software and / or hardware, such as an electronic device such as a controller or a processor. In this embodiment, the crane control method is performed by a controller in a crane as an example. The crane control method provided in this embodiment includes:

[0049] Step S101: Acquire dynamic data collected by multiple sensors installed on the hydraulic mechanical arm of the crane.

[0050] The hydraulic mechanical arm includes a first luffing arm, a second luffing arm connected to the first luffing arm, and a telescopic arm connected to the second luffing arm. The dynamic data may include a first angle between the first luffing arm of the hydraulic mechanical arm and the vertical direction, a second angle between the second luffing arm of the hydraulic mechanical arm and the first luffing arm, the current telescopic length of the telescopic arm of the hydraulic mechanical arm, the load weight, and the angular velocity of rotation. The first angle, the second angle, the current telescopic length of the telescopic arm, and the current load weight may be acquired by setting corresponding sensors on the hydraulic mechanical arm, or may be acquired by analyzing an image captured by the hydraulic mechanical arm through an image acquisition device, or may be manually input by a user.

[0051] Step S102: Based on the dynamic data, the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm are calculated by constructing a torque balance equation.

[0052] In one embodiment, based on the dynamic data, the first desired angle between the first luffing arm of the hydraulic mechanical arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm are calculated by constructing a torque balance equation, including:

[0053] According to the first angle, the second angle, the current telescopic length of the telescopic arm, the load weight, the angular velocity of rotation, the third angle between the turntable of the crane and the vertical direction, the length of the turntable, the length of the first luffing arm, the length of the second luffing arm, the weight of the first rotation joint, and the weight of the second rotation joint, a first desired angle between the first luffing arm and the vertical direction of the hydraulic mechanical arm, a second desired angle between the second luffing arm and the first luffing arm, and an expected telescopic length of the telescopic arm are determined by constructing a torque balance equation; the torque balance equation includes the relationship between the position and speed of the end of the telescopic arm and the angle between the first luffing arm and the vertical direction, the angle between the second luffing arm and the first luffing arm, and the telescopic length of the telescopic arm.

[0054] Among them, the third angle between the turntable of the crane and the first luffing cylinder, the weight of the first rotating joint, the weight of the second rotating joint, the length of the turntable and the length of the first luffing arm are all known fixed values. It can be understood that due to the mismatch between the first luffing arm and the vertical direction, the second angle between the second luffing arm and the first luffing arm and the current telescopic length of the telescopic arm, the hydraulic mechanical arm may shake. In order to reduce or eliminate the shaking and improve the control accuracy, the first expected angle between the first luffing arm and the vertical direction, the second expected angle between the second luffing arm and the first luffing arm and the expected telescopic length of the telescopic arm can be determined based on the moment balance. It should be noted that the current telescopic length of the telescopic arm refers to the sum of the length of the second luffing arm and the extended length of the telescopic arm, and the length of the second luffing arm is a fixed value.

[0055] The following is an example of data collection by setting corresponding sensors on the hydraulic mechanical arm. Figure 2The hydraulic mechanical arm of the crane includes a slewing mechanism 1, a turntable 2, a first rotating joint 3, a first luffing arm 4, a second rotating joint 5, a second luffing arm 6, a telescopic arm 7, a first luffing cylinder 8, a second luffing cylinder 9 and a telescopic cylinder 10; one end of the turntable 2 is connected to the slewing mechanism 1, and the other end is connected to the first luffing arm 4 through the first rotating joint 3; one end of the first luffing arm 4 is connected to the first rotating joint 3, and the other end is connected to the second luffing arm 6 through the second rotating joint 5; one end of the second luffing arm 6 is connected to the second rotating joint 5, and the other end is connected to the telescopic arm 7; one end of the first luffing cylinder 8 is connected to the turntable 2, and the other end is connected to the first luffing arm 4; one end of the second luffing cylinder 9 is connected to the first luffing arm 4, and the other end is connected to the second luffing arm 6; the telescopic cylinder 10 is arranged on the second luffing arm 6 and is connected to the telescopic arm 7. The length of the turntable 2 is l1, the angle between the turntable 2 and the first luffing cylinder is θ1, the length of the first luffing arm is l2, and θ0 is the angle of the slewing mechanism 1 relative to the horizontal direction. It should be noted that the telescopic arm 7 is movably connected to the inside of the second luffing arm 6, and the telescopic arm 7 can be extended from the inside of the second luffing arm 6 when in use, and can be retracted into the inside of the second luffing arm 6 when not in use.

[0056] The first luffing arm 4 is provided with a first inclination sensor 11 for collecting the first angle θ2 between the first luffing arm 4 and the vertical direction. Specifically, the first inclination sensor 11 dynamically detects the current angle between the first luffing arm 4 and the vertical direction, and the range angle of the first luffing arm 4 in space is limited by the rod length inside the cylinder body, and can detect the parameter consistency of the system action and the target angle change. In addition, according to the angle change state machine, the end linear velocity corresponding to the first luffing arm 4 can be obtained using the spatial arm length and the position target. Here, the first angle is an angle less than 90 degrees.

[0057] The second luffing arm 6 is provided with a second inclination sensor 12 for collecting a second angle θ3 between the second luffing arm 6 and the first luffing arm 4. Specifically, the second inclination sensor 12 dynamically detects the current inclination of the second luffing arm 6. The inclination of the second luffing arm 6 is affected by the action of the second luffing cylinder 9. The change in spatial position angle needs to filter out other actions to avoid causing inclination vibration drift.

[0058] A long angle sensor 13 is provided at the end of the telescopic arm 7 for collecting the current telescopic length of the telescopic arm 7. Specifically, the long angle sensor 13 measures the current telescopic length of the telescopic arm 7, and the spatial position of the end can be obtained according to the length and angle of the telescopic arm 7. Here, the sum of the telescopic length of the telescopic arm 7 and the length of the second variable-length arm 6 is recorded as l3. At the same time, a stress sensor 14 is also provided at the end of the telescopic arm 7 for collecting the current load weight M. Specifically, the stress sensor 14 detects the load weight under the current hoisting, and uses the position of the center of gravity to perform a balanced conversion of the overall kinetic energy and potential energy, providing a data source for the dynamic equation for converting kinetic energy and potential energy.

[0059] The encoder 15 provided on the slewing mechanism 1 is used to obtain the current angular position information of the turntable, so as to accurately locate the real-time position information of the current turntable, and can be detected within a 360-degree range. By tracking the historical position changes of the turntable, the current angular velocity and angular acceleration of the turntable are obtained in combination with the time parameter.

[0060] The first acceleration sensor 16 disposed on the first luffing arm 4 is used to obtain the current angle change of the first luffing arm 4 within the cylinder change stroke and the buffer data of the start critical and hysteresis data, that is, to obtain the inner angular acceleration of the first luffing arm 4. During the internal action process, the hydraulic oil in the lower chamber and the upper chamber is in a state of adhesion and separation with the inner wall. During the critical process of starting, the critical process of holding pressure, and the critical process of stopping, the system has a certain degree of self-vibration and agitation. The inner angular acceleration obtained by the first acceleration sensor 15 obtains the vibration and shaking characteristic curve of the current first luffing arm 4 under the impact moment balance, and then self-converts into the inner vibration frequency of the first luffing arm 4.

[0061] The first attitude sensor 17 provided on the first luffing arm 4 is used to obtain vibration information such as the three-dimensional vibration velocity, vibration acceleration, vibration displacement, vibration angle, and vibration frequency of the end of the current first luffing arm 4, that is, to obtain the three-dimensional vibration data of the outer side of the first luffing arm 4, and determine the current vibration intensity and magnitude of the first luffing arm 4 as a parameter source for the end jitter compensation of the first luffing arm 4. Here, in combination with the inner vibration frequency of the first luffing arm 4, the jitter range of the first luffing arm 4 can be calculated, and then the jitter compensation processing can be performed based on the jitter range of the first luffing arm 4.

[0062] The second acceleration sensor 18 disposed on the second luffing arm 6 is used to obtain the angle change of the second luffing arm 6 in the cylinder change space stroke and the buffer data of the start critical and hysteresis data, that is, to obtain the inner angular acceleration of the second luffing arm 6. During the internal action process, the hydraulic oil in the lower chamber and the upper chamber is in a state of adhesion and separation with the inner wall. In the critical process of starting, the critical process of holding pressure, and the critical process of stopping, the system has a certain degree of self-vibration excitation. The inner angular acceleration obtained by the second acceleration sensor 18 obtains the vibration and shaking characteristic curve of the current second luffing arm 6 under the impact moment balance, and performs secondary separation under the rigid load state, thereby obtaining the inner vibration frequency of the second luffing arm 6.

[0063] The second attitude sensor 19 located at the end of the telescopic arm 7 is used to detect the three-dimensional vibration speed, vibration acceleration, vibration displacement, vibration angle and other vibration information of the end of the second luffing arm 6, that is, to obtain the three-dimensional vibration data of the outer side of the second luffing arm 6, and determine the current vibration intensity and size of the second luffing arm 6 as the parameter source of the end jitter compensation of the second luffing arm 6. Here, combined with the inner vibration frequency of the second luffing arm 6, the jitter range of the second luffing arm 6 can be calculated, and then the jitter compensation processing can be performed based on the jitter range of the second luffing arm 6.

[0064] The second acceleration sensor 20 disposed on the rotary mechanism 1 is used to collect the acceleration of the turntable. Since there is rotational inertia during the rotation process, there is short-term lead and lag information during the acceleration process and the deceleration process. Therefore, after the acceleration information collected by the second acceleration sensor 20 is extracted and converted twice, the intensity and time lag information of the impact can be obtained. At the same time, the back-and-forth impact signal of the acceleration has a certain resonance characteristic, and can be converted into a pulse sequence by extracting its data.

[0065] Among them, the first variable-length oil cylinder 8 is also connected to the first variable-length driver (not shown in the figure) in the hydraulic mechanical arm, and the first variable-length driver is used to drive the valve core action output in the first variable-length oil cylinder 8 and detect the current driving current and the target action position information. The second variable-length oil cylinder 9 is also connected to the second variable-length driver (not shown in the figure) in the hydraulic mechanical arm, and the second variable-length driver is used to drive the valve core action output in the second variable-length oil cylinder 9 and detect the current driving current and the target action valve core position information. The telescopic oil cylinder 10 is also connected to the telescopic driver (not shown in the figure) in the hydraulic mechanical arm, and the telescopic driver is used to drive the valve core action output of the telescopic oil cylinder 10 and detect the current driving current and the target valve core position information. The turntable 2 is also connected to the rotary driver (not shown in the figure) in the hydraulic mechanical arm, which is used to drive the valve core action to provide the reducer output and detect the current driving current and the target turntable position information. It should be noted that Figure 2 Each symbol in the figure only indicates the setting position of the corresponding sensor or cylinder.

[0066] It can be understood that in order to reduce or avoid the shaking of the hydraulic mechanical arm, the system kinetic energy and overall potential energy of the hydraulic mechanical arm of the crane should be ensured to maintain torque balance as much as possible. Therefore, by performing torque balance analysis on the current system kinetic energy and current overall potential energy of the hydraulic mechanical arm, the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm are determined. It should be noted that since the movement of the load hoisted at the end of the telescopic arm will cause the hydraulic mechanical arm to shake, it is necessary to control the position and speed of the end of the telescopic arm to reduce or avoid the shaking of the hydraulic mechanical arm, and the control of the position and speed of the end of the telescopic arm needs to be achieved by controlling the angle between the first luffing arm and the vertical direction, the angle between the second luffing arm and the first luffing arm, and the telescopic length of the telescopic arm.

[0067] Combine the following Figure 2 The principle of the hydraulic mechanical arm of the crane to achieve torque balance is briefly explained:

[0068] The relationship between the vibration displacement S, velocity v, and acceleration a of the hydraulic mechanical arm of the crane during its motion is shown in the following formula:

[0069]

[0070] Where f' represents the derivative. The dynamic analysis of the hydraulic manipulator is carried out, and the target position p of the end of the current telescopic arm can be obtained in real time by preprocessing and converting the collected sensor data. e :

[0071]

[0072] Where l1, l2, and l3 represent the length of the turntable of the hydraulic mechanical arm, the length of the first luffing arm, and the sum of the lengths of the second luffing arm and the telescopic arm, respectively. The parameter V 12...i =cos(θ1+θ2+θ3), D 12...i =sin(θ1+θ2+θ3).

[0073] According to parameter conversion, the arm characteristic system kinetic energy T of the crane's hydraulic mechanical arm is:

[0074]

[0075] Among them, T represents the kinetic energy of the system, which is the combination of the rotational kinetic energy and linear kinetic energy of each part; j0 is the inertial impact of the system, which is related to the rotation axis or mass distribution; represents the rotational inertia kinetic energy of the first joint (or part of the system); S2 is the positive rotation component, c3 is the cosine component; S 23 S is the distance from the second connecting rod to the 3-section joint, 22It is the distance from the second connecting rod to the 2nd joint.

[0076] The overall potential energy V of the hydraulic manipulator is:

[0077]

[0078] Among them, m2 is the weight of the first rotary joint, m3 is the weight of the second rotary joint, M is the load weight, l1 is the length of the turntable, l2 is the length of the first luffing arm, l3 is the sum of the lengths of the second luffing arm and the telescopic arm, θ0 is the angle of the slewing mechanism relative to the horizontal direction, θ1 is the angle between the turntable and the first luffing cylinder, that is, the third angle between the turntable and the vertical direction, θ2 is the first angle, and θ3 is the second angle. ρ i is the distributed mass density, usually the linear density of the corresponding rod, where ρ1 is the distributed mass density of the turntable, ρ2 is the distributed mass density of the first luffing arm, and ρ3 is the distributed mass density of the second luffing arm. g is a constant, i.e. 9.8 N / kg, c2 is the cosine component, c 23 is the coefficient, which represents the inertial coupling relationship.

[0079] The friction model during the dynamic movement of the hydraulic manipulator is:

[0080]

[0081] The dynamic equation of the system is:

[0082]

[0083] The equations in the first row are the classical dynamic equations of the robot arm, including inertia, Coriolis force, gravity, and nonlinear disturbance terms; the equations in the second row represent the overall equilibrium inertia of the system, taking into account joint torque, hydraulic drive, and disturbance terms. θ represents the inertia matrix, which is usually related to the joint angle θ and reflects the inertial characteristics of the system; is the second-order derivative of the joint angle θ; is the Coriolis force and centrifugal force matrix, which depends on the joint angle θ and angular velocity It describes the inertial effect caused by the movement speed in the system; G(θ) is the gravity matrix, which is related to the joint angle θ and reflects the influence of gravity on the robot; ψ1(θ,t) is a function of external disturbance or nonlinear term, which depends on the joint angle θ and time t; τ is the joint torque, which represents the driving force applied by the robot at the joint; A and B are matrix parameters in the system, which are used to describe the characteristics of the hydraulic drive part; ψ2(θ,t) is an external disturbance term or compensation term related to the joint angle θ and time t; CI is the control input, which is the expected value of the system

[0084] By using the above multiple equations to obtain the dynamic position and velocity relationship of the telescopic arm end and converting it to the movement of a single action arm, the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm can be determined.

[0085] Step S103: The first expected angle, the second expected angle and the expected telescopic length are imported into a control model including a cascaded position PID and a speed PID to obtain the expected target current required in the real-time dynamic action of the hydraulic manipulator; the expected target current includes a first expected current for controlling the rotary valve of the crane, a second expected current for controlling the first luffing cylinder of the crane, a third expected current for controlling the second luffing cylinder of the crane and a fourth expected current for controlling the telescopic cylinder of the crane.

[0086] Among them, according to the first expected angle, the second expected angle and the expected telescopic length, based on a control model including a cascaded position PID and a speed PID, the first expected current for controlling the rotary valve of the crane, the second expected current for controlling the first luffing cylinder of the crane, the third expected current for controlling the second luffing cylinder of the crane, and the fourth expected current for controlling the telescopic cylinder of the crane can be calculated, and corresponding control operations can be performed on the hydraulic manipulator.

[0087] In one embodiment, the first desired angle, the second desired angle, and the desired telescopic length are introduced into a control model including a cascaded position PID and a speed PID to obtain the desired target current required in the real-time dynamic action of the hydraulic manipulator, including:

[0088] Get the current valve core position and current of the target device; the target device is any one of the following: rotary valve, first luffing cylinder, second luffing cylinder, telescopic cylinder;

[0089] Determining an expected valve core position of a target device according to the first expected angle, the second expected angle, and the expected telescopic length;

[0090] According to the desired valve core position, the current valve core position and the current current, the desired current for controlling the target device is calculated through a control model including a cascaded position PID and a speed PID.

[0091] Specifically, each device in the rotary valve, the first luffing cylinder, the second luffing cylinder, and the telescopic cylinder is taken as the target device in turn, and then the expected valve core position of the target device is determined according to the first expected angle between the first luffing arm and the vertical direction, the second expected angle between the second luffing arm and the first luffing arm, and the expected telescopic length of the telescopic arm. Then, according to the expected valve core position of the target device, the current valve core position, and the current current, the expected current for controlling the target device is calculated through a control model including a cascaded position PID and a speed PID. Among them, the corresponding relationship between different first expected angles, second expected angles, and expected telescopic lengths and the expected valve core position of the target device can be pre-set, so that the expected valve core position of the target device can be determined according to the first expected angle, the second expected angle, and the expected telescopic length.

[0092] like Figure 3 As shown, a cascade PID controller is used in this embodiment, the outer loop uses position PID, and the inner loop uses speed PID. The two controllers work in series, and the interference is transmitted to the inner loop, which is suppressed by the inner loop to enhance the overall anti-interference ability. At the same time, due to the existence of the inner loop, the original object characteristics are changed, the equivalent time of the inner loop is shortened, and the response time of the system is more timely. In addition, due to the time lag between the outer speed and the outer position, the cascade combination can suppress the inner loop interference caused by the advance control, reduce the oscillation period, and enhance the robustness and robustness of the system.

[0093] In one embodiment, according to the desired valve core position, the current valve core position and the current current, the desired current for controlling the target device is calculated by a control model including a cascaded position PID and a speed PID, including:

[0094] Input the desired valve core position and the current valve core position into the position PID in the control model to obtain the position compensation value calculated by the position PID;

[0095] The position compensation value is converted into a speed compensation value, and the speed compensation value and the current are input into the speed PID in the control model to obtain the calculated desired current for controlling the target device.

[0096] Here, the expected position (i.e. the expected valve core position) and the current valve core position (i.e. the actual position of the valve core in the cylinder obtained from the driver) are input into the position PID to obtain the position compensation value, and the position compensation value is converted into a speed compensation value and then input into the speed PID, so that the speed PID determines the input current (i.e. the expected current) of the valve core in the cylinder based on the speed compensation value and the output current of the valve core in the cylinder, so that the valve core can be driven by the current.

[0097] The inner loop directly drives the output by acquiring the system process sampling and error signal in real time, and its change is adaptive to external interference. The difference between the estimated value and the actual value is compared to obtain the error measurement value, and the error measurement function is used to adjust the parameters of each level of PID to make the system better adapt to nonlinear characteristics and output characteristics, and build an adaptive fuzzy PID controller, such as Figure 4 shown.

[0098] Among them, the input signal of the system is u in (K), the output speed is v out , the whole is determined by the following formula:

[0099]

[0100] where k' p , k i ', k' d They are the initial values ​​of the proportional, integral, and differential, Δk p , Δk i , Δk d are the increments determined for fuzzy control respectively.

[0101] According to the output characteristics of the system, Fuzzy-PID is used as the feedback controller, and the feedforward adopts a 3-pulse OSI controller. Since a large part of the system error comes from the dead zone control range, the output error of the dead zone control is fuzzified through the triangular membership function. The fuzzy control quantity is obtained by the maximum and minimum fuzzy control inference according to the set fuzzy control rule table. Finally, the weighted average method is used to solve the fuzzification and obtain the state quantity of the output theory, realizing fuzzy adaptive precise control.

[0102] In one embodiment, the desired valve core position and the current valve core position are input into the position PID in the control model to obtain the position compensation value calculated by the position PID, including:

[0103] Acquire the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the outer three-dimensional vibration data of the first luffing arm, the inner angular acceleration of the second luffing arm, and the outer three-dimensional vibration data of the second luffing arm;

[0104] Performing preset compensation processing according to the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the outer three-dimensional vibration data of the first luffing arm, the inner angular acceleration of the second luffing arm, and the outer three-dimensional vibration data of the second luffing arm to obtain compensation information;

[0105] The desired valve core position, the current valve core position and the compensation information are input into the position PID in the control model to obtain the position compensation value calculated by the position PID.

[0106] Among them, the preset compensation processing includes at least one of the following: leading action adaptation compensation, lagging output suppression compensation and jitter gain. It can be understood that since the jitter of the hydraulic mechanical arm will affect the precise control of the hydraulic mechanical arm, compensation information can be introduced into the position PID controller to remove interference. Here, by performing spectrum analysis on the angular acceleration of the turntable, the inner angular acceleration of the first amplitude arm, the outer three-dimensional vibration data of the first amplitude arm, the inner angular acceleration of the second amplitude arm and the outer three-dimensional vibration data of the second amplitude arm, the resonant oscillation frequency of the turntable, the resonant oscillation frequency of the first amplitude arm and the resonant oscillation frequency of the second amplitude arm can be determined respectively. Then, according to the length of the first amplitude arm and the inner angular acceleration of the first amplitude arm, the end position frequency of the first amplitude arm can be determined; according to the length of the second amplitude arm and the inner angular acceleration of the second amplitude arm, the end position frequency of the second amplitude arm can be determined. Next, the resonant oscillation frequency of the first amplitude-changing arm is superimposed with the end position frequency of the first amplitude-changing arm to obtain the data oscillation frequency of the first amplitude-changing arm; the resonant oscillation frequency of the second amplitude-changing arm is superimposed with the end position frequency of the second amplitude-changing arm to obtain the data oscillation frequency of the second amplitude-changing arm; and the resonant oscillation frequency of the turntable is converted to obtain the data oscillation frequency of the turntable. Next, the data oscillation frequency of the first amplitude-changing arm, the data oscillation frequency of the second amplitude-changing arm, and the data oscillation frequency of the turntable are used as sources of data to be compensated, so as to perform preset compensation processing on the data to be compensated and obtain compensation information. Among them, the compensation information may include valve core position compensation value, etc.

[0107] In this embodiment, the feedback correction method is used to provide compensation and correction processing for the data. Specifically, the acceleration data and the data collected by the attitude sensor are extracted to obtain the current jitter situation, so as to automatically distinguish the current jitter parameters during the action detection process of the boom, and adapt the leading action adaptation compensation, the lagging output suppression compensation, and the jitter variable gain method to the target source. The structure of the crane control system is as follows: Figure 5 shown.

[0108] Here, the arm trajectory and the current jitter signal are superimposed to change the gain of the target trajectory. The compensation method is described in detail below:

[0109] 1) According to the time interval error between the actual jitter pulse signal jump point and the ideal signal jump point, the differential advance equation is used to offset the data time lag.

[0110] 2) As some random jitters conform to Gaussian distribution, the error is corrected, compensated and converted based on the standard deviation σ of the probability density function and the 3σ criterion.

[0111] 3) To compensate for the dead zone of valve action, build Figure 6The lead-lag compensation model shown optimizes and pre-processes the dead zone disturbance range to reduce the hysteresis and whistling caused by the dead travel.

[0112] Among them, X(S) is the input quantity of the joystick control, T(s) is the output of the joystick control, D(S) is the measurable disturbance, G2(S) is the position control object, and G1(S) is the disturbance channel. The control idea is to increase the disturbance compensation G(S) to offset the influence of the disturbance on the position:

[0113] D(S)*G(S)*G2(S) = D(S)*G1(S)

[0114] Simplifying it to a first-order lag gives: By obtaining the time constant and the input parameters of the transfer function from the input-output relationship curve. The lead-lag compensation has no delay processing, and the time for adding the compensation is the delay l1 - l2. In the scenario where l1 < l2, the disturbance compensation is given in advance.

[0115] 4) Use optimal shaping design to cancel the residual vibration of the input signal. The input shaping pulse sequence is convolved with the desired target position, and according to the vibration frequency and damping ratio pulse sequence detected by the attitude sensor, the second-order transfer function of the vibration frequency w n and the damping ratio of the pulse sequence are combined to construct the system residual amplitude function:

[0116]

[0117] The expression for the optimal input shaper with the minimum vibration is obtained as:

[0118]

[0119] Use the residual function for sensitivity curve analysis to ensure that the input shaping reaches zero vibration at 1 / 2 of the vibration period.

[0120] Here, the corresponding attitude data, jitter parameters, and position data are obtained through sensors, and converted and compensated, so that the control has robust adaptability, and the cascade PID combination makes the position control displacement more accurate. Combining the above control strategies, at the moment the remote control lever is started, the speed is obtained by the acceleration sensor and encoder, and the gravity and inertial impact of the system are offset by algorithm compensation processing. At the same time, the dead zone is transitioned to the critical zone by combining variable gain with fuzzy compensation. During the rapid deceleration of the remote control lever, the data of the end jitter transmission turntable is used to offset the inertia and the shaking of the hook end in a disturbance optimization manner. When the remote control lever returns to the neutral stop state, the valve core vibration of the hydraulic output is eliminated or offset by the optimal shaping reverse impedance compensation. The fuzzy evolution strategy generated by the triangular membership will suppress high-frequency interference and ensure the robustness and response of the response.

[0121] In summary, in the crane control method provided in the above embodiment, the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm are analyzed through torque balance, and then the cascaded position PID and speed PID are combined to calculate the expected current for controlling each cylinder of the hydraulic manipulator arm, which can effectively improve the control response speed and control accuracy of the hydraulic manipulator arm, reduce or eliminate jitter, and enhance the user experience.

[0122] Based on the same inventive concept as the above embodiments, an embodiment of the present invention provides an electronic device, such as Figure 7 As shown, the electronic device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 7 The processor 310 shown in the figure is not used to indicate that the number of the processor 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of the processor 310 may be one or more; similarly, Figure 7 The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the crane control method described above is implemented.

[0123] The electronic device may also include: at least one network interface 312. The various components in the electronic device are coupled together via a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the bus system 313 is not used in the following examples. Figure 7 Various buses are labeled as bus system 313.

[0124] The memory 311 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 311 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0125] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the electronic device. Examples of these data include: any computer program used to operate on the electronic device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0126] Based on the same inventive concept as the aforementioned embodiment, an embodiment of the present invention provides a crane, comprising a hydraulic mechanical arm and an electronic device as described in the aforementioned embodiment for controlling the hydraulic mechanical arm.

[0127] In one embodiment, the hydraulic mechanical arm includes a first luffing arm, a second luffing arm connected to the first luffing arm, and a telescopic arm connected to the second luffing arm. The crane also includes:

[0128] The first inclination sensor, the first acceleration sensor and the first attitude sensor provided on the first luffing arm are used to respectively collect the first angle between the first luffing arm and the vertical direction, the inner angular acceleration of the first luffing arm and the outer three-dimensional vibration data of the first luffing arm;

[0129] A second inclination sensor and a second acceleration sensor are arranged on the second luffing arm, and are used to respectively collect a second angle between the second luffing arm and the first luffing arm and an inner angular acceleration of the second luffing arm;

[0130] The long angle sensor and the second posture sensor arranged at the end of the telescopic arm are used to respectively collect the current telescopic length of the telescopic arm and the outer three-dimensional vibration data of the second luffing arm;

[0131] The stress sensor installed at the end of the telescopic arm is used to collect the current load weight.

[0132] In one embodiment, the hydraulic mechanical arm further comprises:

[0133] An encoder disposed on the rotary mechanism is used to obtain the current angular position information of the turntable;

[0134] The second acceleration sensor arranged on the rotary mechanism is used to collect the acceleration of the turntable.

[0135] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, wherein a computer program is stored in the computer storage medium. The computer storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) or other memory; or it may be various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the above-mentioned crane control method is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0136] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0137] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0138] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A crane control method, characterized in that: The method comprises: Acquiring dynamic data collected by a plurality of sensors disposed on the hydraulic mechanical arm of the crane; Based on the dynamic data, a first desired angle between the first luffing arm of the hydraulic mechanical arm and the vertical direction, a second desired angle between the second luffing arm and the first luffing arm, and a desired telescopic length of the telescopic arm are calculated by constructing a moment balance equation; The first expected angle, the second expected angle and the expected telescopic length are introduced into a control model including a cascaded position PID and a speed PID to obtain an expected target current required in the real-time dynamic action of the hydraulic mechanical arm; the expected target current includes a first expected current for controlling the rotary valve of the crane, a second expected current for controlling the first luffing cylinder of the crane, a third expected current for controlling the second luffing cylinder of the crane, and a fourth expected current for controlling the telescopic cylinder of the crane.

2. The method according to claim 1, characterized in that: The dynamic data includes: a first angle between the first luffing arm and the vertical direction, a second angle between the second luffing arm and the first luffing arm, the current telescopic length of the telescopic arm, the load weight, and the angular velocity of rotation; The method of calculating the first desired angle between the first luffing arm of the hydraulic mechanical arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm based on the dynamic data by constructing a moment balance equation includes: According to the first angle, the second angle, the current telescopic length of the telescopic arm, the load weight, the slewing angular velocity, the third angle between the turntable of the crane and the vertical direction, the length of the turntable, the length of the first luffing arm, the length of the second luffing arm, the weight of the first rotation joint, and the weight of the second rotation joint, a first desired angle between the first luffing arm and the vertical direction of the dynamic hydraulic mechanical arm, a second desired angle between the second luffing arm and the first luffing arm, and an expected telescopic length of the telescopic arm are determined by constructing a torque balance equation; the torque balance equation includes the correlation between the position and speed of the end of the telescopic arm and the angle between the first luffing arm and the vertical direction, the angle between the second luffing arm and the first luffing arm, and the telescopic length of the telescopic arm.

3. The method according to claim 1, characterized in that The step of importing the first desired angle, the second desired angle, and the desired telescopic length into a control model including a cascaded position PID and a speed PID to obtain the desired target current required in the real-time dynamic action of the hydraulic mechanical arm includes: Acquire the current valve core position and current current of the target device; the target device is any one of the following: the rotary valve, the first luffing cylinder, the second luffing cylinder, the telescopic cylinder; Determining an expected valve core position of the target device according to the first expected angle, the second expected angle, and the expected telescopic length; According to the desired valve core position, the current valve core position and the current current, a desired current for controlling the target device is calculated through a control model including a cascaded position PID and a speed PID.

4. The method according to claim 3, characterized in that: The step of calculating the desired current for controlling the target device according to the desired valve core position, the current valve core position and the current current through a control model including a cascaded position PID and a speed PID comprises: Input the desired valve core position and the current valve core position into the position PID in the control model to obtain a position compensation value calculated by the position PID; The position compensation value is converted into a speed compensation value, and the speed compensation value and the current current are input into a speed PID in a control model to obtain a calculated desired current for controlling the target device.

5. The method according to claim 4, characterized in that The step of inputting the desired valve core position and the current valve core position into a position PID in a control model to obtain a position compensation value calculated by the position PID includes: Acquire the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the outer three-dimensional vibration data of the first luffing arm, the inner angular acceleration of the second luffing arm, and the outer three-dimensional vibration data of the second luffing arm; Performing preset compensation processing according to the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the outer three-dimensional vibration data of the first luffing arm, the inner angular acceleration of the second luffing arm, and the outer three-dimensional vibration data of the second luffing arm to obtain compensation information; The desired valve core position, the current valve core position and the compensation information are input into a position PID in a control model to obtain a position compensation value calculated by the position PID.

6. The method according to claim 5, characterized in that The preset compensation processing includes at least one of the following: leading action adaptive compensation, lagging output suppression compensation, and jitter variable gain.

7. An electronic device, characterized in that: include: A processor and a memory storing a computer program, wherein when the processor runs the computer program, the crane control method according to any one of claims 1 to 6 is implemented.

8. A crane, characterized in that: The invention comprises a hydraulic mechanical arm and an electronic device as claimed in claim 7 for controlling the hydraulic mechanical arm.

9. The crane according to claim 8, characterized in that The hydraulic mechanical arm comprises a first luffing arm, a second luffing arm connected to the first luffing arm, and a telescopic arm connected to the second luffing arm. The crane also comprises: A first inclination sensor, a first acceleration sensor and a first attitude sensor are arranged on the first luffing arm, and are used to respectively collect data of a first angle between the first luffing arm and a vertical direction, an inner angular acceleration of the first luffing arm and an outer three-dimensional vibration of the first luffing arm; A second inclination sensor and a second acceleration sensor provided on the second luffing arm, respectively used to correspondingly collect a second included angle between the second luffing arm and the first luffing arm and an inner angular acceleration of the second luffing arm; A long angle sensor and a second posture sensor provided at the end of the telescopic arm are used to respectively collect the current telescopic length of the telescopic arm and the outer three-dimensional vibration data of the second luffing arm; The stress sensor disposed at the end of the telescopic arm is used to collect the current load weight.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the crane control method according to any one of claims 1 to 6 is implemented.

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