Boom rotation control method, device, readable storage medium, system and vehicle

Abstract

The present invention provides a boom rotation control method, device, readable storage medium, system and vehicle. The boom rotation control method includes: obtaining the actual linear velocity of the boom end; and performing speed compensation on the actual linear velocity of the boom end based on the speed difference between the target linear velocity of the boom end and the actual linear velocity of the boom end. The present application controls the rotation of the boom turntable by compensating for the speed difference between the target linear velocity of the boom end and the actual linear velocity of the boom end, thereby forming a closed-loop control loop and being able to perform feedback adjustment, so that the boom rotates more smoothly, and different operators can achieve the same rotation speed when operating, simplifying the operator's rotation control requirements, and compared with the existing solution, it also solves the problem of the boom rotation not working due to the boom current being set too small.

Description

Technical Field

[0001] The present invention relates to the field of boom control, and in particular to a boom rotation control method, device, readable storage medium, system and vehicle. Background Art

[0002] At present, the existing boom swing control method is: the technical engineer sets the minimum current and maximum current value of the swing multi-way valve through the pump truck human-machine interface, matches the minimum and maximum values ​​of the remote control handle, and obtains the multi-way valve current under the current remote control handle opening through linear calculation. Due to the difference in personal experience of the operators, different operators will set inconsistent maximum calibration values ​​for the same boom. When the maximum calibration value is set too small, the boom movement speed will be limited, and when it is set too large, the safety of the boom movement will be reduced; and this method is a constant angular velocity control. The same handle opening has inconsistent linear velocities at the end of the boom under different boom postures, which puts higher requirements on the accuracy of current setting.

[0003] Therefore, how to design a boom rotation control method that can control the boom to have a certain linear speed under different postures is a problem that needs to be solved urgently. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] Therefore, an object of the present invention is to provide a boom rotation control method.

[0006] Another object of the present invention is to provide a boom rotation control device.

[0007] A third object of the present invention is to provide a readable storage medium.

[0008] A fourth object of the present invention is to provide a boom system.

[0009] A fifth object of the present invention is to provide a vehicle.

[0010] To achieve the above objectives, the technical solution of the present invention provides a boom rotation control method, including: obtaining the actual linear velocity of the boom end; and performing speed compensation on the actual linear velocity of the boom end based on the speed difference between the target linear velocity of the boom end and the actual linear velocity of the boom end.

[0011] The boom rotation control method provided by the present invention includes: obtaining the actual linear velocity of the boom end; and performing speed compensation on the actual linear velocity of the boom end based on the speed difference between the target linear velocity of the boom end and the actual linear velocity of the boom end. The present application performs speed compensation on the actual linear velocity of the boom end, thereby controlling the rotation of the boom turntable to form a closed-loop control loop, and can perform feedback adjustment, so that the boom rotates more smoothly, and different operators can achieve the same rotation speed when operating, simplifying the operator's rotation control requirements, and compared with the existing solution, it also solves the problem of the boom rotation not working caused by the boom current being set too small. The compensation here can be a positive value or a negative value. When the actual linear velocity of the boom end is less than the target linear velocity, a positive compensation is performed on it, and when the actual linear velocity of the boom end is greater than the target linear velocity, a negative compensation is performed on it.

[0012] Among them, the steps of controlling the rotation of the boom turntable based on the target linear speed of the boom end and the actual linear speed of the boom end are specifically: calculating the difference between the target linear speed of the boom end and the actual linear speed of the boom end, and performing feedback adjustment on the actual linear speed of the boom end based on the difference, thereby realizing feedback adjustment of the actual linear speed of the boom end until the actual linear speed of the boom end reaches the target linear speed of the boom end.

[0013] In addition, the technical solution provided by this application may also have the following additional technical features:

[0014] In the above technical solution, based on the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end, the step of speed compensation for the actual linear speed of the boom end includes: obtaining the target linear speed of the boom end; calculating the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end; and performing PID feedback adjustment on the rotation speed of the boom turntable based on the speed difference until the actual linear speed of the boom end is the same as the target linear speed of the boom end.

[0015] In this technical solution, by obtaining the target linear speed of the boom end and the actual linear speed of the boom end, and calculating the difference between the two, the rotation speed of the boom turntable is adjusted by PID feedback based on the difference between the two until the actual linear speed of the boom end is the same as the target linear speed of the boom end. This setting can make the boom rotate at the target linear speed by adjusting the actual linear speed of the boom end to the same as the target linear speed of the boom end, so that the boom rotates at the target linear speed, which can make the rotation of the boom smoother and enable different operators to achieve the same rotation speed when operating.

[0016] In the above technical solution, the step of obtaining the target linear velocity of the boom end includes: obtaining the opening angle of the operating handle; and determining the target linear velocity of the boom end based on the relationship between the opening angle of the operating handle and the linear velocity.

[0017] In the technical solution, the step of obtaining the target linear velocity of the boom end includes: obtaining the opening angle of the operating handle, and determining the target linear velocity of the boom end based on the relationship between the opening angle of the operating handle and the target linear velocity. In this setting, the target linear velocity of the boom end is determined according to the relationship between the opening angle of the operating handle and the linear velocity, so that the rotation of the boom can be controlled according to the relationship between the opening angle of the operating handle and the target linear velocity of the boom end, so that different operators can achieve the same linear velocity of the boom according to the opening angle of the handle when operating.

[0018] In the above technical solution, the boom swivel table includes a boom swivel motor, and the step of performing PID feedback adjustment on the speed of the boom swivel table based on the speed difference includes: controlling the oil supply of the boom swivel motor based on the speed difference to perform PID feedback adjustment on the speed of the boom swivel table.

[0019] In this technical solution, the boom slewing platform includes a boom slewing motor, and the oil supply of the boom slewing motor can be controlled based on the speed difference, so as to perform PID feedback regulation on the speed of the boom slewing platform. The rotation of the slewing platform is achieved by controlling the magnitude of the current, thereby controlling the oil supply of the boom slewing motor, so as to rotate the boom slewing platform.

[0020] In any of the above technical solutions, the step of obtaining the actual linear velocity of the boom end includes: obtaining the current position information of the boom end and the angular velocity of the turntable; and calculating the actual linear velocity of the boom end according to the angular velocity of the turntable and the current position information of the boom end.

[0021] In these technical solutions, the step of obtaining the actual linear velocity of the boom end includes: obtaining the current position information of the boom end and the angular velocity of the turntable. The actual linear velocity of the boom end is calculated according to the angular velocity of the turntable and the current position information of the boom end, so as to control the boom drive device according to the actual linear velocity and the target linear velocity of the boom end.

[0022] In the above technical solution, the step of obtaining the current position information of the end of the boom includes: obtaining the distance between the end of the boom and the rotation centerline of the turntable, the distance between the end of the boom and the rotation centerline of the turntable is the current position information of the end of the boom; or obtaining the arm section angle of the boom, and calculating the current position information of the end of the boom based on the obtained arm section angle.

[0023] In this technical solution, the step of obtaining the current position information of the boom end includes: obtaining the distance between the boom end and the rotation centerline of the turntable, which is the current position information of the boom end; or obtaining the boom section angle of the boom, and the current position information of the boom end can be calculated based on the obtained boom section angle. Thus, the target linear velocity of the boom end is calculated through the current position information and the angular velocity of the turntable.

[0024] The technical solution of the second aspect of the present invention provides a boom rotation control device, including a first acquisition module for acquiring the actual linear velocity of the boom end; and a control module for performing speed compensation on the actual linear velocity of the boom end based on the speed difference between the target linear velocity of the boom end and the actual linear velocity of the boom end. The steps of the boom rotation control method provided by any technical solution of the first aspect of the present invention can be implemented. Therefore, the boom rotation control device has all the beneficial effects of the boom rotation control method in the technical solution of the first aspect, which will not be repeated here.

[0025] In the above technical scheme, the control module includes: a second acquisition module, used to obtain the target linear speed of the boom end; a calculation module, used to calculate the difference between the target linear speed of the boom end and the actual linear speed of the boom end; a PID adjustment module, used to perform PID feedback adjustment on the rotation speed of the boom turntable based on the speed difference until the actual linear speed of the boom end is the same as the target linear speed of the boom end.

[0026] In the above technical solution, the second acquisition module includes: an acquisition submodule for acquiring the opening angle of the operating handle; and a relationship determination submodule for determining the target linear velocity of the boom end based on the relationship between the opening angle of the operating handle and the target linear velocity.

[0027] In the above technical solution, the boom slewing platform includes a boom slewing motor, and the control module is specifically used to control the oil supply of the boom slewing motor based on the target linear speed of the boom end and the actual linear speed of the boom end.

[0028] In this technical solution, the boom slewing platform includes a boom slewing motor, and the control module is specifically used to control the oil supply of the boom slewing motor based on the target linear speed of the boom end and the actual linear speed of the boom end.

[0029] In the above technical solution, the first acquisition module is specifically used to obtain the current position information of the boom end and the angular velocity of the turntable, and calculate the actual linear velocity of the boom end according to the angular velocity of the turntable and the current position information of the boom end.

[0030] In this technical solution, the first acquisition module is specifically used to obtain the current position information of the boom end and the angular velocity of the turntable, and calculate the actual linear velocity of the boom end according to the angular velocity of the turntable and the current position information of the boom end.

[0031] In the above technical scheme, the first acquisition module is specifically used to: obtain the distance between the end of the boom and the rotation centerline of the turntable, the distance between the end of the boom and the rotation centerline of the turntable is the current position information of the end of the boom; or obtain the current angle of the end of the boom, and calculate the current position information of the end of the boom based on the obtained angle.

[0032] In this technical solution, the first acquisition module is specifically used to obtain the distance between the end of the boom and the rotation centerline of the turntable, which is the current position information of the end of the boom; or to obtain the current angle of the end of the boom, and calculate the current position information of the end of the boom based on the obtained angle. The acquisition of the current position information of the end of the boom in this application is not limited to this, and other methods can also be used to obtain it.

[0033] The technical solution of the third aspect of the present invention provides a readable storage medium on which a program or instruction is stored. When the program or instruction is executed, the steps of the boom rotation control method in the technical solution of the first aspect are implemented.

[0034] The readable storage medium provided by the present invention includes the boom rotation control method provided by the first technical solution. Therefore, the readable storage medium provided by the present invention has all the beneficial effects of the boom rotation control method provided by the first technical solution, which will not be repeated here.

[0035] The technical solution of the fourth aspect of the present invention provides a boom system, including a turntable; a first sensor, arranged corresponding to the turntable, for measuring the angular velocity of the turntable; a boom assembly, arranged on the turntable, the turntable can drive the boom assembly to rotate, the boom assembly includes at least one arm section, and a plurality of booms are rotatably connected; a position information determination device, arranged on the boom assembly, for determining the current position information of the end of the boom; such as the boom rotation control device in the technical solution of the second aspect, the boom rotation control device is respectively connected to the turntable, the first sensor and the position information determination device, or the readable storage medium in the technical solution of the third aspect.

[0036] The boom system provided according to the present invention includes a swivel table, a first sensor, a boom assembly and a position information determination device. The first sensor is arranged corresponding to the swivel table and can measure the angular velocity of the swivel table. The boom assembly is arranged on the swivel table, so that the swivel table can drive the boom assembly to rotate, wherein the boom assembly includes at least one arm section, and when there are multiple arm sections, the multiple arm sections are rotatably connected. The position information determination device is arranged on the boom assembly and can determine the current position information of the end of the boom. In addition, since the boom system includes the boom rotation control device in the second technical solution, the boom rotation control device is respectively connected to the swivel table, the first sensor and the position information determination device, or the readable storage medium in the third technical solution, the boom system has all the beneficial effects of the boom rotation control device in the second technical solution or the readable storage medium in the third technical solution, which will not be repeated here.

[0037] In the above technical solution, the boom system also includes: a boom rotation motor, which is used to drive the turntable to rotate.

[0038] In this technical solution, the boom system also includes a boom rotation motor, which can drive the turntable to rotate, thereby driving the boom system to work.

[0039] In the above technical solution, the position information determining device includes a second sensor group, which is arranged on the boom assembly and is used to measure the angles of all boom sections of the boom.

[0040] In this technical solution, the position information determining device includes a second sensor group, which is arranged on the boom assembly and is used to measure the angles of all boom sections of the boom, and then calculate the position of the boom section end according to the measured boom section angles.

[0041] The technical solution of the fifth aspect of the present invention provides a working vehicle, including the boom system of the technical solution of the fourth aspect.

[0042] The working vehicle provided by the present invention comprises the boom system in the fourth technical solution. Therefore, the working vehicle provided by the present invention has all the beneficial effects of the boom system in the fourth technical solution, which will not be described in detail here.

[0043] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0045] Figure 1is a flow chart of a boom rotation control method provided by an embodiment of the present invention;

[0046] Figure 2 is a flow chart of a boom rotation control method provided by another embodiment of the present invention;

[0047] Figure 3 is a flow chart of a boom rotation control method provided by a third embodiment of the present invention;

[0048] Figure 4 It is a schematic diagram of the relationship between the target linear velocity and the actual linear velocity of the boom end in a boom rotation control method according to an embodiment of the present invention;

[0049] Figure 5 It is a schematic diagram showing the principle of the present invention when the rotation speed of the boom slewing table is PID-fed and regulated;

[0050] Figure 6 is a block diagram of a boom rotation control device provided by an embodiment of the present invention;

[0051] Figure 7 is a block diagram of a boom system provided by an embodiment of the present invention.

[0052] in, Figures 5 to 7 The corresponding relationship between the reference numerals and component names in the figure is:

[0053] 1 turntable, 2 arm support, 3 first acquisition module, 4 control module, 42 second acquisition module, 44 calculation module, 46 PID adjustment module, 5 first sensor, 6 arm support assembly, 7 position information determination device. DETAILED DESCRIPTION

[0054] In order to more clearly understand the above-mentioned purposes, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0055] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0056] Embodiment 1

[0057] like Figure 1 As shown, the first embodiment of the present invention provides a boom rotation control method, comprising:

[0058] S102, obtaining the actual linear velocity of the boom end.

[0059] S104, based on the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end, speed compensation is performed on the actual linear speed of the boom end.

[0060] According to the boom rotation control method provided by the present invention, the method comprises: obtaining the actual linear velocity of the boom end; and performing speed compensation on the actual linear velocity of the boom end based on the speed difference between the target linear velocity of the boom end and the actual linear velocity of the boom end. The present application performs speed compensation on the actual linear velocity of the boom end, thereby controlling the rotation of the boom turntable to form a closed-loop control loop, and can perform feedback adjustment so that the actual linear velocity of the boom end is the same as the target linear velocity, thereby controlling the boom rotation by the linear velocity, making the boom rotation smoother, and different operators can achieve the same rotation speed when operating, simplifying the operator's rotation control requirements, and solving the problem of the boom rotation not working caused by the boom current being set too small compared to the existing solution. The compensation here can be a positive value or a negative value. When the actual linear velocity of the boom end is less than the target linear velocity, a positive value compensation is performed, and when the actual linear velocity of the boom end is greater than the target linear velocity, a negative value compensation is performed.

[0061] Among them, the steps of controlling the rotation of the boom turntable based on the target linear speed of the boom end and the actual linear speed of the boom end are specifically: calculating the difference between the target linear speed of the boom end and the actual linear speed of the boom end, and performing feedback adjustment on the actual linear speed of the boom end based on the difference, thereby realizing feedback adjustment of the actual linear speed of the boom end until the actual linear speed of the boom end reaches the target linear speed of the boom end.

[0062] Embodiment 2

[0063] like Figure 2 and Figure 4 As shown, the second embodiment of the present invention provides a boom rotation control method, comprising:

[0064] S202, obtaining the actual linear velocity of the boom end.

[0065] S204, obtaining the target linear velocity of the boom end.

[0066] S206, calculating the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end.

[0067] S208, performing PID feedback adjustment on the rotation speed of the boom slewing table based on the speed difference until the actual linear speed of the boom end is the same as the target linear speed of the boom end.

[0068] The boom slewing control method provided in accordance with the present invention includes: obtaining the actual linear speed of the boom end; obtaining the target linear speed of the boom end; and performing speed compensation on the actual linear speed of the boom end based on the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end. By obtaining the target linear speed of the boom end and the actual linear speed of the boom end, and calculating the difference between the two, PID feedback adjustment is performed on the rotation speed of the boom turntable based on the difference between the two until the actual linear speed of the boom end is the same as the target linear speed of the boom end. The present application controls the rotation of the boom turntable by compensating for the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end, thereby forming a closed-loop control loop and being able to perform feedback adjustment, so that the boom rotates more smoothly, and different operators can achieve the same rotation speed when operating, thereby simplifying the operator's rotation control requirements, and compared with the existing solution, it also solves the problem of the boom rotation not working due to the boom current being set too small. Figure 3 The relationship between the actual linear velocity and the target linear velocity at the end of the boom can be seen in the figure (in the figure, V represents the rotation speed of the end of the boom, and t represents the rotation time of the end of the boom).

[0069] In the above embodiment, the step of obtaining the target linear velocity of the boom end includes: obtaining the opening angle of the operating handle; and determining the target linear velocity of the boom end based on the relationship between the opening angle of the operating handle and the linear velocity.

[0070] In this embodiment, the step of obtaining the target linear velocity of the boom end includes: obtaining the opening angle of the operating handle, and determining the target linear velocity of the boom end based on the relationship between the opening angle of the operating handle and the target linear velocity. In this configuration, the target linear velocity of the boom end is determined based on the relationship between the opening angle of the operating handle and the linear velocity, so that the rotation of the boom can be controlled based on the relationship between the opening angle of the operating handle and the target linear velocity of the boom end, so that different operators can achieve the same linear velocity of the boom based on the opening angle of the handle when operating.

[0071] In the above embodiment, the boom swivel table includes a boom swivel motor, and the step of performing PID feedback adjustment on the rotation speed of the boom swivel table based on the speed difference includes: controlling the oil supply of the boom swivel motor based on the speed difference to perform PID feedback adjustment on the rotation speed of the boom swivel table.

[0072] In this embodiment, the boom slewing platform includes a boom slewing motor, and the oil supply of the boom slewing motor can be controlled based on the speed difference, so as to perform PID feedback regulation on the speed of the boom slewing platform. The rotation of the slewing platform is achieved by controlling the magnitude of the current, thereby controlling the oil supply of the boom slewing motor, so as to rotate the boom slewing platform.

[0073] In any of the above embodiments, the step of obtaining the actual linear velocity of the boom end includes: obtaining the current position information of the boom end and the angular velocity of the turntable; and calculating the actual linear velocity of the boom end according to the angular velocity of the turntable and the current position information of the boom end.

[0074] In these embodiments, the step of obtaining the actual linear velocity of the boom end includes: obtaining the current position information of the boom end and the angular velocity of the turntable, calculating the actual linear velocity of the boom end according to the angular velocity of the turntable and the current position information of the boom end, and controlling the boom drive device according to the actual linear velocity and the target linear velocity of the boom end.

[0075] In the above embodiment, the step of obtaining the current position information of the end of the boom includes: obtaining the distance between the end of the boom and the rotation centerline of the turntable, the distance between the end of the boom and the rotation centerline of the turntable is the current position information of the end of the boom; or obtaining the arm section angle of the boom, and calculating the current position information of the end of the boom based on the obtained arm section angle.

[0076] In this embodiment, the step of obtaining the current position information of the boom end includes: obtaining the distance between the boom end and the rotation centerline of the turntable, the distance between the boom end and the rotation centerline of the turntable is the current position information of the boom end; or obtaining the boom section angle of the boom, and the current position information of the boom end can be calculated based on the obtained boom section angle. Thus, the target linear velocity of the boom end is calculated through the current position information and the angular velocity of the turntable.

[0077] Embodiment 3

[0078] like Figure 3 and Figure 5 As shown, the third embodiment of the present invention provides a boom rotation control method, comprising:

[0079] S302, obtaining the actual linear velocity of the boom end.

[0080] S304: Acquire the opening angle of the operating handle.

[0081] S306: Determine a target linear velocity of the boom end based on the relationship between the opening angle of the operating handle and the linear velocity.

[0082] S308, calculating the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end.

[0083] S310, performing PID feedback adjustment on the rotation speed of the boom slewing table based on the speed difference until the actual linear speed of the boom end is the same as the target linear speed of the boom end.

[0084] The boom slewing control method provided by the present invention includes: obtaining the actual linear velocity of the boom end; obtaining the opening angle of the operating handle; determining the target linear velocity of the boom end based on the relationship between the opening angle of the operating handle and the linear velocity; calculating the speed difference between the target linear velocity of the boom end and the actual linear velocity of the boom end; and performing PID feedback adjustment on the rotation speed of the boom slewing platform based on the speed difference until the actual linear velocity of the boom end is the same as the target linear velocity of the boom end. By obtaining the target linear velocity of the boom end and the actual linear velocity of the boom end and calculating the difference between the two, the rotation speed of the boom slewing platform is PID feedback adjusted based on the difference between the two until the actual linear velocity of the boom end is the same as the target linear velocity of the boom end. The present application compensates for the speed difference between the target linear speed at the end of the boom and the actual linear speed at the end of the boom, thereby controlling the rotation of the turntable of the boom to form a closed-loop control circuit and capable of feedback adjustment, so that the boom rotates more smoothly, and different operators can achieve the same rotation speed, simplifying the operator's rotation control requirements. Compared with the existing solution, it also solves the problem of the boom rotating inaction caused by the boom current being set too small.

[0085] In the above embodiment, the step of obtaining the actual linear velocity of the boom end includes: obtaining the current position information of the boom end and the angular velocity of the turntable; and calculating the actual linear velocity of the boom end according to the angular velocity of the turntable and the current position information of the boom end.

[0086] In the above embodiment, the boom swivel table includes a boom swivel motor, and the step of performing PID feedback adjustment on the rotation speed of the boom swivel table based on the speed difference includes: controlling the oil supply of the boom swivel motor based on the speed difference to perform PID feedback adjustment on the rotation speed of the boom swivel table.

[0087] In this embodiment, the boom slewing platform includes a boom slewing motor, and the oil supply of the boom slewing motor can be controlled based on the speed difference, so as to perform PID feedback regulation on the speed of the boom slewing platform. The rotation of the slewing platform is achieved by controlling the magnitude of the current, thereby controlling the oil supply of the boom slewing motor, so as to rotate the boom slewing platform.

[0088] In any of the above embodiments, the step of obtaining the actual linear velocity of the boom end includes: obtaining the current position information of the boom end and the angular velocity of the turntable; and calculating the actual linear velocity of the boom end according to the angular velocity of the turntable and the current position information of the boom end.

[0089] In these embodiments, the step of obtaining the actual linear velocity of the boom end includes: obtaining the current position information of the boom end and the angular velocity of the turntable, calculating the actual linear velocity of the boom end according to the angular velocity of the turntable and the current position information of the boom end, and controlling the boom drive device according to the actual linear velocity and the target linear velocity of the boom end.

[0090] In the above embodiment, the step of obtaining the current position information of the end of the boom includes: obtaining the distance between the end of the boom and the rotation centerline of the turntable, the distance between the end of the boom and the rotation centerline of the turntable is the current position information of the end of the boom; or obtaining the arm section angle of the boom, and calculating the current position information of the end of the boom based on the obtained arm section angle.

[0091] In this embodiment, the step of obtaining the current position information of the boom end includes: obtaining the distance between the boom end and the rotation centerline of the turntable, the distance between the boom end and the rotation centerline of the turntable is the current position information of the boom end; or obtaining the boom section angle of the boom, and the current position information of the boom end can be calculated based on the obtained boom section angle. Thus, the target linear velocity of the boom end is calculated through the current position information and the angular velocity of the turntable.

[0092] like Figure 6 As shown, the embodiment of the second aspect of the present invention provides a boom rotation control device, including a first acquisition module 3, used to obtain the actual linear velocity of the boom end; a control module 4, used to perform speed compensation on the actual linear velocity of the boom end based on the speed difference between the target linear velocity of the boom end and the actual linear velocity of the boom end. The steps of the boom rotation control method provided by any embodiment of the first aspect of the present invention can be implemented. Therefore, the boom rotation control device has all the beneficial effects of the boom rotation control method in the embodiment of the first aspect, which will not be repeated here.

[0093] In the above embodiment, the control module 4 includes: a second acquisition module 42, used to obtain the target linear speed of the boom end; a calculation module 44, used to calculate the difference between the target linear speed of the boom end and the actual linear speed of the boom end; a PID adjustment module 46, used to perform PID feedback adjustment on the rotation speed of the boom turntable 1 based on the speed difference until the actual linear speed of the boom end is the same as the target linear speed of the boom end.

[0094] In the above embodiment, the second acquisition module 42 includes: an acquisition submodule for acquiring the opening angle of the operating handle; and a relationship determination submodule for determining the target linear velocity of the boom end based on the relationship between the opening angle of the operating handle and the target linear velocity.

[0095] In the above embodiment, the boom slewing platform 1 includes a boom slewing motor, and the control module 4 is specifically used to control the oil supply of the boom slewing motor based on the target linear velocity of the boom end and the actual linear velocity of the boom end.

[0096] In this embodiment, the boom swivel platform 1 includes a boom swivel motor, and the control module 4 is specifically used to control the oil supply of the boom swivel motor based on the target linear velocity of the boom end and the actual linear velocity of the boom end.

[0097] In the above embodiment, the first acquisition module 3 is specifically used to acquire the current position information of the boom end and the angular velocity of the turntable 1 , and calculate the actual linear velocity of the boom end according to the angular velocity of the turntable 1 and the current position information of the boom end.

[0098] In this embodiment, the first acquisition module 3 is specifically used to acquire the current position information of the boom end and the angular velocity of the turntable 1 , and calculate the actual linear velocity of the boom end according to the angular velocity of the turntable 1 and the current position information of the boom end.

[0099] In the above embodiment, the first acquisition module 3 is specifically used to: obtain the distance between the end of the boom and the rotation centerline of the turntable 1, the distance between the end of the boom and the rotation centerline of the turntable 1 is the current position information of the end of the boom; or obtain the current angle of the end of the boom, and calculate the current position information of the end of the boom based on the obtained angle.

[0100] In this embodiment, the first acquisition module 3 is specifically used to obtain the distance between the end of the boom and the rotation centerline of the turntable 1, and the distance between the end of the boom and the rotation centerline of the turntable 1 is the current position information of the end of the boom; or obtain the current angle of the end of the boom, and calculate the current position information of the end of the boom based on the obtained angle. The acquisition of the current position information of the end of the boom in this application is not limited to this, and other methods can also be used to obtain it.

[0101] The embodiment of the third aspect of the present invention provides a readable storage medium on which a program or instruction is stored. When the program or instruction is executed, the steps of the boom rotation control method in the embodiment of the first aspect are implemented.

[0102] The readable storage medium provided by the present invention includes the boom rotation control method provided by the first embodiment. Therefore, the readable storage medium provided by the present invention has all the beneficial effects of the boom rotation control method provided by the first embodiment, which will not be repeated here.

[0103] like Figure 7 As shown, an embodiment of the fourth aspect of the present invention provides a boom system, including a turntable 1; a first sensor 5, arranged corresponding to the turntable 1, for measuring the angular velocity of the turntable 1; a boom assembly 6, arranged on the turntable 1, the turntable 1 can drive the boom assembly 6 to rotate, the boom assembly 6 includes at least one arm section, and a plurality of booms 2 are rotatably connected; a position information determining device 7, arranged on the boom assembly 6, for determining the current position information of the end of the boom; such as the boom rotation control device in the embodiment of the second aspect, the boom rotation control device is respectively connected to the turntable 1, the first sensor 5 and the position information determining device 7, or the readable storage medium in the embodiment of the third aspect.

[0104] The boom system provided according to the present invention includes a turntable 1, a first sensor 5, a boom assembly 6 and a position information determination device. The first sensor 5 is arranged corresponding to the turntable 1 and can measure the angular velocity of the turntable 1. The boom assembly 6 is arranged on the turntable 1, so that the turntable 1 can drive the boom assembly 6 to rotate, wherein the boom assembly 6 includes at least one arm section, and when there are multiple arm sections, the multiple arm sections are rotatably connected. The position information determination device 7 is arranged on the boom assembly 6 and can determine the current position information of the end of the boom. In addition, since its boom system includes the boom rotation control device in the second aspect embodiment, the boom rotation control device is respectively connected to the turntable 1, the first sensor 5 and the position information determination device 7, or the readable storage medium in the third aspect embodiment, therefore, the boom system has all the beneficial effects of the boom rotation control device in the second aspect embodiment, or the readable storage medium in the third aspect embodiment, which will not be repeated here.

[0105] In the above embodiment, the boom system further includes: a boom rotation motor, which is used to drive the turntable 1 to rotate.

[0106] In this embodiment, the boom system further includes a boom rotation motor, which can drive the turntable 1 to rotate, thereby driving the boom system to work.

[0107] In the above embodiment, the position information determining device 7 includes a second sensor group, which is arranged on the boom assembly 6 and is used to measure the angles of all boom sections of the boom 2 .

[0108] In this embodiment, the position information determining device 7 includes a second sensor group, which is arranged on the boom assembly 6 and is used to measure all arm section angles of the boom 2, and then calculate the position of the arm section end according to the measured arm section angles.

[0109] An embodiment of the fifth aspect of the present invention provides a work vehicle, comprising the boom system of the embodiment of the fourth aspect.

[0110] The working vehicle provided by the present invention comprises the boom system in the fourth technical solution. Therefore, the working vehicle provided by the present invention has all the beneficial effects of the boom system in the fourth technical solution, which will not be described in detail here.

[0111] In the description of this specification, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0112] In the description of this specification, it is necessary to understand that the terms "upper", "lower", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0113] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0114] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A boom rotation control method, characterized in that: include: Get the actual linear speed of the boom end; Based on the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end, speed compensation is performed on the actual linear speed of the boom end; The step of obtaining the target linear velocity of the boom end comprises: Get the opening angle of the operating handle; Determining a target linear velocity of the boom end based on a relationship between an opening angle of the operating handle and the linear velocity; The step of performing speed compensation on the actual linear speed of the boom end based on the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end comprises: Obtaining the target linear velocity of the boom end; Calculating the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end; Based on the speed difference, PID feedback adjustment is performed on the rotation speed of the boom slewing table until the actual linear speed of the boom end is the same as the target linear speed of the boom end; The boom slewing platform includes a boom slewing motor, and the step of performing PID feedback adjustment on the rotation speed of the boom slewing platform based on the speed difference includes: The oil supply of the boom rotation motor is controlled based on the speed difference to perform PID feedback regulation on the rotation speed of the boom rotation platform.

2. The boom rotation control method according to claim 1, characterized in that: The step of obtaining the actual linear velocity of the boom end comprises: Get the current position information of the boom end and the angular velocity of the turntable; The actual linear velocity of the end of the boom is calculated according to the angular velocity of the turntable and the current position information of the end of the boom.

3. The boom rotation control method according to claim 2, characterized in that: The step of obtaining the current position information of the boom end comprises: Acquire the distance between the end of the boom and the rotation centerline of the turntable, where the distance between the end of the boom and the rotation centerline of the turntable is the current position information of the end of the boom; or The arm section angle of the boom is obtained, and the current position information of the end of the boom is calculated based on the obtained arm section angle.

4. A boom rotation control device, characterized in that: include: The first acquisition module is used to acquire the actual linear velocity of the boom end, including: acquiring the opening angle of the operating handle; and determining the target linear velocity of the boom end based on the relationship between the opening angle of the operating handle and the linear velocity; A control module, for performing speed compensation on the actual linear speed of the boom end based on the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end, comprising: obtaining the target linear speed of the boom end; calculating the speed difference between the target linear speed of the boom end and the actual linear speed of the boom end; performing PID feedback adjustment on the rotation speed of the boom turntable based on the speed difference until the actual linear speed of the boom end is the same as the target linear speed of the boom end; The step of performing PID feedback adjustment on the rotation speed of the boom slewing table based on the speed difference comprises: The oil supply of the boom rotation motor is controlled based on the speed difference to perform PID feedback regulation on the rotation speed of the boom rotation platform.

5. A readable storage medium having a program or instruction stored thereon, characterized in that: When the program or the instruction is executed, the steps of the boom rotation control method according to any one of claims 1 to 3 are implemented.

6. A boom system, characterized in that: Turntable; A first sensor, arranged corresponding to the turntable, for measuring the angular velocity of the turntable; A boom assembly is arranged on the rotating platform, the rotating platform can drive the boom assembly to rotate, the boom assembly includes at least one boom section, and a plurality of booms are rotatably connected to each other; A position information determining device, provided on the boom assembly, for determining current position information of the boom end; The boom rotation control device according to claim 4, wherein the boom rotation control device is connected to the slewing platform, the first sensor and the position information determination device respectively, or the readable storage medium according to claim 5; An arm rotation motor is used to drive the turntable to rotate; The position information determining device comprises a second sensor group, which is arranged on the boom assembly and is used to measure the angles of all boom sections of the boom.

7. A vehicle, characterized in that: Comprising the boom system as claimed in claim 6.

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