Method, device and crane for preventing crane boom front lurching

Abstract

The application discloses a method, device and crane for preventing crane boom front creep. The method comprises the following steps: acquiring state data of the crane at the current time, determining an initial boom drive counterforce according to the state data, determining a transfer function according to the state data, inputting the initial boom drive counterforce into the transfer function to obtain a predicted value of the front creep displacement, obtaining an initial tracking error according to the predicted value and an expected value, determining a final compensation pressure value according to the initial tracking error, and correcting the pressure of the telescopic cylinder of the crane through the final compensation pressure value. By determining the transfer function of the boom drive counterforce and the boom front creep amount, and combining the iterative control method, the pressure of the telescopic cylinder of the crane is further dynamically corrected, the purpose of preventing the boom front creep of the crane during emergency braking is effectively achieved, and the problems that the method and system for preventing the boom front creep in the prior art are high in system complexity and the control is not accurate enough are solved.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and specifically to a method, device, and crane for preventing the boom of a crane from moving forward. Background Technology

[0002] Cranes are crucial pieces of equipment widely used in engineering construction. During emergency braking of a truck crane, the boom often lurches forward. This forward lurching is generally caused by the compression of hydraulic oil and dissolved air within the telescopic cylinder. Existing technologies address this issue by using pressure balancing. Specifically, a pressure control valve and a replenishing valve are added to the front section of the rod chamber of the telescopic cylinder to allow the hydraulic oil in the rod chamber to flow back to the oil tank. However, the control methods employed in these technologies require multiple pressure valves to operate simultaneously to maintain the working port pressure, resulting in a complex hydraulic system and issues with force delay, leading to insufficient control precision. Therefore, existing methods for preventing boom lurching suffer from high system complexity and insufficient control precision. Summary of the Invention

[0003] The purpose of this application is to provide a method, device, and crane for preventing the boom of a crane from moving forward, in order to solve the problems of high system complexity and insufficient control of the existing methods for preventing boom movement.

[0004] To achieve the above objectives, the first aspect of this application provides a method for preventing the boom of a crane from moving forward, the method comprising:

[0005] Obtain the current status data of the crane;

[0006] Determine the initial boom drive reaction force based on the state data;

[0007] Determine the transfer function based on the state data;

[0008] The initial boom drive reaction force is input into the transfer function to obtain the predicted forward displacement.

[0009] The initial tracking error is obtained based on the predicted value and the expected value;

[0010] The final compensation pressure value is determined based on the initial tracking error;

[0011] The pressure of the crane's telescopic cylinder is corrected by the final compensation pressure value.

[0012] The method in this application embodiment further includes:

[0013] Based on the final compensation pressure value, the nonlinear relationship between the compensation pressure and the speed and mass of the crane is determined.

[0014] In this embodiment of the application, the current status data of the crane includes:

[0015] The crane's travel speed, the crane's boom mass, the crane's body mass, the crane's body braking time, and the area of ​​the rod-side chamber of the crane's telescopic cylinder.

[0016] In this embodiment of the application, determining the transfer function based on the state data includes:

[0017] Determine the hydraulic load force balance equation based on the state data;

[0018] The relationship between inertial forces and the boom of the crane is determined based on the hydraulic load force balance equation.

[0019] Based on the relationship between inertial force and the boom, the transfer function is determined by Laplace transform.

[0020] In this embodiment, the relationship between the inertial force and the boom satisfies formula (1):

[0021] (1)

[0022] in, F The lifting action is driven by the boom reaction force. m For the weight of the boom, f The coefficient of friction between the arms is . A The area of ​​the rod-side chamber of the telescopic hydraulic cylinder. P To compensate for the pressure in the rod chamber, y This refers to the forward sway of the boom. F The inertial force is the inertial force of the entire vehicle; among which , M For vehicle body mass.

[0023] In this embodiment, the transfer function satisfies formula (2):

[0024] (2)

[0025] in, s As a variable, y(s) For the output of the transfer function, F(s) For the input of the transfer function, M For vehicle body mass, m For the weight of the boom, f The coefficient of friction between the arms is denoted as .

[0026] In this embodiment of the application, determining the final compensation pressure value based on the initial tracking error includes:

[0027] If the initial tracking error meets the preset conditions, the compensation pressure value corresponding to the initial tracking error is determined as the final compensation pressure value.

[0028] If the initial tracking error does not meet the preset conditions, the initial tracking error is input into the iterative controller to determine the final compensation pressure value.

[0029] In this embodiment of the application, when the initial tracking error does not meet the preset conditions, the initial tracking error is input to the iterative controller to determine the final compensation pressure value, including:

[0030] The initial tracking error is input into the iterative controller for iterative calculation to obtain the corresponding compensation pressure value;

[0031] The system input is corrected based on the corresponding compensation pressure value to obtain the corrected tracking error;

[0032] If the corrected tracking error meets the preset conditions, the iteration stops, and the corresponding compensation pressure value is determined as the final compensation pressure value.

[0033] In this embodiment of the application, the iterative operation satisfies formula (3):

[0034] (3)

[0035] in, t For braking time, k For the first k The next iteration operation. k +1 indicates the first k +1 iteration operation, For the first k The second input, For the compensated first k +1 The second input, e(t) To track errors, This is the proportional control coefficient. The differential control coefficient, This is the integral control coefficient.

[0036] A second aspect of this application provides a controller, comprising:

[0037] The memory is configured to store instructions; and

[0038] The processor is configured to retrieve instructions from memory and, when executing instructions, to implement methods for preventing the crane boom from moving forward.

[0039] A third aspect of this application provides a device for preventing the boom of a crane from moving forward, including the aforementioned controller.

[0040] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform a method according to any one of the preceding claims for preventing a crane boom from moving forward.

[0041] The above technical solution first acquires the current state data of the crane, determines the initial boom drive reaction force and transfer function based on the state data, inputs the initial boom drive reaction force into the transfer function to obtain the predicted forward displacement, then obtains the initial tracking error based on the predicted and expected values ​​of the forward displacement, and finally determines the final compensation pressure value based on the tracking error. Finally, the pressure of the crane's telescopic cylinder is corrected using the determined final compensation pressure value. This application, by determining the transfer function of the boom drive reaction force and the boom forward displacement, combined with an iterative control method, dynamically corrects the pressure of the crane's telescopic cylinder, making the prevention of boom forward displacement simpler and more accurate. It solves the problems of high system complexity and insufficient control precision in existing methods for preventing boom forward displacement, effectively achieving the goal of preventing boom forward displacement during emergency braking.

[0042] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0043] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0044] Figure 1 The illustration shows a flowchart of a method for preventing a crane boom from moving forward according to an embodiment of this application;

[0045] Figure 2 This illustration schematically shows a control principle diagram of a method for preventing the boom of a crane from moving forward according to an embodiment of this application;

[0046] Figure 3 A schematic block diagram of a controller according to an embodiment of this application is shown. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0048] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0049] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0050] Figure 1 The illustration schematically shows a flow diagram of a method for preventing a crane boom from moving forward according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a method for preventing the boom of a crane from moving forward, which may include the following steps:

[0051] Step 101: Obtain the current status data of the crane;

[0052] Step 102: Determine the initial boom drive reaction force based on the state data;

[0053] Step 103: Determine the transfer function based on the state data;

[0054] Step 104: Input the initial boom drive reaction force into the transfer function to obtain the predicted forward displacement;

[0055] Step 105: Obtain the initial tracking error based on the predicted value and the expected value;

[0056] Step 106: Determine the final compensation pressure value based on the initial tracking error;

[0057] Step 107: Correct the pressure of the crane's telescopic cylinder using the final compensation pressure value.

[0058] In this embodiment, the current state data of the crane is first acquired. Since the forward lurch of the crane boom is generally caused by the inertial force generated when the crane body brakes suddenly, the current state data of the crane acquired by the processor mainly consists of data affecting the magnitude of the inertial force, including at least the crane's travel speed, boom mass, body mass, braking time, and rod-side area of ​​the telescopic cylinder. The acquired current state data is substituted into the hydraulic load force balance equation, and the relationship between the inertial force and the boom is derived based on the equation. Furthermore, the inertial force can be calculated from the current state data, and the initial boom driving reaction force can be obtained by substituting the determined inertial force into the relationship between the inertial force and the boom. The boom driving reaction force is a physical quantity that is equal in magnitude and opposite in direction to the boom driving force, representing the tendency to resist the outward extension of the boom. The transfer function of the boom drive reaction force and the boom forward sway can also be determined by the current state data of the crane. Based on the derived relationship between the inertial force and the boom, the transfer function of the boom drive reaction force and the boom forward sway can be derived by Laplace transform.

[0059] After determining the initial boom drive reaction force and transfer function, the initial boom drive reaction force can be input into the transfer function, thereby obtaining the predicted forward displacement at the current moment through the output of the transfer function. Next, the processor obtains the expected value of the forward displacement, and the difference between the predicted forward displacement and the expected forward displacement is calculated to obtain the initial tracking error. The final compensation pressure value can be determined based on the initial tracking error. The compensation pressure refers to the force generated by the hydraulic oil being squeezed in the cylinder and acting on the piston surface; it can be understood as being opposite in direction to the drive reaction force and used to counteract it. Specifically, it is determined whether the initial tracking error meets the preset conditions. If the initial tracking error meets the preset conditions, the compensation pressure value corresponding to the initial tracking error can be determined as the final compensation pressure value; if the initial tracking error does not meet the preset conditions, the initial tracking error can be corrected using a selected control method. If the corrected tracking error meets the preset conditions, the corresponding corrected compensation pressure value is determined as the final compensation pressure value. The selected control method can include, but is not limited to, iterative control and other methods.

[0060] Finally, the pressure value of the crane's telescopic cylinder is corrected based on the final compensation pressure value until it balances with the inertial force generated by the truck crane during emergency braking, thereby preventing the boom from moving forward. This application is mainly based on an electro-hydraulic servo system. Due to its higher timeliness and accuracy, the electro-hydraulic servo system can accurately set the pressure changes in the rod chamber of the telescopic cylinder. Compared with traditional hydraulic control systems, the electro-hydraulic servo system is simpler and more efficient.

[0061] The above technical solution first acquires the current state data of the crane, determines the initial boom drive reaction force and transfer function based on the state data, inputs the initial boom drive reaction force into the transfer function to obtain the predicted forward displacement, then obtains the initial tracking error based on the predicted forward displacement and the expected value, next determines the final compensation pressure value based on the tracking error, and finally corrects the pressure of the crane's telescopic cylinder using the determined final compensation pressure value. This application, by determining the transfer function of the boom drive reaction force and the boom forward displacement, combined with an iterative control method, dynamically corrects the pressure of the crane's telescopic cylinder, making the prevention of boom forward displacement simpler and more accurate. It solves the problems of high system complexity and insufficient control precision in existing methods for preventing boom forward displacement, effectively achieving the goal of preventing boom forward displacement during emergency braking.

[0062] In this embodiment of the application, the method may further include:

[0063] Based on the final compensation pressure value, the nonlinear relationship between the compensation pressure and the speed and mass of the crane is determined.

[0064] Specifically, since the main factors affecting inertial force are the crane's speed and mass, the nonlinear relationship between the crane's speed, mass, and compensation pressure value during operation can be established. Furthermore, under different conditions, the corresponding compensation pressure value can be determined based on this nonlinear relationship using an electro-hydraulic servo system, thereby dynamically adjusting the pressure of the crane's telescopic cylinder to prevent the crane boom from lurching forward. In one example, after determining the final compensation pressure value of the crane's telescopic cylinder, data on the crane's speed and mass under corresponding conditions can be obtained. Then, under the condition that the tracking error meets preset conditions, the nonlinear relationship between the compensation pressure and the crane's speed and mass can be determined by observing the change in compensation pressure with these factors. By determining the nonlinear relationship between the compensation pressure and the crane's speed and mass, the pressure of the crane's telescopic cylinder can be dynamically corrected based on this nonlinear relationship, thereby more effectively and accurately preventing the crane boom from lurching forward.

[0065] In this embodiment of the application, the current status data of the crane may include:

[0066] The crane's travel speed, the crane's boom mass, the crane's body mass, the crane's body braking time, and the area of ​​the rod-side chamber of the crane's telescopic cylinder.

[0067] Specifically, the current state data of the crane acquired by the processor mainly affects the magnitude of the inertial force generated during emergency braking. The data influencing the magnitude of the inertial force primarily includes the crane's travel speed, boom mass, and body mass. Additionally, the crane's braking time also has some impact on the magnitude of the inertial force generated during emergency braking. The rod-side chamber area of ​​the crane's telescopic cylinder is data that affects the compensation pressure value. In one example, the current state data of the crane can be acquired through real-time online acquisition; in another example, it can be acquired through offline acquisition.

[0068] In this embodiment of the application, step 103, determining the transfer function based on the state data, may include:

[0069] Determine the hydraulic load force balance equation based on the state data;

[0070] The relationship between inertial forces and the boom of the crane is determined based on the hydraulic load force balance equation.

[0071] Based on the relationship between inertial force and the boom, the transfer function is determined by Laplace transform.

[0072] Specifically, the hydraulic load force balance equation can be determined by acquiring the current state data of the crane. Based on the hydraulic load force balance equation, the relationship between the inertial force and the crane boom can be further derived, that is, the formula corresponding to the boom drive reaction force and the inertial force can be determined. The formula of the relationship between the inertial force and the boom is further determined by Laplace transformation.

[0073] In this embodiment, the relationship between the inertial force and the boom can satisfy formula (1):

[0074] (1)

[0075] in, F The lifting action is driven by the boom reaction force. m For the weight of the boom, f The coefficient of friction between the arms is . A The area of ​​the rod-side chamber of the telescopic hydraulic cylinder. P To compensate for the pressure in the rod chamber, y This refers to the forward sway of the boom. F The inertial force is the inertial force of the entire vehicle; among which , M For vehicle body mass.

[0076] Specifically, formula (1) can be transformed by Laplace to obtain formula (4);

[0077] (4)

[0078] in, s As a variable, For the input of the transfer function, y(s) For the output of the transfer function, M For vehicle body mass, m For the weight of the boom, f Let be the coefficient of friction between the booms. The transfer function of the boom drive reaction force and the boom forward sway can be obtained by transforming formula (4).

[0079] In this embodiment of the application, the transfer function can satisfy formula (2):

[0080] (2)

[0081] in, s As a variable, y(s) For the output of the transfer function, F(s) For the input of the transfer function, M For vehicle body mass, m For the weight of the boom, f The coefficient of friction between the arms is denoted as .

[0082] In this embodiment of the application, step 106, determining the final compensation pressure value based on the initial tracking error, may include:

[0083] If the initial tracking error meets the preset conditions, the compensation pressure value corresponding to the initial tracking error is determined as the final compensation pressure value.

[0084] If the initial tracking error does not meet the preset conditions, the initial tracking error is input into the iterative controller to determine the final compensation pressure value.

[0085] Specifically, the tracking error is the difference between the predicted forward displacement of the boom and the expected forward displacement. Clearly, when the tracking error is infinitely close to or equal to zero, it can be determined that the predicted forward displacement of the boom is infinitely close to or equal to the expected forward displacement, and the boom can be considered not to have moved forward. In this case, the corresponding compensation pressure value can be obtained and used as the final compensation pressure value. This final compensation pressure value is then used to correct the pressure of the crane's telescopic cylinder, thereby preventing the boom from moving forward. In one example, if the initial tracking error meets the preset conditions, the compensation pressure value corresponding to the initial tracking error can be directly determined as the final compensation pressure value, and the pressure of the crane's telescopic cylinder can be corrected. In another example, if the initial tracking error does not meet the preset conditions, the initial tracking error is input to the iterative controller for iterative calculation until the tracking error corrected by the iterative controller meets the preset conditions.

[0086] In this embodiment of the application, if the initial tracking error does not meet the preset conditions, inputting the initial tracking error into the iterative controller to determine the final compensation pressure value may include:

[0087] The initial tracking error is input into the iterative controller for iterative calculation to obtain the corresponding compensation pressure value;

[0088] The system input is corrected based on the corresponding compensation pressure value to obtain the corrected tracking error;

[0089] If the corrected tracking error meets the preset conditions, the iteration stops, and the corresponding compensation pressure value is determined as the final compensation pressure value.

[0090] Specifically, if the initial tracking error does not meet the preset conditions, the initial tracking error is first input to the iterative controller for iterative calculation. Each iteration outputs a corresponding compensation pressure value. The corresponding compensation pressure value output by the iterative controller is input into the transfer function to correct the system. The corrected boom forward displacement prediction is output through the transfer function. Then, the corrected tracking error is obtained by comparing the corrected boom forward displacement prediction with the expected value of the boom forward displacement. Further, it is determined whether the corrected tracking error meets the preset conditions. If the corrected tracking error meets the preset conditions, the iteration stops, and the corresponding compensation pressure value is determined as the final compensation pressure value. If the corrected tracking error does not meet the preset conditions, the iteration continues until the corrected tracking error meets the preset conditions.

[0091] In this embodiment of the application, the iterative operation satisfies formula (3):

[0092] (3)

[0093] in, t For braking time, k For the first k The next iteration operation. k +1 indicates the first k +1 iteration operation, For the first k The second input, For the compensated first k +1 The second input, e(t) To track errors, This is the proportional control coefficient. The differential control coefficient, This is the integral control coefficient.

[0094] Figure 2This diagram schematically illustrates the control principle of a method for preventing the boom of a crane from moving forward, according to an embodiment of this application. Figure 2 As shown, in one specific embodiment, data is collected using a raw data acquisition device. The collected data is processed, and a digital-to-analog converter (DAC) converts the digital signals into analog signals, which are then used as input to the control system. Based on the load force balance characteristics of the hydraulic system, the transfer function between the boom forward sway and the boom drive reaction force is derived. The desired output value is then set. E(s) According to system output y(s) and expected value E(s) Calculate the tracking error e (s) Tracking error e(s) The feedback is sent to the iterative controller to obtain the compensation pressure value. P(s) By compensating for pressure values P(s) Input to the system U(s) After correction, the final system output is obtained through the iterative control principle described above. y(s) Approximate to expected value E(s) At that time, control is completed.

[0095] Figure 3 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 3 As shown in the figure, this application provides a controller that may include:

[0096] Memory 310 is configured to store instructions; and

[0097] The processor 320 is configured to retrieve instructions from the memory 310 and, when executing the instructions, to implement the aforementioned method for preventing the crane boom from moving forward.

[0098] Specifically, in this embodiment of the application, the processor 320 can be configured to:

[0099] Obtain the current status data of the crane;

[0100] Determine the initial boom drive reaction force based on the state data;

[0101] Determine the transfer function based on the state data;

[0102] The initial boom drive reaction force is input into the transfer function to obtain the predicted forward displacement.

[0103] The initial tracking error is obtained based on the predicted value and the expected value;

[0104] The final compensation pressure value is determined based on the initial tracking error;

[0105] The pressure of the crane's telescopic cylinder is corrected by the final compensation pressure value.

[0106] Furthermore, the processor 320 can also be configured as follows:

[0107] Based on the final compensation pressure value, the nonlinear relationship between the compensation pressure and the speed and mass of the crane is determined.

[0108] Furthermore, the processor 320 can also be configured as follows:

[0109] The crane's current status data includes:

[0110] The crane's travel speed, the crane's boom mass, the crane's body mass, the crane's body braking time, and the area of ​​the rod-side chamber of the crane's telescopic cylinder.

[0111] Furthermore, the processor 320 can also be configured as follows:

[0112] Determining the transfer function based on the state data includes:

[0113] Determine the hydraulic load force balance equation based on the state data;

[0114] The relationship between inertial forces and the boom of the crane is determined based on the hydraulic load force balance equation.

[0115] Based on the relationship between inertial force and the boom, the transfer function is determined by Laplace transform.

[0116] Furthermore, the processor 320 can also be configured as follows:

[0117] The relationship between inertial forces and the boom satisfies formula (1):

[0118] (1)

[0119] in, F The lifting action is driven by the boom reaction force. m For the weight of the boom, f The coefficient of friction between the arms is . A The area of ​​the rod-side chamber of the telescopic hydraulic cylinder. P To compensate for the pressure in the rod chamber, y This refers to the forward sway of the boom. F The inertial force is the inertial force of the entire vehicle; among which , M For vehicle body mass.

[0120] Furthermore, the processor 320 can also be configured as follows:

[0121] The transfer function satisfies formula (2):

[0122] (2)

[0123] in,s As a variable, y(s) For the output of the transfer function, F(s) For the input of the transfer function, M For vehicle body mass, m For the weight of the boom, f The coefficient of friction between the arms is denoted as .

[0124] Furthermore, the processor 320 can also be configured as follows:

[0125] The final compensation pressure value is determined based on the initial tracking error, including:

[0126] If the initial tracking error meets the preset conditions, the compensation pressure value corresponding to the initial tracking error is determined as the final compensation pressure value.

[0127] If the initial tracking error does not meet the preset conditions, the initial tracking error is input into the iterative controller to determine the final compensation pressure value.

[0128] Furthermore, the processor 320 can also be configured as follows:

[0129] If the initial tracking error does not meet the preset conditions, the initial tracking error is input into the iterative controller to determine the final compensation pressure value, including:

[0130] The initial tracking error is input into the iterative controller for iterative calculation to obtain the corresponding compensation pressure value;

[0131] The system input is corrected based on the corresponding compensation pressure value to obtain the corrected tracking error;

[0132] If the corrected tracking error meets the preset conditions, the iteration stops, and the corresponding compensation pressure value is determined as the final compensation pressure value.

[0133] Furthermore, the processor 320 can also be configured as follows:

[0134] Iterative operations satisfy formula (3):

[0135] (3)

[0136] in, t For braking time, k For the first k The next iteration operation. k +1 indicates the first k +1 iteration operation, For the first k The second input, For the compensated first k +1 The second input, e(t) To track errors, This is the proportional control coefficient. The differential control coefficient, This is the integral control coefficient.

[0137] The above technical solution first acquires the current state data of the crane, determines the initial boom drive reaction force and transfer function based on the state data, inputs the initial boom drive reaction force into the transfer function to obtain the predicted forward displacement, then obtains the initial tracking error based on the predicted forward displacement and the expected value, next determines the final compensation pressure value based on the tracking error, and finally corrects the pressure of the crane's telescopic cylinder using the determined final compensation pressure value. This application, by determining the transfer function of the boom drive reaction force and the boom forward displacement, combined with an iterative control method, dynamically corrects the pressure of the crane's telescopic cylinder, making the prevention of boom forward displacement simpler and more accurate. It solves the problems of high system complexity and insufficient control precision in existing methods for preventing boom forward displacement, effectively achieving the goal of preventing boom forward displacement during emergency braking.

[0138] This application also provides a device for preventing the boom of a crane from moving forward, which may include the controller described above.

[0139] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method for preventing a crane boom from moving forward.

[0140] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0141] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0142] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0143] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0144] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0145] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0146] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0147] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0148] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for preventing the boom of a crane from moving forward, characterized in that, include: Obtain the current status data of the crane, which includes the crane's travel speed, boom mass, body mass, braking time, and rod-side chamber area of ​​the telescopic cylinder. Determine the initial boom drive reaction force based on the state data; Determine the transfer function based on the state data; The initial boom drive reaction force is input into the transfer function to obtain the predicted forward displacement. The initial tracking error is obtained based on the predicted value and the expected value; The final compensation pressure value is determined based on the initial tracking error. The pressure of the crane's telescopic cylinder is corrected using the final compensation pressure value; Determining the transfer function based on the state data includes: Determine the hydraulic load force balance equation based on the aforementioned state data; The relationship between the inertial force and the boom of the crane is determined based on the hydraulic load force balance equation. Based on the relationship between the inertial force and the boom, the transfer function is determined by Laplace transform; The relationship between the inertial force and the boom satisfies formula (1): ；（1） in, F The lifting action is driven by the boom reaction force. m For the weight of the boom, f The coefficient of friction between the arms is . A The area of ​​the rod-side chamber of the telescopic hydraulic cylinder. P To compensate for the pressure in the rod chamber, y This refers to the forward sway of the boom. F The inertial force is the inertial force of the entire vehicle; among which , M For vehicle body mass; The transfer function satisfies formula (2): ；（2） in, s As a variable, y(s) The output of the transfer function, F(s) This is the input to the transfer function. M For vehicle body mass, m For the weight of the boom, f The coefficient of friction between the arms is denoted as .

2. The method according to claim 1, characterized in that, Also includes: Based on the final compensation pressure value, a nonlinear relationship between the compensation pressure and the speed and mass of the crane is determined.

3. The method according to claim 1, characterized in that, Determining the final compensation pressure value based on the initial tracking error includes: If the initial tracking error meets a preset condition, the compensation pressure value corresponding to the initial tracking error is determined as the final compensation pressure value, whereby the preset condition is that the initial tracking error is equal to zero. If the initial tracking error does not meet the preset conditions, the initial tracking error is input into the iterative controller to determine the final compensation pressure value.

4. The method according to claim 3, characterized in that, If the initial tracking error does not meet the preset conditions, the initial tracking error is input into the iterative controller to determine the final compensation pressure value, including: The initial tracking error is input into the iterative controller for iterative calculation to obtain the corresponding compensation pressure value; The system input is corrected based on the corresponding compensation pressure value to obtain the corrected tracking error; If the corrected tracking error meets the preset conditions, the iteration stops, and the corresponding compensation pressure value is determined as the final compensation pressure value.

5. The method according to claim 4, characterized in that, The iterative operation satisfies formula (3): ； （3） in, t For braking time, k For the first k The next iteration operation. k +1 indicates the first k +1 iteration operation, For the first k The second input, For the compensated first k +1 The second input, e(t) To track errors, This is the proportional control coefficient. The differential control coefficient, This is the integral control coefficient.

6. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for preventing the crane boom from moving forward according to any one of claims 1 to 5.

7. A device for preventing the boom of a crane from moving forward, characterized in that, Includes the controller as described in claim 6.

8. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method for preventing the crane boom from moving forward according to any one of claims 1 to 5.

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