Speed regulation method and device for winch of single-cylinder plug-in type and working machine

Abstract

The application relates to the technical field of hoisting machinery, in particular to a hoist speed regulation method and device for a single-cylinder bolt machine and a working machine. The method comprises the following steps: obtaining the length change amount of a hoisting arm in the Kth period and the cylinder length percentage of the hoisting arm in the Kth period; K is a positive integer; determining the winding and unwinding length of the hoisting rope in the K+1th period according to the length change amount and the cylinder length percentage of the hoisting arm in the Kth period; and adjusting the hoisting rotating speed of the winding drum according to the length of the K+1th period and the winding and unwinding length of the hoisting rope in the K+1th period. In this way, the cylinder length percentage is considered in the regulation process, the cylinder length percentage can reflect whether the single-cylinder bolt machine type crane has searched for the arm position, and whether the single-cylinder bolt machine type crane has searched for the arm position is considered when the hoisting rotating speed of the winding drum is adjusted, so that the hoisting rope can follow the searching process of the arm position, the winding and unwinding adjustment is performed for multiple times, and the error accumulation is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hoisting machinery, and particularly relates to a hoist speed regulation method and device for a single-cylinder bolt machine and a working machine. BACKGROUND

[0002] In the process of telescoping of a hoist boom of a single-cylinder bolt machine, the hoist rope needs to be wound or unwound to ensure that a hook arranged on the hoist rope can move along with the end of the hoist boom. However, the single-cylinder bolt machine may be telescoped back and forth multiple times when the single-cylinder bolt is searching for an arm position, and the hoist rope is wound or unwound multiple times to follow the telescoping, which increases the cumulative error. When the cumulative error is too large, the hook is likely to hit the hoist boom or fall to the ground, affecting the normal operation of the hoist. SUMMARY

[0003] Therefore, to solve the above technical problems, the embodiments of the present application provide a hoist speed regulation method and device for a single-cylinder bolt machine and a working machine to improve the accuracy of the winding length or unwinding length of the hoist rope, so that the hook can move along with the end of the hoist boom, and the working efficiency of the hoist is improved.

[0004] According to a first aspect of the embodiments of the present application, a hoist speed regulation method for a single-cylinder bolt machine is provided, comprising:

[0005] obtaining a length change amount of the hoist boom in a Kth period and a cylinder length percentage of the hoist boom in the Kth period; wherein K is a positive integer;

[0006] determining a winding and unwinding length of the hoist rope in a K+1th period according to the length change amount of the hoist boom in the Kth period and the cylinder length percentage;

[0007] adjusting a hoist rotation speed of a drum according to a time length of the K+1th period and the winding and unwinding length of the hoist rope in the K+1th period.

[0008] In one embodiment, the determination of the winding and unwinding length of the hoist rope in the K+1th period according to the length change amount of the hoist boom in the Kth period and the cylinder length percentage comprises:

[0009] if the cylinder length percentage is in a preset range, the winding and unwinding length in the K+1th period is determined to be 0;

[0010] if the cylinder length percentage is not in the preset range, the winding and unwinding length in the K+1th period is determined based on the length change amount of the hoist boom in the Kth period;

[0011] wherein the preset range is set as a change range of the hoist boom cylinder length percentage when the hoist boom performs the operation of searching for an arm position.

[0012] In one embodiment, the length of the hoist rope in the K+1 period is determined based on the length variation of the hoist arm in the K period, comprising:

[0013] When the absolute value of the length variation of the hoist arm in the K period is greater than a preset value, the length variation of the hoist arm in the K period is determined as the length of the hoist rope in the K+1 period;

[0014] When the absolute value of the length variation of the hoist arm in the K period is not greater than a preset value, the duration of the absolute value of the length variation being not greater than the preset value is determined, if the duration exceeds a preset value, the length of the hoist rope in the K+1 period is determined as 0, otherwise, the length of the hoist rope in the K period is determined as the length of the hoist rope in the K+1 period.

[0015] In one embodiment, the hoist speed of the drum is adjusted according to the length of the hoist rope in the K+1 period and the length of the hoist rope in the K+1 period, comprising:

[0016] The target hoist speed is determined according to the length of the hoist rope in the K+1 period and the length of the hoist rope in the K+1 period;

[0017] The current hoist speed is determined;

[0018] The current hoist speed is adjusted to the target hoist speed.

[0019] In one embodiment, the current hoist speed is determined, comprising:

[0020] The action switching instruction of the working machine and the preset current hoist speed collected by the speed collection device are obtained.

[0021] When the action switching instruction is single-action to composite-action switching, the product of the current hoist speed and a preset parameter is determined as the current hoist speed.

[0022] In one embodiment, the current hoist speed is adjusted to the target hoist speed, comprising:

[0023] The difference between the target hoist speed and the current hoist speed is calculated;

[0024] Based on the difference, the proportional, integral and differential elements are comprehensively adjusted to obtain a control current;

[0025] Based on the control current, the current of the drum is adjusted to adjust the current hoist speed to the target hoist speed.

[0026] In one embodiment, the adjusting the current of the drum based on the control current comprises:

[0027] determining whether the control current is out of a preset safety range.

[0028] if the control current is not out of the preset safety range, adjusting the current of the drum to the control current.

[0029] if the control current is out of the preset safety range, adjusting the current of the drum to a maximum positive safety current or a maximum negative safety current based on a direction of the control current.

[0030] In one embodiment, the adjusting the hoisting speed of the drum according to the length of the K+1 period and the length of the hoisting rope in the K+1 period comprises:

[0031] when the length of the hoisting rope in the K+1 period is 0, controlling the drum to stop.

[0032] According to a second aspect of the embodiments of the present application, a hoisting speed adjusting device of a single-cylinder latch type is provided, comprising:

[0033] an obtaining module, configured to obtain a length change amount of a lifting arm in a K period and a cylinder length percentage of the lifting arm in the K period;

[0034] a determining module, configured to determine a length of a hoisting rope in a K+1 period according to the length change amount of the lifting arm in the K period and the cylinder length percentage;

[0035] an adjusting module, configured to adjust a hoisting speed of a drum according to a length of the K+1 period and the length of the hoisting rope in the K+1 period.

[0036] According to a third aspect of the embodiments of the present application, an electronic device is provided, comprising:

[0037] a processor;

[0038] a memory for storing instructions executable by the processor;

[0039] the processor is configured to execute the hoisting speed adjusting method of the single-cylinder latch type.

[0040] According to a fourth aspect of the embodiments of the present application, a working machine of a single-cylinder latch type is provided, comprising:

[0041] a machine body;

[0042] a telescopic lifting arm connected to the machine body;

[0043] a drum connected to the machine body;

[0044] a hoisting rope wound around the winding drum and extending along a length direction of the winding drum;

[0045] a hook provided on the hoisting rope; and

[0046] an electronic device provided on the machine body, the electronic device being configured to implement the hoisting speed regulation method of the single-cylinder latch machine type.

[0047] The hoisting speed regulation method of the single-cylinder latch machine type provided by the embodiment of the present application first acquires a length change amount of the jib in the Kth cycle and a cylinder length percentage of the jib in the Kth cycle, obtains a winding and unwinding length of the hoisting rope in the K+1th cycle according to the length change amount of the jib in the Kth cycle and the cylinder length percentage, and adjusts a hoisting rotating speed of the winding drum according to a time length of the K+1th cycle and the winding and unwinding length of the hoisting rope in the K+1th cycle. In this way, in the process of regulation and control, the cylinder length percentage is considered, the cylinder length percentage can reflect whether the single-cylinder latch machine type crane has performed a search for the jib position, in the adjustment of the hoisting rotating speed of the winding drum, whether the single-cylinder latch machine type crane has performed a search for the jib position is considered, to avoid the hoisting rope following the search for the jib position to perform multiple winding or unwinding regulation, reduce the accumulation of errors, improve the accuracy of the winding length or unwinding length of the hoisting rope, so that the hook can synchronously follow the movement of the end of the jib, and improve the operation efficiency of the crane. BRIEF DESCRIPTION OF DRAWINGS

[0048] The above and other objects, features and advantages of the present application will become more apparent from the following detailed description of embodiments of the present application taken in conjunction with the accompanying drawings. The accompanying drawings are provided to aid in the understanding of the present application and constitute a part of the specification, together with the detailed description, to explain the present application. The drawings are not intended to limit the present application, and are provided for the purpose of explanation only. In the drawings, like reference numerals refer to like parts or steps throughout the several views.

[0049] Figure 1 Fig. 1 shows a flowchart of a hoisting speed regulation method of a single-cylinder latch machine type provided by an embodiment of the present application.

[0050] Figure 2 Fig. 2 shows a flowchart of a hoisting speed regulation method of a single-cylinder latch machine type provided by an embodiment of the present application.

[0051] Figure 3 Fig. 3 shows a partial flowchart of a hoisting speed regulation method of a single-cylinder latch machine type provided by an embodiment of the present application.

[0052] Figure 4 Fig. 4 shows a partial flowchart of a hoisting speed regulation method of a single-cylinder latch machine type provided by an embodiment of the present application.

[0053] Figure 5 Fig. 1 shows a flowchart of a hoist speed regulation method according to an embodiment of the present application.

[0054] Figure 6 Fig. 1 shows a flowchart of a hoist speed regulation method according to an embodiment of the present application.

[0055] Figure 7 Fig. 2 shows a block diagram of a hoist speed regulation device according to an embodiment of the present application.

[0056] Figure 8 Fig. 3 shows a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0058] Summary of the application

[0059] In the process of telescoping the hoisting arm of the single-cylinder bolt machine type crane, the hoisting rope needs to be reeled in or let out to ensure that the hook arranged on the hoisting rope can move along with the end of the hoisting arm. However, the single-cylinder bolt machine type may be telescoped back and forth multiple times when searching for the arm position, and the hoisting rope is adjusted by being reeled in or let out multiple times to follow it, which increases the cumulative error. When the cumulative error is too large, the hook is easy to hit against the hoisting arm or fall to the ground, which affects the normal operation of the crane.

[0060] To solve the above problems, the cylinder length percentage is introduced into the control strategy in the embodiments of the present application, and whether the single-cylinder bolt machine type crane searches for the arm position is determined based on the cylinder length percentage. When the single-cylinder bolt machine type crane searches for the arm position, the hoisting rope is not followed, so that the hoisting rope is not adjusted by being reeled in or let out multiple times to follow the process of searching for the arm position, the accumulation of errors is reduced, the accuracy of the reeling-in length or the letting-out length of the hoisting rope is improved, so that the hook can move along with the end of the hoisting arm, and the operation efficiency of the crane is improved.

[0061] After introducing the basic principle of the present application, various non-limiting embodiments of the present application will be specifically introduced with reference to the drawings.

[0062] Exemplary method

[0063] Figure 1is a flowchart of a single-cylinder bolt type winch speed regulation method provided by an embodiment of the present application, which includes the following steps:

[0064] In S110, the length change amount of the hoist arm in the Kth period and the cylinder length percentage of the hoist arm in the Kth period are obtained. K is a positive integer.

[0065] It should be noted that in the scheme provided by the embodiments of the present application, the control of the hoist rope is one period behind the hoist arm. That is, based on the change of the hoist arm in the last period, the control of the hoist rope in the next period is determined.

[0066] It should be understood that the length change amount of the hoist arm in the Kth period can include the lengthening amount of the hoist arm in the Kth period or the shortening amount of the hoist arm in the Kth period. Further, a length sensor can be provided on the hoist arm to detect the length change amount of the hoist arm in the first period. In an embodiment, the lengthening or shortening of the hoist arm can be represented by the positive or negative of the length change amount. The cylinder length percentage of the hoist arm in the Kth period is the percentage of the cylinder extension and contraction of the hoist arm. During the extension and contraction of the crane, the control device inside the crane can determine the cylinder length percentage of the hoist arm, so the cylinder length percentage of the hoist arm can be directly obtained by the controller inside the crane.

[0067] The length of one period can be selected as 1000ms, 1500ms, 800ms, etc.

[0068] In S120, the length of the hoist rope in the K+1th period is determined according to the length change amount and the cylinder length percentage of the hoist arm in the Kth period.

[0069] The length of the hoist rope in the K+1th period refers to the length of the hoist rope that needs to be adjusted in the K+1th period. In the scheme provided by the embodiments of the present application, the length of the current period is determined based on the change of the hoist arm in the last period. Further, the hoist rope is wound on the drum, the end of the hoist rope is provided with a hook, and the drum can drive the hoist rope to be wound or unwound during the forward rotation or reverse rotation, thereby driving the hook to move. Therefore, the length change amount of the last period needs to be considered when the length is adjusted, and further, considering that the single-cylinder bolt may be extended and contracted back and forth several times when searching for the arm position, the hoist rope may be frequently wound and unwound. If the hoist rope is always followed, the error will be accumulated several times, and at this time the hoist rope does not need to follow. Based on this, the cylinder length percentage reflecting whether the hoist arm is searching for the arm position is considered when determining the length. In this way, the length of the hoist rope in the K+1th period can be more accurately determined.

[0070] In S130, the rotation speed of the drum is adjusted according to the length of the K+1th period and the length of the hoist rope in the K+1th period.

[0071] The scheme provided by the embodiments of the present application considers the cylinder length percentage in the process of regulation. The cylinder length percentage can reflect whether the single-cylinder drawbar-type crane has performed the search for the arm position. When adjusting the hoisting rope speed of the drum, whether the single-cylinder drawbar-type crane has performed the search for the arm position is considered to avoid the process of the hoisting rope following the search for the arm position, to perform multiple adjustment of the winding or unwinding of the hoisting rope, to reduce the accumulation of errors, to improve the accuracy of the winding length or unwinding length of the hoisting rope, and to enable the hook to synchronously follow the movement of the end of the hoist arm, thereby improving the operation efficiency of the crane.

[0072] In one embodiment, the step S120 of “determining the winding or unwinding length of the hoisting rope in the K+1 period according to the length change amount of the hoist arm in the K period and the cylinder length percentage” comprises:

[0073] If the cylinder length percentage is in the preset range, the winding or unwinding length in the K+1 period is determined to be 0. If the cylinder length percentage is not in the preset range, the winding or unwinding length in the K+1 period is determined based on the length change amount of the hoist arm in the K period.

[0074] It should be noted that the preset range is set as “the change range of the cylinder length percentage of the hoist arm when the hoist arm performs the operation of searching for the arm position”. The change range of the cylinder length percentage of the hoist arm when the hoist arm performs the operation of searching for the arm position generally falls into (0%-1%)∪(99%-100%). Based on this, the preset range can be set as (0%-1%)∪(99%-100%). In this way, if the cylinder length percentage is in the preset range, it is considered that the hoist arm is searching for the arm position at this time, and the hoisting rope does not need to follow. Therefore, the winding or unwinding length in the K+1 period is determined to be 0.

[0075] In one embodiment, if the cylinder length percentage is not in the preset range, the length change amount of the hoist arm in the K period can be taken as the winding or unwinding length in the K+1 period, so that the hoisting rope changes with the arm length of the hoist arm.

[0076] In one embodiment, if the cylinder length percentage is not in the preset range, when the absolute value of the length change amount of the hoist arm in the K period is greater than a preset value, the length change amount of the hoist arm in the K period is taken as the winding or unwinding length in the K+1 period. When the absolute value of the length change amount of the hoist arm in the K period is not greater than the preset value, the duration for which the absolute value of the length change amount is not greater than the preset value is determined. If the duration exceeds the preset value, the winding or unwinding length in the K+1 period is determined to be 0. Otherwise, the winding or unwinding length in the K period is determined as the winding or unwinding length in the K+1 period.

[0077] It should be noted that after the working machine stops running, the machine may vibrate to some extent, in order to avoid the cumulative error caused by the adjustment of the hoisting rope with the swing of the boom, based on the characteristics that the vibration amplitude of the working machine is small, when the length change of the boom in the Kth cycle is less than the preset value, it is considered that the boom has stopped moving, and the length change is 0 at this time. In actual application, if the boom stops suddenly and needs to work immediately afterwards, the length of the winding and unwinding may be 0 in the current cycle, not 0 in the next cycle, and 0 in the next cycle. In this case, the reel may be frequently started and stopped; in the scheme provided in this embodiment, when the length of the winding and unwinding in the current cycle is suddenly 0, the length of the winding and unwinding in the last cycle is inherited, until a preset time, and it is determined that the actual state of the boom is stopped. At this time, it can be determined that the length of the winding and unwinding in this cycle is 0, and the winding speed of the reel is controlled to be 0.

[0078] It should be noted that the purpose of "adjusting the winding speed of the reel according to the length of the K+1th cycle and the winding and unwinding length of the hoisting rope in the K+1th cycle" is to make the change amount of the hoisting rope in the K+1th cycle the same as the change amount of the boom in the Kth cycle. On the basis of meeting this purpose, various strategies can be used to adjust the winding speed.

[0079] In one embodiment, referring to Figure 2 "Adjusting the winding speed of the reel according to the length of the K+1th cycle and the winding and unwinding length of the hoisting rope in the K+1th cycle" specifically includes:

[0080] S210, determining the target winding speed according to the length of the K+1th cycle and the winding and unwinding length of the hoisting rope in the K+1th cycle.

[0081] It should be noted that the target winding speed is the estimated "winding speed of the reel in the case of uniform speed in the cycle, which can make the change amount of the hoisting rope in the current cycle the same as the change amount of the boom in the last cycle".

[0082] Referring to Figure 3 , the specific calculation method can include:

[0083] S211: Obtain the single-turn circumference of the hoisting rope wound on the outermost layer of the reel.

[0084] Specifically, the reel is wound with multiple layers of hoisting ropes, and each layer of hoisting rope can be wound multiple turns along the radial direction of the reel. The length of the hoisting rope released by each rotation of the reel can be understood as the single-turn circumference of the hoisting rope. It should be understood that the single-turn circumferences of the hoisting ropes in different layers are different, and the single-turn circumferences of the hoisting ropes in the same layer are the same. In actual application, for convenience of calculation, the number of turns of each layer of hoisting rope wound along the radial direction of the reel is generally the same.

[0085] In an embodiment, after the hoisting rope is wound on the winding drum, a winding drum winding model can be established according to the number of layers of the hoisting rope wound on the winding drum and the single turn length of the hoisting rope corresponding to each layer, and then a remaining hoisting rope layer number detection sensor is arranged on the winding drum, so that when the remaining hoisting rope layer number detection sensor detects the number of layers of the hoisting rope remaining on the winding drum, the single turn length of the hoisting rope wound on the outermost layer of the winding drum can be obtained according to the pre-established winding drum winding model.

[0086] S212: obtaining the target rotating speed of the winding drum according to the length of the K+1 period, the length of the hoisting rope wound on the winding drum, and the single turn length of the hoisting rope wound on the outermost layer of the winding drum.

[0087] It should be understood that the single turn length of the hoisting rope wound on the outermost layer of the winding drum also affects the value of the target rotating speed of the winding drum, and in the case that the length of the hoisting rope wound on the winding drum in the second period is known, the single turn length of the hoisting rope wound on the outermost layer of the winding drum also needs to be determined to finally determine the target rotating speed of the winding drum.

[0088] Specifically, V = ΔL ÷ Ld ÷ T; wherein V represents the target rotating speed of the winding drum; ΔL represents the length of the hoisting rope wound on the winding drum; Ld represents the single turn length of the hoisting rope wound on the outermost layer of the winding drum; and T represents the length of the second period. It should be understood that the number of turns that the winding drum needs to rotate is calculated by ΔL ÷ Ld, and then the value calculated by ΔL ÷ Ld is divided by T to obtain the number of turns that the winding drum rotates per unit time, i.e. the target rotating speed of the winding drum in the second period.

[0089] S220, determining the current hoisting rotating speed;

[0090] In an embodiment, the method of determining the current hoisting rotating speed can be that the rotating speed of the winding drum is directly obtained by the rotating speed detection device as the current hoisting rotating speed.

[0091] S230, adjusting the current hoisting rotating speed to the target hoisting rotating speed by PID adjustment.

[0092] The PID adjustment is thus arranged to make the adjustment process smoother, so that when the difference between the current hoisting rotating speed and the target hoisting rotating speed is large, the hoisting rotating speed can quickly approach the target hoisting rotating speed, and when the difference between the current hoisting rotating speed and the target hoisting rotating speed is small, the hoisting rotating speed can slowly approach the target hoisting rotating speed. The control of the rotating speed based on the PID adjustment makes the switching between the rotating speeds smoother and avoids the phenomenon of rotating speed jump.

[0093] Specifically, referring to Figure 4 , step S230 comprises:

[0094] S231, calculate the difference between the target winch speed and the current winch speed;

[0095] It should be noted that in the process of PID adjustment, the difference between the controlled variable and the target value is calculated, and the adjustment is based on the difference, which is a prior art, and will not be described again.

[0096] S232, based on the difference, proportional, integral and differential elements are comprehensively adjusted to obtain the control current;

[0097] It should be noted that in the PID control, the proportional element can refer to the proportional control part, which is the simplest control method. The output of the controller is proportional to the input error signal. That is: the input error signal (i.e. the greater the difference, the greater the output, i.e. the faster the adjustment speed). In the integral element (i.e. integral control), the output of the controller is proportional to the integral of the input error signal. For an automatic control system, if there is a steady-state error after entering the steady state, the control system is called a system with steady-state error or simply a system with error. In order to eliminate the steady-state error, the "integral term" must be introduced into the controller. The integral term depends on the integral of the error with respect to time, and as time increases, the integral term will increase. Thus, even if the error is small, the integral term will increase with time, which will increase the output of the controller to further reduce the steady-state error to near zero. Therefore, the proportional plus integral (PI) controller can make the system almost have no steady-state error after entering the steady state. In the differential element (i.e. differential control), the output of the controller is proportional to the differential of the input error signal (i.e. the rate of change of error). The automatic control system may oscillate or even lose stability in the process of adjusting the error. The reason is that there are large inertia components (links) or delay components, which have the effect of suppressing error, and their changes always lag behind the changes of error. The solution is to make the change of the error suppression effect "ahead of time", i.e. when the error is close to zero, the error suppression effect should be zero. That is to say, introducing only the "proportional" term in the controller is often not enough, the role of the proportional term is only to amplify the error amplitude, and what needs to be added is the "derivative term", which can predict the trend of error change. In this way, the proportional plus differential (PD) controller can make the control effect of suppressing error equal to zero or even negative in advance, thereby avoiding serious overshoot of the controlled variable. Therefore, for the controlled object with large inertia or delay, the proportional plus differential (PD) controller can improve the dynamic characteristics of the system in the adjustment process.

[0098] Specifically, the formula is as follows:

[0099]

[0100] Kp*Verr is the proportional adjustment part, is the integral adjustment part; Kp*(Verr-Verr0) is the differential adjustment part; Verr is the difference between the target winch rotation speed and the current winch rotation speed. Verr0 is the difference at the beginning of the current period.

[0101] PID.out can be directly used as the control current I. However, in actual applications, the winch motor only moves when the current reaches a preset current A. Therefore, in order to facilitate calculation and adjustment, the following can be done:

[0102] I = PID.out + A

[0103] Specifically, in actual situations, the winch motor only moves when the control current reaches 370ma, so A can be set to 370ma. It should be noted that 370ma is only a value set by the inventor based on one actual application scenario. In actual applications, different values should be set based on different application scenarios.

[0104] In the scheme provided by the embodiments of the present application, the proportional + integral + differential (PID) control strategy is used for adjustment, and the output is used for a control signal, and then the control signal is converted into a control current. It should be noted that for the PID control strategy, the control current is used as the output, and the current winch rotation speed is used as the controlled variable.

[0105] S233, based on the control current, adjusting the current of the drum to adjust the current winch rotation speed to the target winch rotation speed.

[0106] In this way, the current of the drum can be adjusted based on the PID control logic to quickly, accurately and smoothly adjust the current winch rotation speed to the target winch rotation speed.

[0107] It should be noted that in actual applications, if the difference is too large, the control current output in step S233 may exceed the preset safety range. At this time, if the control is still performed according to the output control current, it may cause the motor to burn out and other dangers. In order to avoid this situation, the scheme provided by the embodiments of the present application refers to Figure 5 , step S233 includes:

[0108] S2331, determining whether the control current exceeds the preset safety range;

[0109] S2332, if the control current does not exceed the preset safety range, adjusting the current of the drum to the control current.

[0110] It should be noted that in actual application, with the extension and retraction of the boom, the arm length change amount ΔL is a value with "+" "-" symbol, that is, ΔL is positive, indicating the extension distance of the boom; ΔL is negative, indicating the retraction distance of the boom. Correspondingly, the length of the winch rope is positive, indicating the length of the winch rope to be paid out; the length of the winch rope is negative, indicating the length of the winch rope to be retracted. Correspondingly, the target winch speed is positive, indicating the direction of the drum rotation when paying out the winch rope; the target winch speed is negative, indicating the direction of the drum rotation when retracting the winch rope. Further, the control current is positive, indicating the direction of the current, that is, the direction of the current when the motor controls the drum to rotate to pay out the winch rope; the control current is negative, indicating the direction of the current, that is, the direction of the current when the motor controls the drum to rotate to retract the winch rope.

[0111] In one embodiment, the preset safety range is determined based on the drum, which refers to the range of the power supply current of the drum motor under the condition of ensuring the safe operation of the drum.

[0112] S2333, if the control current exceeds the preset safety range, adjust the current of the drum to the maximum positive safety current or the maximum negative safety current based on the direction of the control current.

[0113] It should be noted that the preset safety range is generally (a, b), where a is negative, which is the maximum negative safety current; b is positive, which is the maximum positive safety current. When the control current exceeds the preset safety range, if the control current is positive, that is, the control current is in the positive direction, adjust the current of the drum to the maximum positive safety current; if the control current is negative, that is, the control current is in the negative direction, adjust the current of the drum to the maximum negative safety current.

[0114] In one embodiment, when the length of the winch rope in the K+1 period is 0, the drum is controlled to stop rotating. In this way, the speed of the drum can quickly reach the target speed.

[0115] In actual application, when the hoisting machinery switches from single action to composite action (arm extension -> arm extension + winch), the winch speed will have a short-term acceleration due to the characteristics of the load-sensitive plunger pump itself, and then return to normal. This acceleration cannot be eliminated but will affect the speed regulation. Based on this, the "current winch speed" can be processed in advance, that is, during the execution of step S220, the "winch speed affected by the switching of the hoisting machinery from single action to composite action" is not collected. The winch speed is processed, and the processed winch speed is collected. Referring to Figure 6 , the specific processing method includes:

[0116] S221, obtaining the action switching instruction of the working machine and the preset current winch speed collected by the speed collection device.

[0117] It should be noted that the action switching instruction of the working machine can be obtained by the central control of the hoisting machine.

[0118] S222, when the action switching instruction is single action to composite action switching, the product of the current winch speed and the preset parameter is taken as the current winch speed.

[0119] In this way, after obtaining the current winch speed, the burr part (i.e. the temporary speed-up of the winch speed caused by the switching of the hoisting machine from single action to composite action) is processed to eliminate the burr.

[0120] Specifically, the preset parameter can be but not limited to 0.5, and in actual application, the preset parameter can be adjusted and set based on the actual working condition of the hoisting machine. In this way, the burr part of the current winch speed can be at least eliminated to a certain extent, so that the regulated winch speed is smoother.

[0121] Exemplary apparatus

[0122] The device embodiment of the present application can be used to execute the method embodiment of the present application. For details not disclosed in the device embodiment of the present application, please refer to the method embodiment of the present application.

[0123] Figure 7 Fig. 1 shows a block diagram of a winch speed regulating device of a single-cylinder bolt machine type provided by an embodiment of the present application. As shown in Figure 7 The device comprises:

[0124] The acquisition module 71 is configured to acquire the length change amount of the hoisting arm in the Kth period and the cylinder length percentage of the hoisting arm in the Kth period.

[0125] The determination module 72 is configured to determine the length of the winch rope in the K+1th period according to the length change amount and the cylinder length percentage of the hoisting arm in the Kth period.

[0126] The adjustment module 73 is configured to adjust the winch speed of the winch drum according to the length of the winch rope in the K+1th period and the length of the winch rope in the K+1th period.

[0127] In an embodiment, the determination module 72 is specifically configured to:

[0128] If the cylinder length percentage is in the preset range, the length of the winch rope in the K+1th period is determined to be 0.

[0129] If the cylinder length percentage is not in the preset range, the length change amount of the hoisting arm in the Kth period is taken as the length of the winch rope in the K+1th period.

[0130] The preset range is set as a range of percentage change of the length of the crane arm cylinder when the crane arm performs the operation of searching for the arm position.

[0131] In one embodiment, the adjusting module 73 is specifically configured to:

[0132] According to the length of the K+1 period and the length of the hoisting rope in the K+1 period, the hoisting speed of the drum is adjusted, including:

[0133] According to the length of the K+1 period and the length of the hoisting rope in the K+1 period, the target hoisting speed is determined;

[0134] The current hoisting speed is determined;

[0135] The current hoisting speed is adjusted to the target hoisting speed through PID adjustment.

[0136] In one embodiment, the specific process of the adjusting module 72 to determine the current hoisting speed includes:

[0137] The action switching instruction of the working machine and the preset current hoisting speed collected by the speed collection device are obtained;

[0138] When the action switching instruction is single action to composite action switching, the product of the current hoisting speed and the preset parameter is taken as the current hoisting speed.

[0139] In one embodiment, the specific process of the adjusting module 72 to perform “adjust the current hoisting speed to the target hoisting speed through PID adjustment” includes:

[0140] The difference between the target hoisting speed and the current hoisting speed is calculated;

[0141] Based on the difference, the proportional link, integral link and differential link are comprehensively adjusted to obtain a control current;

[0142] Based on the control current, the current of the drum is adjusted to adjust the current hoisting speed to the target hoisting speed.

[0143] In one embodiment, the specific process of the adjusting module 72 to perform “adjust the current of the drum based on the control current” includes:

[0144] It is determined whether the control current exceeds a preset safety range;

[0145] If the control current does not exceed the preset safety range, the current of the drum is adjusted to the control current;

[0146] If the control current exceeds the preset safety range, the current of the drum is adjusted to the maximum positive safety current or the maximum negative safety current based on the direction of the control current.

[0147] In one embodiment, the adjusting module is further configured to:

[0148] When the length of the winch rope in the K+1 period is 0, the rotation of the drum is stopped.

[0149] Exemplary electronic device

[0150] Referring to Figure 8 , Figure 8 The structural block diagram of the electronic device provided by the embodiment of the application is shown in Figure 8 As shown in the figure, the electronic device can include at least one processor 810, at least one communication interface 820, at least one memory 830, and at least one communication bus 840.

[0151] In the embodiment of the application, the number of the processor 810, the communication interface 820, the memory 830, and the communication bus 840 is at least one, and the processor 810, the communication interface 820, and the memory 830 complete communication with each other through the communication bus 840. Obviously, Figure 8 The communication connection shown in the processor 810, the communication interface 820, the memory 830, and the communication bus 840 is only optional.

[0152] The processor 810 can be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiment of the application.

[0153] The memory 830 stores an application program, which can include a high-speed RAM memory and can also include a non-volatile memory such as at least one disk memory.

[0154] The processor 810 is specifically configured to execute the application program in the memory to implement any one of the above-mentioned embodiments of the winch speed regulation method of the single-cylinder latch type.

[0155] Exemplary single-cylinder latch type working machine

[0156] The embodiment of the application also provides a single-cylinder latch type working machine, which includes:

[0157] A machine body;

[0158] A telescopic lifting arm connected to the machine body;

[0159] A drum connected to the machine body;

[0160] A winch rope wound around the drum and extending along the length direction of the drum;

[0161] a hook provided on the hoisting rope; and

[0162] an electronic device provided on the machine body, the electronic device being configured to perform any one of the exemplary hoist speed regulation methods for single-cylinder drawbar machines described above.

[0163] In this way, during the regulation, the cylinder length percentage is taken into account, which can reflect whether the crane of the single-cylinder drawbar machine is in the process of searching for the arm position. When adjusting the hoist speed of the drum, whether the crane of the single-cylinder drawbar machine is in the process of searching for the arm position is considered to avoid the hoisting rope following the process of searching for the arm position, to reduce the accumulation of errors, to improve the accuracy of the length of the hoisting rope, and to make the hook can follow the movement of the end of the crane, thereby improving the operation efficiency of the crane.

[0164] Exemplary computer program product and computer readable storage medium

[0165] In addition to the above method and device, an embodiment of the present application can also be a computer program product, which includes computer program instructions that, when executed by a processor, cause the processor to perform the steps in the hoist speed regulation method for single-cylinder drawbar machines according to various embodiments of the present application described in the above "Exemplary Methods" section of the present specification.

[0166] The computer program product can be written in any combination of one or more programming languages, including an object-oriented programming language, such as Java, C++, and the like, and conventional procedural programming languages, such as the "C" programming language, or the like. The program code can execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

[0167] In addition, an embodiment of the present application can also be a computer readable storage medium, which stores computer program instructions, the computer program instructions, when executed by a processor, cause the processor to perform the steps in the hoist speed regulation method for single-cylinder drawbar machines according to various embodiments of the present application described in the above "Exemplary Methods" section of the present specification.

[0168] A computer readable storage medium can be any combination of one or more of the following: a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of readable storage media include an electrical connection having one or more wires, a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0169] The foregoing description has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the embodiments to the precise form disclosed. Although several example aspects and embodiments have been discussed, other modifications, variations, alternatives, additions, and sub-combinations from those disclosed can be employed.

Claims

1. A hoist speed control method of a single-cylinder bolt type, characterized by, The method comprises: obtaining a length change amount of the hoist arm in the Kth cycle and a cylinder length percentage of the hoist arm in the Kth cycle; wherein K is a positive integer; determining a length of the hoist rope in the K+1th cycle according to the length change amount of the hoist arm in the Kth cycle and the cylinder length percentage; if the cylinder length percentage is not in a preset range, determining the length in the K+1th cycle based on the length change amount of the hoist arm in the Kth cycle; wherein the preset range is set as a change range of the hoist arm cylinder length percentage when the hoist arm performs an operation of searching for an arm position; the determination of the length in the K+1th cycle based on the length change amount of the hoist arm in the Kth cycle comprises: when the absolute value of the length change amount of the hoist arm in the Kth cycle is greater than a preset value, taking the length change amount of the hoist arm in the Kth cycle as the length in the K+1th cycle; when the absolute value of the length change amount of the hoist arm in the Kth cycle is not greater than the preset value, determining a duration that the absolute value of the length change amount is not greater than the preset value, if the duration exceeds a preset value, determining the length in the K+1th cycle as 0, otherwise, taking the length in the Kth cycle as the length in the K+1th cycle; adjusting the hoist rotation speed of the drum according to the length of the hoist rope in the K+1th cycle and the duration of the K+1th cycle.

2. The method of claim 1, wherein, the determination of the length in the K+1th cycle according to the length change amount of the hoist arm in the Kth cycle and the cylinder length percentage comprises: if the cylinder length percentage is in the preset range, determining the length in the K+1th cycle as 0.

3. The method of claim 1, wherein, the adjustment of the hoist rotation speed of the drum according to the length of the hoist rope in the K+1th cycle and the duration of the K+1th cycle comprises: determining a target hoist rotation speed according to the length of the hoist rope in the K+1th cycle and the duration of the K+1th cycle; determining a current hoist rotation speed and adjusting the current hoist rotation speed to the target hoist rotation speed.

4. The method of claim 3, wherein, the determination of the current hoist rotation speed comprises: obtaining an action switching instruction of the working machine and a current hoist rotation speed collected by a preset rotation speed collection device; when the action switching instruction is a single-action-to-composite-action switching, taking a product of the current hoist rotation speed and a preset parameter as the current hoist rotation speed.

5. The method of claim 3, wherein, the adjustment of the current hoist rotation speed to the target hoist rotation speed comprises: calculating a difference between the target hoist rotation speed and the current hoist rotation speed; based on the difference, performing proportional, integral and differential comprehensive adjustment to obtain a control current; based on the control current, adjusting the current of the drum to adjust the current hoist rotation speed to the target hoist rotation speed.

6. The method of claim 5, wherein, the adjustment of the current of the drum based on the control current comprises: determining whether the control current exceeds a preset safety range; if the control current does not exceed the preset safety range, adjusting the current of the drum to the control current. If the control current exceeds the preset safety range, the current of the drum is adjusted to the maximum positive safety current or the maximum negative safety current based on the direction of the control current.

7. The method of claim 1, wherein, The drum hoisting rotation speed is adjusted according to the length of the K+1 period and the length of the hoisting rope in the K+1 period. When the length of the hoisting rope in the K+1 period is 0, the drum is controlled to stop rotating.

8. A hoist speed regulating device of a single-cylinder bolt type, characterized by Comprise: The length change amount of the crane boom in the K period and the cylinder length percentage of the crane boom in the K period are obtained. The length of the hoisting rope in the K+1 period is determined according to the length change amount of the crane boom in the K period and the cylinder length percentage. The determination module is specifically configured to: if the cylinder length percentage is not in the preset range, the length of the hoisting rope in the K+1 period is determined based on the length change amount of the crane boom in the K period; wherein the preset range is set to the change range of the crane boom cylinder length percentage when the crane boom performs the arm position finding operation; when the absolute value of the length change amount of the crane boom in the K period is greater than a preset value, the length change amount of the crane boom in the K period is taken as the length of the hoisting rope in the K+1 period; when the absolute value of the length change amount of the crane boom in the K period is not greater than the preset value, the duration that the absolute value of the length change amount is not greater than the preset value is determined, if the duration exceeds a preset value, the length of the hoisting rope in the K+1 period is determined to be 0, otherwise, the length of the hoisting rope in the K period is determined as the length of the hoisting rope in the K+1 period. The drum hoisting rotation speed is adjusted according to the length of the K+1 period and the length of the hoisting rope in the K+1 period.

9. A work machine of the single-cylinder latch type, characterized by Comprise: Machine body; Telescopic crane boom connected with the machine body; Drum connected with the machine body; Hoisting rope wound on the drum and extending along the length direction of the drum; Hook provided on the hoisting rope; and Electronic device provided on the machine body, the electronic device is configured to perform the single-cylinder plug-in type hoisting speed regulation method of any one of claims 1-7.

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