A crane arm motion control method, system and crane

Abstract

The present invention discloses a crane arm motion control method, system and crane, wherein the control system comprises a combined inertial navigation system, a handle, and a controller, wherein the handle transmits handle angle information to the controller, the combined inertial navigation system collects crane arm measurement information, outputs feedback parameters after processing and feeds back to the controller, and the controller determines the crane arm target motion parameters in the current state according to the handle angle information and the working condition, and adjusts the output parameters after performing parameter judgment based on the feedback parameters. The present invention solves the problems of low control accuracy, poor controllability and safety control caused by motion control through indirect physical quantities in the prior art.

Description

Technical Field

[0001] The invention relates to a crane arm motion control method, system and crane, and belongs to the technical field of cranes. Background Art

[0002] In recent years, there has been an increasing demand for large-scale and prefabricated construction projects, which has brought about major changes in construction technology. As components become heavier and the installation height becomes higher, safety is difficult to guarantee, and more stringent requirements are placed on the crane's high-altitude heavy-load operation capabilities. In particular, the boom structure materials of large all-terrain cranes above 300t have been applied to the industry's highest strength level. The self-weight stress of the long boom accounts for more than 65%, the performance of the long boom decays too quickly, the boom system is complex, and the nonlinear effect is significant. The existing control method cannot be accurately calculated, and the improvement of the high-altitude lifting capacity is severely restricted.

[0003] The existing control method mainly controls the electromagnetic valve of the corresponding pump by calculating the pump displacement and the controller output current according to the target speed corresponding to the handle angle, and changes the speed by the size of the operating handle opening to indirectly control the movement speed. The control process mainly relies on various sensor signals such as angle and pressure to realize the movement control of the boom, and these sensor signals need to be indirectly converted, which belongs to indirect control, such as Figure 1 As shown, calculation errors are added during the conversion process.

[0004] At present, the control method mainly uses the pressure sensor and angle sensor installed on the crane in combination with the length sensor to calculate the lifting weight and operating range, and then adjusts the displacement of the hydraulic oil pump and the speed of the current control actuator. During the lifting operation, especially when changing the amplitude, extending and retracting, and rotating, the boom head may vibrate. The existing control method cannot accurately calculate the impact of the boom vibration on the pressure fluctuation of the hydraulic system at this time. There will be system errors and it will not be able to form accurate feedback to the controller, resulting in a large control deviation of the speed change of the crane operation, which greatly affects the control accuracy and safety. The improvement of the crane's high-altitude lifting operation control capability is severely restricted, and it is difficult to meet the needs of large-scale engineering construction. Summary of the invention

[0005] In order to address the deficiencies of the prior art, the object of the present invention is to provide a crane arm motion control method, system and crane, which solve the problems in the prior art of low control accuracy, poor maneuverability and safety control caused by motion control through indirect physical quantities (such as basic arm angle, system pressure, etc.).

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A crane arm motion control method, executed by a controller, comprises the following steps:

[0008] Collect the handle angle and working conditions to determine the target motion parameters of the crane arm in the current state; the target motion parameters include the target motion speed, the target start / stop motion acceleration and the target arm head angle;

[0009] The controller receives feedback parameters from the combined inertial navigation system; wherein the feedback parameters include: real-time acceleration of the crane arm, real-time speed of the crane arm, real-time position of the crane arm, and real-time arm head angle of the crane arm;

[0010] If the target movement speed of the boom is not greater than the first set value, the target start / stop movement acceleration of the boom is not greater than the second set value and not less than the fourth set value, and the target boom head angle of the boom is greater than or equal to the third set value, the boom operation requirement is then operated normally; otherwise, the output parameters are adjusted according to the feedback parameters to control the movement of the boom, so that the target speed of the boom is not greater than the first set value, the target start / stop movement acceleration of the boom is not greater than the second set value and not less than the fourth set value, and the target boom head angle of the boom is greater than or equal to the third set value;

[0011] Among them, the first set value, the second set value, and the third set value are respectively the maximum limit value of the movement speed under normal operating conditions, the maximum limit value of the start / stop movement acceleration, and the minimum limit value of the arm head angle. The fourth set value is the minimum acceleration value that meets the fast response requirement, and the fourth set value is less than the second set value.

[0012] Furthermore, the aforementioned method of adjusting the output parameter according to the feedback parameter to control the movement of the boom is to adjust the current of the hydraulic pump / hydraulic valve used to control the movement of the boom.

[0013] A crane arm motion control system includes a combined inertial navigation system, a handle and a controller;

[0014] The handle is used to transmit handle angle information to the controller;

[0015] The combined inertial navigation system is used to collect boom measurement information and output feedback parameters to the controller after processing;

[0016] The controller is used to collect the handle angle and the working condition, determine the target motion parameters of the crane arm in the current state; wherein the target motion parameters include the target motion speed, the target start / stop motion acceleration and the target boom head angle; receive feedback parameters from the combined inertial navigation system; wherein the feedback parameters include: the real-time acceleration of the crane arm, the real-time speed of the crane arm, the real-time position of the crane arm, and the real-time boom head angle of the crane arm; if the target motion speed of the crane arm is not greater than the first set value, the target start / stop motion acceleration of the crane arm is not greater than the second set value and is not less than the fourth set value, and the target boom head angle of the crane arm is greater than or equal to the third set value at the same time If the first set value is satisfied, the crane operates normally according to the crane arm operation requirements; otherwise, the output parameters are adjusted according to the feedback parameters to control the crane arm movement, so that the target speed of the crane arm is not greater than the first set value, the target start / stop movement acceleration of the crane arm is not greater than the second set value and not less than the fourth set value, and the target boom head angle of the crane arm is greater than or equal to the third set value; wherein the first set value, the second set value, and the third set value are respectively the maximum limit value of the movement speed, the maximum limit value of the start / stop movement acceleration, and the minimum limit value of the boom head angle under normal operating conditions, and the fourth set value is the minimum acceleration value that meets the fast response requirement, and the fourth set value is less than the second set value.

[0017] Furthermore, the aforementioned combined inertial navigation system comprises a mobile station and a base station installed at the boom head, and the mobile station and the base station are connected via a radio antenna;

[0018] The mobile station includes an input device and a data processing section, and the base station includes an output device;

[0019] The input device receives the measurement information of the crane arm in real time and continuously, and the measurement information includes the real-time acceleration of the crane arm, the longitude, latitude and altitude of the real-time location of the crane arm;

[0020] The data processing part performs comprehensive processing on the received aforementioned measurement information and converts it into feedback parameters;

[0021] The output device feeds back the aforementioned feedback parameters to the controller.

[0022] Furthermore, there are at least two aforementioned combined inertial navigation systems.

[0023] A crane adopts any one of the above-mentioned boom motion control systems.

[0024] The beneficial effects achieved by the present invention are:

[0025] By combining the inertial navigation system, the direct motion physical quantities of the crane arm (such as spatial position, motion speed, acceleration, etc.) are used as direct control quantities, reducing calculation errors. At the same time, since the physical quantities of the crane arm motion are directly acquired in real time, they are easy to control accurately and reduce the errors caused by system fluctuations, greatly improving the feedback accuracy, thereby enhancing the control accuracy and the safety and controllability of the crane arm movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a crane arm motion control method in the prior art;

[0027] Figure 2 It is a crane arm motion control method based on combined navigation of the present invention;

[0028] Figure 3 It is a flow chart of the crane arm motion control of the present invention. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0030] Embodiment 1:

[0031] This embodiment discloses a crane arm motion control system. Figure 2 As shown, it includes: a combined inertial navigation system, a handle, and a controller. The handle output signal is used as a trigger signal to control the boom to rise, fall, or extend or retract; the controller determines the target motion parameters of the boom in the current state according to the operator's handle angle and the working conditions, and then adjusts the output parameters based on the received feedback parameters of the combined inertial navigation system (such as the real-time acceleration, real-time speed, real-time position, real-time arm head angle and other direct physical quantities of the boom) to control the movement of the boom; the combined inertial navigation system is divided into a base station and a mobile station, which are used together. The mobile station is installed on the boom head, and the positioning antenna and the radio antenna are connected. Generally, the power is taken from the boom head through the CAN bus interface. The base station needs to ensure that there is no obstruction above the positioning antenna. The positioning antenna and the radio antenna are also connected, and the power is supplied through the CAN bus and the signal is transmitted to the crane controller. The present invention can use two or more combined inertial navigation devices to realize the control of the boom motion, and the accuracy will be higher. The combined inertial navigation device in the present invention can also use a solution of hardware integration with the controller and the sensor to realize the control of the boom motion.

[0032] Specifically, the mobile station of the combined inertial navigation system includes an input device and a data processing part, and the base station includes an output device. The input device can receive various measurement information in real time and continuously under the operation state of the crane arm (such as the real-time acceleration of the crane arm, the longitude, latitude, and altitude of the real-time location of the crane arm, etc.); the data processing part comprehensively processes the received measurement information and converts it into feedback parameters (such as the real-time acceleration of the crane arm, the real-time speed, the real-time position, the real-time arm head angle and other direct physical quantities, among which the real-time acceleration is a direct physical quantity directly measured by the input device and can be directly output without processing, while the indirect data such as the longitude, latitude, and altitude measured by the input device need to be converted into real-time speed, real-time position, real-time arm head angle and other direct physical quantities by the data processing part before output); finally, the output device feeds back the feedback parameters to the controller. The combined navigation system can use the complementary composite navigation signal to obtain more comprehensive positioning and carrier attitude parameters, eliminate the defects of the navigation signal of the single navigation system being prone to loss of lock and error accumulation, realize complementary advantages, and improve the accuracy and reliability of the navigation system. In practical applications, a common way to implement high-precision navigation of a combined inertial navigation system is to use an extended Kalman filter (EKF) to predict and measure feedback of navigation signals in a single time period, while using the autonomous integrity monitoring of the receiving base station to judge the satellite navigation data.

[0033] Embodiment 2:

[0034] Based on the above principle, the present embodiment also involves a method for controlling the motion of a crane arm. When the crane arm is performing luffing, lowering or telescopic operations, the controller determines the target motion parameters of the crane arm in the current state (such as target motion speed, target start / stop motion acceleration, target arm head angle) through calculation according to the operator's handle angle and operating conditions. The controller uses the feedback parameters of the combined inertial navigation system (such as direct physical quantities such as the real-time acceleration, real-time speed, real-time position, and real-time arm head angle of the crane arm) as feedback quantities. During the actual operation process, the motion of the crane arm is controlled by adjusting the output parameters (such as the current of the hydraulic pump or hydraulic valve).

[0035] The boom action needs to respond quickly when starting and stopping, that is, the speed should rise from zero to the specified speed within a certain period of time when starting, and the movement speed should be reduced to a certain range within a certain period of time when stopping. Therefore, when the product starts / stops, the acceleration should be greater than or equal to the fourth setting value, which is the minimum acceleration value that satisfies the quick response. When the product is in action, the change in the handle inclination angle generally corresponds to the corresponding change in the boom speed.

[0036] During operation, in order to ensure the safety of the equipment, it is also necessary to simultaneously meet the following requirements: the movement speed of the boom is not greater than the first set value, the start / stop movement acceleration of the boom is not greater than the second set value, and the boom head angle is greater than or equal to the third set value, wherein the first set value, the second set value, and the third set value are respectively the maximum limit value of the movement speed, the maximum limit value of the start / stop movement acceleration, and the minimum limit value of the boom head angle under normal operating conditions, and the fourth set value is less than the second set value.

[0037] The controller receives feedback and adjusts output parameters (such as the current of a hydraulic pump or a hydraulic valve) to control the movement of the equipment, so that the movement speed of the equipment is adjusted to be less than or equal to a first set value, the acceleration of the equipment start / stop movement is adjusted to be not less than a fourth set value and not greater than a second set value, and the arm head angle is adjusted to be greater than or equal to a third set value, and then operates normally according to the operation requirements of the crane arm.

[0038] Specific control process such as Figure 3 As shown:

[0039] a) The handle outputs a signal, the equipment starts to work, and the controller calculates and determines the target motion parameters of the boom in the current state (such as target motion speed, target start / stop motion acceleration, target boom head angle) based on the handle angle and working conditions. These target motion parameters are theoretical output values ​​calculated based on the handle angle and working conditions. Due to factors such as system errors, the actual output value of the boom is not equal to the theoretical output value;

[0040] b) The combined inertial navigation system transmits feedback parameters (such as direct physical quantities such as crane boom acceleration, speed, position, boom head angle, etc.) to the controller as feedback quantities. The feedback parameters are the actual output values ​​of the crane boom.

[0041] c) The controller executes parameter judgment, and the premise is that the target action speed of the boom is not greater than the first set value, the target action start / stop acceleration of the boom is not greater than the second set value and not less than the fourth set value, and the target boom head angle is greater than or equal to the third set value, then it operates normally according to the boom operation requirements, otherwise the controller adjusts the output parameters (such as the current of the hydraulic pump / hydraulic valve, the hydraulic pump / hydraulic valve directly controls the boom action) based on the feedback parameters, so that the target action speed of the boom is not greater than the first set value, the target action start / stop acceleration of the boom is not greater than the second set value and not less than the fourth set value, and the target boom head angle is greater than or equal to the third set value.

[0042] Embodiment three:

[0043] The present embodiment also relates to a crane, which can adopt the boom motion control system described in the first embodiment, and use the direct motion physical quantity of the boom (such as spatial position, motion speed, acceleration, etc.) as the direct control quantity, which greatly improves the control accuracy and the safety and controllability of the boom movement.

[0044] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A crane arm motion control method, executed by a controller, characterized in that: The steps include: Collecting the handle angle and the working condition to determine the target motion parameters of the crane arm in the current state; wherein the target motion parameters include the target motion speed, the target start / stop motion acceleration and the target boom head angle; The controller receives feedback parameters from the combined inertial navigation system; wherein the feedback parameters include: real-time acceleration of the crane arm, real-time speed of the crane arm, real-time position of the crane arm, and real-time arm head angle of the crane arm; If the target movement speed of the boom is not greater than the first set value, the target start / stop movement acceleration of the boom is not greater than the second set value and not less than the fourth set value, and the target boom head angle of the boom is greater than or equal to the third set value, the boom is operated normally according to the boom operation requirements; otherwise, the output parameters are adjusted according to the feedback parameters to control the movement of the boom, so that the target speed of the boom is not greater than the first set value, the target start / stop movement acceleration of the boom is not greater than the second set value and not less than the fourth set value, and the target boom head angle of the boom is greater than or equal to the third set value; Among them, the first set value, the second set value, and the third set value are respectively the maximum limit value of the movement speed under normal operating conditions, the maximum limit value of the start / stop movement acceleration, and the minimum limit value of the arm head angle; the fourth set value is the minimum acceleration value that satisfies a fast response, and the fourth set value is less than the second set value.

2. A crane arm motion control method according to claim 1, characterized in that: According to the feedback parameter, the output parameter is adjusted to control the movement of the boom by adjusting the current of the hydraulic pump / hydraulic valve used to control the movement of the boom.

3. A crane arm motion control system, characterized in that: Includes a combined inertial navigation system, handle and controller; The handle is used to transmit handle angle information to the controller; The combined inertial navigation system is used to collect boom measurement information and output feedback parameters to the controller after processing; The controller is used to collect the handle angle and the working condition, and determine the target motion parameters of the crane arm in the current state; wherein the target motion parameters include the target motion speed, the target start / stop motion acceleration and the target boom head angle; receive feedback parameters from the combined inertial navigation system; wherein the feedback parameters include: the real-time acceleration of the crane arm, the real-time speed of the crane arm, the real-time position of the crane arm, and the real-time boom head angle of the crane arm; if the target motion speed of the crane arm is not greater than the first set value, the target start / stop motion acceleration of the crane arm is not greater than the second set value and not less than the fourth set value, and the target boom head angle of the crane arm is greater than or equal to the third set value at the same time If the feedback parameter is set, the crane operates normally according to the boom operation requirements; otherwise, the output parameter is adjusted according to the feedback parameter to control the movement of the crane arm, so that the target speed of the crane arm is not greater than the first set value, the target start / stop movement acceleration of the crane arm is not greater than the second set value and not less than the fourth set value, and the target boom head angle of the crane arm is greater than or equal to the third set value; wherein the first set value, the second set value, and the third set value are respectively the maximum limit value of the movement speed, the maximum limit value of the start / stop movement acceleration, and the minimum limit value of the boom head angle under normal operating conditions, and the fourth set value is the minimum acceleration value that satisfies a fast response, and the fourth set value is less than the second set value.

4. A boom motion control system according to claim 3, characterized in that: The combined inertial navigation system comprises a mobile station and a base station installed on the boom head, wherein the mobile station and the base station are connected via a radio antenna; The mobile station includes an input device and a data processing section, and the base station includes an output device; The input device receives the measurement information of the crane arm in real time and continuously, and the measurement information includes the real-time acceleration of the crane arm, the longitude, latitude and altitude of the real-time location of the crane arm; The data processing part performs comprehensive processing on the received measurement information and converts it into feedback parameters; The output device feeds back the aforementioned feedback parameters to the controller.

5. A crane arm motion control system according to claim 3, characterized in that: There are at least two combined inertial navigation systems.

6. A crane, characterized in that: A crane arm motion control system as described in any one of claims 3 to 5 is used.

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