Control method and controller for a cable crane, and cable crane

Abstract

The application discloses a control method and controller of a crawler crane lever and a crawler crane. The control method comprises the following steps: determining the initial movement speed of the oil cylinder mechanism and the initial movement speed of the luffing mechanism respectively; acquiring the extension length of the oil cylinder mechanism every preset time, and determining the theoretical extension length of the oil cylinder mechanism; determining the first target current and the first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism; determining the second movement speed according to the first movement speed in combination with the initial movement speed of the oil cylinder mechanism and the initial movement speed of the luffing mechanism; and respectively controlling the oil cylinder mechanism to act at the first movement speed and controlling the luffing mechanism to act at the second movement speed. The application can improve the work efficiency in the process of the crawler crane lever and reduce the operation difficulty by synchronously controlling the movement speed of the oil cylinder mechanism and the luffing mechanism.

Description

Technical Field

[0001] This application relates to the field of crawler crane technology, specifically to a control method, controller, and crawler crane lever for a crawler crane. Background Technology

[0002] As wind turbine installations become increasingly larger and the installation heights rise, the weight and length of crane booms are constantly increasing. When operating under non-overhead lifting conditions, a longer mast system is required for boom raising, making the mast lifting process more difficult. In existing technologies, the lifting cylinder and mast lifting cylinder typically share a hydraulic pump. During mast lifting, the speeds of both cylinders change in real-time with the mast angle, requiring the allocation of flow rates to optimize the lifting torque and speed for efficient mast lifting. Furthermore, the mast lifting action and the lifting cylinder's action must be coordinated with the luffing mechanism's rope-releasing action. If the cylinder's action is too advanced, it will cause excessive stress on the mast; if the cylinder's action is too slow, it will cause the luffing mechanism's wire rope to become tangled, making operation difficult and prone to errors. Therefore, existing technologies suffer from low operational efficiency, high operational difficulty, and a high risk of misoperation during mast lifting. Summary of the Invention

[0003] The purpose of this application is to provide a control method, controller, and crawler crane for the mast lever of a crawler crane, in order to solve the problems of low operating efficiency, high operating difficulty, and easy misoperation in the mast lifting process of the prior art.

[0004] To achieve the above objectives, the first aspect of this application provides a control method for a lever of a crawler crane, applied to a controller. The crawler crane includes a hydraulic cylinder mechanism and a luffing mechanism, and the controller communicates with both the hydraulic cylinder mechanism and the luffing mechanism. The control method includes:

[0005] Determine the initial motion speed of the hydraulic cylinder mechanism and the initial motion speed of the luffing mechanism respectively;

[0006] The extension length of the hydraulic cylinder mechanism is obtained at preset intervals, and the theoretical extension length of the hydraulic cylinder mechanism is determined.

[0007] The first target current and the first speed corresponding to the first target current are determined based on the initial speed of the hydraulic cylinder mechanism, the extension length of the hydraulic cylinder mechanism, and the theoretical extension length of the hydraulic cylinder mechanism.

[0008] By combining the initial motion speed of the hydraulic cylinder mechanism and the initial motion speed of the luffing mechanism, the second motion speed is determined based on the first motion speed;

[0009] The hydraulic cylinder mechanism is controlled to operate at a first speed, and the luffing mechanism is controlled to operate at a second speed.

[0010] In this embodiment of the application, the hydraulic cylinder mechanism includes a hoisting cylinder and a lifting cylinder, which respectively determine the initial movement speed of the hydraulic cylinder mechanism and the initial movement speed of the luffing mechanism, including:

[0011] Obtain the total retraction length of the hoisting cylinder, the total extension length of the lifting cylinder, and the total release length of the luffing mechanism;

[0012] Determine the maximum theoretical speed of the hoisting cylinder, the maximum theoretical speed of the lifting cylinder, and the maximum theoretical speed of the luffing mechanism;

[0013] The first theoretical motion time is determined based on the total retraction length of the lifting cylinder and the maximum theoretical speed of the lifting cylinder;

[0014] The second theoretical motion time is determined based on the total extension length of the lifting cylinder and the maximum theoretical speed of the lifting cylinder;

[0015] The third theoretical motion time is determined based on the total release length of the luffing mechanism and the maximum theoretical speed of the luffing mechanism.

[0016] The maximum value among the first theoretical motion time, the second theoretical motion time, and the third theoretical motion time is determined as the target motion time;

[0017] Based on the target motion time, the initial motion speeds of the hoisting cylinder, the lifting cylinder, and the luffing mechanism are determined respectively.

[0018] In this embodiment of the application, determining the first target current based on the initial movement speed of the hydraulic cylinder mechanism, the extension length of the hydraulic cylinder mechanism, and the theoretical extension length of the hydraulic cylinder mechanism includes:

[0019] Determine the first initial current corresponding to the initial movement speed of the hydraulic cylinder mechanism;

[0020] The first initial current is adjusted according to the extension length of the hydraulic cylinder mechanism and the theoretical extension length of the hydraulic cylinder mechanism to obtain the first target current.

[0021] In this embodiment, the first target current satisfies formula (1):

[0022] I = I b -I PID (1)

[0023] Where I is the first target current, I b Let I be the first initial current. PID This is the deviation current;

[0024] The deviation current satisfies formula (2):

[0025]

[0026] Among them, I PID For the deviation current, K p Here, ΔL0 is the proportional adjustment coefficient, ΔL1 is the difference in the extension length of the cylinder mechanism in the first sampling period, ΔL2 is the difference in the extension length of the cylinder mechanism in the second sampling period, and T is the sampling period. i Let T be the integration time constant. d is the differential time constant.

[0027] In this embodiment of the application, determining the second motion speed based on the first motion speed, by combining the initial motion speed of the hydraulic cylinder mechanism and the initial motion speed of the luffing mechanism, includes:

[0028] The second motion speed is determined based on the ratio of the initial motion speed of the hydraulic cylinder mechanism to the initial motion speed of the luffing mechanism, according to the first motion speed.

[0029] In this embodiment, the hydraulic cylinder mechanism includes a lifting cylinder and a jacking cylinder. Determining the theoretical extension length of the hydraulic cylinder mechanism includes:

[0030] Obtain mast angle data;

[0031] The theoretical extension lengths of the hoisting cylinder and the lifting cylinder are determined by combining the mast angle data.

[0032] In this embodiment, the theoretical extension length of the lifting cylinder satisfies formula (3):

[0033] L A1 =L3+L4-L D (3)

[0034] Among them, L A1 L3 is the theoretical extension length of the lifting cylinder, L4 is the length from the lifting cylinder to the mast support, and L5 is the length from the mast support to the mast hinge point, determined based on the mast angle data. D The length of the sling;

[0035] The theoretical extension length of the lifting cylinder satisfies formula (4):

[0036] L A2 =R 2 +L R 2 -2RL R cosα; (4)

[0037] Among them, L A2 R is the theoretical extension length of the lifting cylinder, R is the distance between the apex of the lifting cylinder and the mast hinge point, and L is the theoretical extension length of the lifting cylinder. RThe distance from the mast hinge point to the bottom of the lifting cylinder is α, which is a known parameter related to the mast angle data.

[0038] A second aspect of this application provides a controller, comprising:

[0039] The memory is configured to store instructions; and

[0040] The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned control method for the tracked crane lever.

[0041] A third aspect of this application provides a crawler crane, comprising:

[0042] Controller;

[0043] The hydraulic cylinder mechanism, which communicates with the controller, is configured to move the mast in the crawler crane.

[0044] The luffing mechanism, which communicates with the controller, is configured to move the mast in the crawler crane.

[0045] In this embodiment of the application, the hydraulic cylinder mechanism includes:

[0046] The lifting cylinder is configured to lift the mast in the crawler crane;

[0047] The lifting cylinder is configured to lift the mast in the crawler crane.

[0048] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for a tracked crane lever.

[0049] The above technical solution determines the initial movement speed of the hydraulic cylinder mechanism and the luffing mechanism, respectively, and acquires the extension length of the hydraulic cylinder mechanism at preset time intervals, as well as determining the theoretical extension length of the hydraulic cylinder mechanism. Then, based on the initial movement speed, extension length, and theoretical extension length of the hydraulic cylinder mechanism, a first target current and a corresponding first movement speed are determined. Subsequently, combining the initial movement speeds of the hydraulic cylinder mechanism and the luffing mechanism, a second movement speed is determined based on the first movement speed. Finally, the hydraulic cylinder mechanism is controlled to move at the first movement speed, and the luffing mechanism is controlled to move at the second movement speed. This application, by synchronously controlling the movement speeds of the hydraulic cylinder mechanism and the luffing mechanism, enables the lever function of the crawler crane, improves the operational efficiency during the lever-operating process, and reduces operational difficulty.

[0050] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0051] 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:

[0052] Figure 1 A schematic diagram of a tracked crane according to an embodiment of this application is shown.

[0053] Figure 2 A flowchart illustrating a control method for a tracked crane lever according to an embodiment of this application is shown schematically.

[0054] Figure 3 This illustration schematically shows a principle diagram for determining the theoretical extension length of a lifting cylinder according to an embodiment of this application;

[0055] Figure 4 The illustration shows a schematic diagram of the principle for determining the theoretical extension length of a lifting cylinder according to an embodiment of this application;

[0056] Figure 5 A schematic block diagram of a controller according to an embodiment of this application is shown.

[0057] Explanation of reference numerals in the attached figures

[0058] 1 lifting cylinder 2 mast

[0059] 3. Lifting cylinder; 4. Luffing mechanism wire rope

[0060] 5. Amplitude Variable Mechanism Detailed Implementation

[0061] 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.

[0062] 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 the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0063] 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.

[0064] Figure 1 A schematic diagram of a crawler crane according to an embodiment of this application is shown. Figure 1 As shown, the crawler crane includes, but is not limited to, a controller (not shown in the figure), a mast 2, a hydraulic cylinder mechanism, a luffing mechanism wire rope 4, and a luffing mechanism 5. The hydraulic cylinder mechanism includes a lifting cylinder 1, a hoisting cylinder 3, and a cylinder length measuring device (not shown in the figure). The controller communicates with both the hydraulic cylinder mechanism and the luffing mechanism 5. The controller can control the movement speed of the hydraulic cylinder mechanism and the luffing mechanism 5 by controlling the flow rate of the hydraulic pump, or by controlling the speed of the motor. The specific control method can be determined according to the actual situation of the crawler crane, and is not limited herein.

[0065] Figure 2 A flowchart illustrating a control method for a tracked crane lever according to an embodiment of this application is shown schematically. Figure 2 As shown in the figure, this application provides a control method for a tracked crane lever, applied to a controller. The tracked crane includes a hydraulic cylinder mechanism and a luffing mechanism, and the controller communicates with both the hydraulic cylinder mechanism and the luffing mechanism. The control method may include the following steps:

[0066] Step 201: Determine the initial motion speed of the hydraulic cylinder mechanism and the initial motion speed of the luffing mechanism respectively;

[0067] Step 202: Obtain the extension length of the hydraulic cylinder mechanism at preset time intervals, and determine the theoretical extension length of the hydraulic cylinder mechanism;

[0068] Step 203: Determine the first target current and the first movement speed corresponding to the first target current based on the initial movement speed of the hydraulic cylinder mechanism, the extension length of the hydraulic cylinder mechanism, and the theoretical extension length of the hydraulic cylinder mechanism.

[0069] Step 204: Combine the initial motion speed of the hydraulic cylinder mechanism and the initial motion speed of the luffing mechanism, and determine the second motion speed based on the first motion speed;

[0070] Step 205: Control the hydraulic cylinder mechanism to move at the first speed and control the luffing mechanism to move at the second speed.

[0071] In this embodiment, the controller can simultaneously control the movement speed of the hydraulic cylinder mechanism and the luffing mechanism to complete the lever function of the crawler crane. The lever refers to raising the mast of the crawler crane from its initial installation state to a state where the crane can self-load and unload. First, after receiving the lever function activation signal, the controller can determine the initial movement speed of the hydraulic cylinder mechanism and the initial movement speed of the luffing mechanism, wherein the hydraulic cylinder mechanism includes a hoisting cylinder and a lifting cylinder.

[0072] In one example, the controller can adjust the initial speed of the hydraulic cylinder mechanism based on its extension length and theoretical extension length. A cylinder length measuring device can collect the extension length of the hydraulic cylinder mechanism and send it to the controller at preset time intervals, allowing the controller to obtain the extension length at these intervals. The preset time can be determined based on actual conditions. Simultaneously, the controller can determine the theoretical extension length of the hydraulic cylinder mechanism by combining mast angle data. Based on the initial speed, extension length, and theoretical extension length of the hydraulic cylinder mechanism, the controller can determine the first target current and the corresponding first speed. The first target current is the current value that enables the hydraulic cylinder mechanism to reach the first speed. Based on the correspondence between the hydraulic cylinder mechanism's speed and the proportional solenoid valve current, the first speed corresponding to the first target current can be determined in various ways. For example, a lookup table method can be used to determine the first speed corresponding to the first target current. In another example, the controller can determine the force state of the hydraulic cylinder mechanism by detecting the pressure data of the hydraulic cylinder mechanism or by using an external tension sensor, and adjust the initial movement speed of the hydraulic cylinder mechanism according to the force state of the hydraulic cylinder mechanism.

[0073] Furthermore, after determining the initial movement speeds of the hydraulic cylinder mechanism and the luffing mechanism, the controller can determine the speed ratio between their initial speeds. Based on this speed ratio, the controller can determine a second movement speed according to the first speed. Finally, by adjusting the current of the proportional solenoid valve in the hydraulic cylinder mechanism to reach a first target current, the controller can control the hydraulic cylinder mechanism to operate at the first speed. Simultaneously, the controller can control the luffing mechanism to operate at the second speed. This allows the mast to be raised from its initial installation state to a state where the crane can perform self-loading and unloading.

[0074] The above technical solution determines the initial movement speed of the hydraulic cylinder mechanism and the luffing mechanism, respectively, and acquires the extension length of the hydraulic cylinder mechanism at preset time intervals, as well as determining the theoretical extension length of the hydraulic cylinder mechanism. Then, based on the initial movement speed, extension length, and theoretical extension length of the hydraulic cylinder mechanism, a first target current and a corresponding first movement speed are determined. Subsequently, combining the initial movement speeds of the hydraulic cylinder mechanism and the luffing mechanism, a second movement speed is determined based on the first movement speed. Finally, the hydraulic cylinder mechanism is controlled to move at the first movement speed, and the luffing mechanism is controlled to move at the second movement speed. This application, by synchronously controlling the movement speeds of the hydraulic cylinder mechanism and the luffing mechanism, enables the lever function of the crawler crane, improves the operational efficiency during the lever-operating process, and reduces operational difficulty.

[0075] In this embodiment of the application, the hydraulic cylinder mechanism includes a lifting cylinder and a jacking cylinder. Step 201, determining the initial movement speed of the hydraulic cylinder mechanism and the initial movement speed of the luffing mechanism respectively, may include:

[0076] Obtain the total retraction length of the hoisting cylinder, the total extension length of the lifting cylinder, and the total release length of the luffing mechanism;

[0077] Determine the maximum theoretical speed of the hoisting cylinder, the maximum theoretical speed of the lifting cylinder, and the maximum theoretical speed of the luffing mechanism;

[0078] The first theoretical motion time is determined based on the total retraction length of the lifting cylinder and the maximum theoretical speed of the lifting cylinder;

[0079] The second theoretical motion time is determined based on the total extension length of the lifting cylinder and the maximum theoretical speed of the lifting cylinder;

[0080] The third theoretical motion time is determined based on the total release length of the luffing mechanism and the maximum theoretical speed of the luffing mechanism.

[0081] The maximum value among the first theoretical motion time, the second theoretical motion time, and the third theoretical motion time is determined as the target motion time;

[0082] Based on the target motion time, the initial motion speeds of the hoisting cylinder, the lifting cylinder, and the luffing mechanism are determined respectively.

[0083] In this embodiment, the hydraulic cylinder mechanism includes a hoisting cylinder and a lifting cylinder. A mast angle sensor is installed on the mast, and the mast angle sensor communicates with the controller, which can acquire the mast angle data sent by the mast angle sensor. When the mast angle data changes from a preset angle to a target angle, the controller can determine the total retraction length of the hoisting cylinder, the total extension length of the lifting cylinder, and the total release length of the luffing mechanism. The target angle is the angle between the mast and the horizontal direction when the crawler crane is in the hoisted and positioned state. The preset angle is determined according to the actual situation. In one example, the preset angle can be 30 degrees.

[0084] Simultaneously, based on the engine speed of the crawler crane, the controller can determine the maximum theoretical speed of the hoisting cylinder, the maximum theoretical speed of the lifting cylinder, and the maximum theoretical speed of the luffing mechanism, respectively. This is a conventional method and will not be elaborated further in this application. Therefore, dividing the total retraction length of the hoisting cylinder by its maximum theoretical speed yields the first theoretical motion time; dividing the total extension length of the lifting cylinder by its maximum theoretical speed yields the second theoretical motion time; and dividing the total release length of the luffing mechanism by its maximum theoretical speed yields the third theoretical motion time.

[0085] In this embodiment, the initial motion speed of other mechanisms is determined based on the mechanism with the slower motion speed. Specifically, the controller can compare the first theoretical motion time, the second theoretical motion time, and the third theoretical motion time, and determine the maximum value among the first theoretical motion time, the second theoretical motion time, and the third theoretical motion time as the target motion time. Based on the target motion time, the controller can determine the initial motion speed of the hoisting cylinder, the initial motion speed of the lifting cylinder, and the initial motion speed of the luffing mechanism. In one example, if the second theoretical motion time is greater than the first theoretical motion time and less than the third theoretical motion time, then the controller will determine the initial motion speed of the hoisting cylinder and the lifting cylinder based on the luffing mechanism. At this time, the initial motion speed of the luffing mechanism is V3, and the initial motion speed of the hoisting cylinder satisfies formula (5):

[0086]

[0087] Where V1 is the initial speed of the hoisting cylinder, V3 is the initial speed of the luffing mechanism, t1 is the first theoretical motion time, and t3 is the third theoretical motion time.

[0088] The initial velocity of the lifting cylinder satisfies formula (6):

[0089]

[0090] Wherein, V2 is the initial movement speed of the lifting cylinder, V3 is the initial movement speed of the luffing mechanism, t2 is the second theoretical movement time, and t3 is the third theoretical movement time.

[0091] In this embodiment, the hydraulic cylinder mechanism includes a lifting cylinder and a jacking cylinder. Determining the theoretical extension length of the hydraulic cylinder mechanism may include:

[0092] Obtain mast angle data;

[0093] The theoretical extension lengths of the hoisting cylinder and the lifting cylinder are determined by combining the mast angle data.

[0094] Specifically, the hydraulic cylinder mechanism includes a hoisting cylinder and a lifting cylinder. A mast angle sensor is installed on the mast. The controller communicates with the mast angle sensor and can acquire the mast angle data collected by the sensor. The mast angle data is the angle between the mast and the horizontal direction. Therefore, the controller can combine the mast angle data to determine the theoretical extension length of the hoisting cylinder and the theoretical extension length of the lifting cylinder.

[0095] Figure 3 This schematically illustrates a principle diagram for determining the theoretical extension length of a lifting cylinder according to an embodiment of this application. Figure 3 As shown in the embodiment of this application, the theoretical extension length of the lifting cylinder can satisfy formula (3):

[0096] L A1 =L3+L4-L D (3)

[0097] Among them, L A1 L3 is the theoretical extension length of the lifting cylinder, L4 is the length from the lifting cylinder to the mast support, and L5 is the length from the mast support to the mast hinge point, determined based on the mast angle data. D The length of the sling;

[0098] Figure 4 This schematically illustrates a principle diagram for determining the theoretical extension length of a lifting cylinder according to an embodiment of this application. Figure 4 As shown, the theoretical extension length of the lifting cylinder can satisfy formula (4):

[0099] L A2 =R 2 +L R 2 -2RL R cosα; (4)

[0100] Among them, L A2 R is the theoretical extension length of the lifting cylinder, R is the distance between the apex of the lifting cylinder and the mast hinge point, and L is the theoretical extension length of the lifting cylinder. R The distance from the mast hinge point to the bottom of the lifting cylinder is α, which is a known parameter related to the mast angle data.

[0101] Specifically, L1 is the extension length of the hoisting cylinder, L2 is the extension length of the jacking cylinder, and θ is the mast angle data. The controller can adjust the distance based on the length L3 from the hoisting cylinder to the mast support, L4 from the mast support to the mast hinge point, and the length of the sling. D Determine the theoretical extension length L of the lifting cylinder A1 The length L4 from the mast support to the mast hinge point can be determined using mast angle data. Furthermore, the controller can determine the theoretical extension length L of the lifting cylinder. A2 That is, based on the distance R between the apex of the lifting cylinder and the mast hinge point, and the distance L from the mast hinge point to the bottom of the lifting cylinder. R The theoretical extension length L of the lifting cylinder is determined by the known parameter α related to the mast angle data. A2 .

[0102] In this embodiment, determining the first target current based on the initial movement speed of the hydraulic cylinder mechanism, the extension length of the hydraulic cylinder mechanism, and the theoretical extension length of the hydraulic cylinder mechanism may include:

[0103] Determine the first initial current corresponding to the initial movement speed of the hydraulic cylinder mechanism;

[0104] The first initial current is adjusted according to the extension length of the hydraulic cylinder mechanism and the theoretical extension length of the hydraulic cylinder mechanism to obtain the first target current.

[0105] Specifically, based on the correspondence between the movement speed of the hydraulic cylinder mechanism and the current of the proportional solenoid valve, the controller can determine the first initial current corresponding to the initial movement speed of the hydraulic cylinder mechanism. The hydraulic cylinder length measuring device can collect the extension length of the hydraulic cylinder mechanism and send this extension length to the controller at preset time intervals, allowing the controller to obtain the extension length of the hydraulic cylinder mechanism at these intervals. Simultaneously, the controller can determine the theoretical extension length of the hydraulic cylinder mechanism by combining the mast angle data. At this point, the controller adjusts the first initial current based on the extension length and the theoretical extension length of the hydraulic cylinder mechanism to obtain the first target current. Thus, by controlling the proportional solenoid valve current of the hydraulic cylinder mechanism to achieve the first target current, the controller can control the hydraulic cylinder mechanism to move at the first movement speed.

[0106] In this embodiment, the first target current can satisfy formula (1):

[0107] I = I b -I PID (1)

[0108] Where I is the first target current, I b Let I be the first initial current. PID This is the deviation current;

[0109] The deviation current can satisfy formula (2):

[0110]

[0111] Among them, I PID For the deviation current, K p Here, ΔL0 is the proportional adjustment coefficient, ΔL1 is the difference in the extension length of the cylinder mechanism in the first sampling period, ΔL2 is the difference in the extension length of the cylinder mechanism in the second sampling period, and T is the sampling period. i Let T be the integration time constant. d is the differential time constant.

[0112] Specifically, in this embodiment, Proportional Integral Derivative (PID) control is used to adjust the initial movement speed of the cylinder mechanism and the luffing mechanism. Therefore, based on the correspondence between the movement speed of the cylinder mechanism and the proportional solenoid valve current, the controller can determine the first initial current corresponding to the initial movement speed of the cylinder mechanism. Further, the controller can determine the difference between the extended length of the cylinder mechanism and the theoretical extended length, i.e., determine the extension length difference of the cylinder mechanism. Having obtained the extension length difference of the cylinder mechanism for three sampling periods, the controller can determine the deviation current. Subtracting the deviation current from the first initial current yields the first target current.

[0113] In this embodiment of the application, step 204, determining the second motion speed based on the first motion speed by combining the initial motion speed of the hydraulic cylinder mechanism and the initial motion speed of the luffing mechanism, may include:

[0114] The second motion speed is determined based on the ratio of the initial motion speed of the hydraulic cylinder mechanism to the initial motion speed of the luffing mechanism, according to the first motion speed.

[0115] Specifically, after determining the initial movement speeds of the hydraulic cylinder mechanism and the luffing mechanism, the controller can determine the speed ratio between the initial movement speeds of the hydraulic cylinder mechanism and the luffing mechanism. Based on the speed ratio between the initial movement speeds of the hydraulic cylinder mechanism and the luffing mechanism, the controller can determine a second movement speed according to the first movement speed.

[0116] Figure 5 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 5 As shown in the figure, this application provides a controller that may include:

[0117] Memory 510 is configured to store instructions; and

[0118] The processor 520 is configured to retrieve instructions from the memory 510 and, when executing the instructions, to implement the aforementioned control method for the tracked crane lever.

[0119] Specifically, in this embodiment of the application, the processor 520 can be configured to:

[0120] Determine the initial motion speed of the hydraulic cylinder mechanism and the initial motion speed of the luffing mechanism respectively;

[0121] The extension length of the hydraulic cylinder mechanism is obtained at preset intervals, and the theoretical extension length of the hydraulic cylinder mechanism is determined.

[0122] The first target current and the first speed corresponding to the first target current are determined based on the initial speed of the hydraulic cylinder mechanism, the extension length of the hydraulic cylinder mechanism, and the theoretical extension length of the hydraulic cylinder mechanism.

[0123] By combining the initial motion speed of the hydraulic cylinder mechanism and the initial motion speed of the luffing mechanism, the second motion speed is determined based on the first motion speed;

[0124] The hydraulic cylinder mechanism is controlled to operate at a first speed, and the luffing mechanism is controlled to operate at a second speed.

[0125] Furthermore, the processor 520 can also be configured as follows:

[0126] Obtain the total retraction length of the hoisting cylinder, the total extension length of the lifting cylinder, and the total release length of the luffing mechanism;

[0127] Determine the maximum theoretical speed of the hoisting cylinder, the maximum theoretical speed of the lifting cylinder, and the maximum theoretical speed of the luffing mechanism;

[0128] The first theoretical motion time is determined based on the total retraction length of the lifting cylinder and the maximum theoretical speed of the lifting cylinder;

[0129] The second theoretical motion time is determined based on the total extension length of the lifting cylinder and the maximum theoretical speed of the lifting cylinder;

[0130] The third theoretical motion time is determined based on the total release length of the luffing mechanism and the maximum theoretical speed of the luffing mechanism.

[0131] The maximum value among the first theoretical motion time, the second theoretical motion time, and the third theoretical motion time is determined as the target motion time;

[0132] Based on the target motion time, the initial motion speeds of the hoisting cylinder, the lifting cylinder, and the luffing mechanism are determined respectively.

[0133] Furthermore, the processor 520 can also be configured as follows:

[0134] Determine the first initial current corresponding to the initial movement speed of the hydraulic cylinder mechanism;

[0135] The first initial current is adjusted according to the extension length of the hydraulic cylinder mechanism and the theoretical extension length of the hydraulic cylinder mechanism to obtain the first target current.

[0136] In this embodiment, the first target current satisfies formula (1):

[0137] I = I b -I PID (1)

[0138] Where I is the first target current, I b Let I be the first initial current. PID This is the deviation current;

[0139] The deviation current satisfies formula (2):

[0140]

[0141] Among them, I PID For the deviation current, K p Here, ΔL0 is the proportional adjustment coefficient, ΔL1 is the difference in the extension length of the cylinder mechanism in the first sampling period, ΔL2 is the difference in the extension length of the cylinder mechanism in the second sampling period, and T is the sampling period. i Let T be the integration time constant. d is the differential time constant.

[0142] Furthermore, the processor 520 can also be configured as follows:

[0143] The second motion speed is determined based on the ratio of the initial motion speed of the hydraulic cylinder mechanism to the initial motion speed of the luffing mechanism, according to the first motion speed.

[0144] Furthermore, the processor 520 can also be configured as follows:

[0145] Obtain mast angle data;

[0146] The theoretical extension lengths of the hoisting cylinder and the lifting cylinder are determined by combining the mast angle data.

[0147] In this embodiment, the theoretical extension length of the lifting cylinder satisfies formula (3):

[0148] L A1 =L3+L4-L D (3)

[0149] Among them, L A1L3 is the theoretical extension length of the lifting cylinder, L4 is the length from the lifting cylinder to the mast support, and L5 is the length from the mast support to the mast hinge point, determined based on the mast angle data. D The length of the sling;

[0150] The theoretical extension length of the lifting cylinder satisfies formula (4):

[0151] L A2 =R 2 +L R 2 -2RL R cosα; (4)

[0152] Among them, L A2 R is the theoretical extension length of the lifting cylinder, R is the distance between the apex of the lifting cylinder and the mast hinge point, and L is the theoretical extension length of the lifting cylinder. R The distance from the mast hinge point to the bottom of the lifting cylinder is α, which is a known parameter related to the mast angle data.

[0153] The above technical solution determines the initial movement speed of the hydraulic cylinder mechanism and the luffing mechanism, respectively, and acquires the extension length of the hydraulic cylinder mechanism at preset time intervals, as well as determining the theoretical extension length of the hydraulic cylinder mechanism. Then, based on the initial movement speed, extension length, and theoretical extension length of the hydraulic cylinder mechanism, a first target current and a corresponding first movement speed are determined. Subsequently, combining the initial movement speeds of the hydraulic cylinder mechanism and the luffing mechanism, a second movement speed is determined based on the first movement speed. Finally, the hydraulic cylinder mechanism is controlled to move at the first movement speed, and the luffing mechanism is controlled to move at the second movement speed. This application, by synchronously controlling the movement speeds of the hydraulic cylinder mechanism and the luffing mechanism, enables the lever function of the crawler crane, improves the operational efficiency during the lever-operating process, and reduces operational difficulty.

[0154] like Figure 1 As shown in the illustration, this application also provides a crawler crane, which may include:

[0155] Controller;

[0156] The hydraulic cylinder mechanism, which communicates with the controller, is configured to actuate the mast 2 in the crawler crane.

[0157] The luffing mechanism 5 communicates with the controller and is configured to actuate the mast 2 in the crawler crane.

[0158] Specifically, the crawler crane includes, but is not limited to, a controller, a mast 2, a hydraulic cylinder mechanism, a luffing mechanism wire rope 4, and a luffing mechanism 5. The hydraulic cylinder mechanism includes a lifting cylinder 1, a hoisting cylinder 3, and a cylinder length measuring device. The controller communicates with both the hydraulic cylinder mechanism and the luffing mechanism 5, and can control the movement speed of both. The hydraulic cylinder mechanism can drive the mast 2 in the crawler crane to move, and simultaneously, the luffing mechanism 5 can also drive the mast 2 in the crawler crane to move.

[0159] like Figure 1 As shown in the embodiments of this application, the hydraulic cylinder mechanism may include:

[0160] The lifting cylinder 3 is configured to lift the mast 2 in the crawler crane;

[0161] The lifting cylinder 1 is configured to lift the mast 2 in the crawler crane.

[0162] Specifically, the hydraulic cylinder mechanism includes a lifting cylinder 1 and a hoisting cylinder 3. The lifting cylinder 1 can be used to lift the mast 2 in the crawler crane. The hoisting cylinder 3 can be used to pull up the mast 2 in the crawler crane.

[0163] This application also provides a machine-readable storage medium storing instructions for causing a machine to execute the above-described control method for a tracked crane lever.

[0164] 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.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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 control method for a lever of a crawler crane, characterized in that, The controller is applied to the crawler crane, which includes a hydraulic cylinder mechanism and a luffing mechanism. The controller communicates with both the hydraulic cylinder mechanism and the luffing mechanism. The control method includes: After receiving the activation signal of the lever function of the crawler crane, the initial movement speed of the hydraulic cylinder mechanism and the initial movement speed of the luffing mechanism are determined respectively. The extension length of the hydraulic cylinder mechanism is obtained at preset time intervals, and the theoretical extension length of the hydraulic cylinder mechanism is determined. The first target current and the first speed corresponding to the first target current are determined based on the initial movement speed of the hydraulic cylinder mechanism, the extension length of the hydraulic cylinder mechanism, and the theoretical extension length of the hydraulic cylinder mechanism. Combining the initial movement speed of the hydraulic cylinder mechanism and the initial movement speed of the luffing mechanism, the second movement speed is determined based on the first movement speed; The hydraulic cylinder mechanism is controlled to operate at the first speed, and the luffing mechanism is controlled to operate at the second speed to complete the lever function. The hydraulic cylinder mechanism and the luffing mechanism are used to move the mast of the crawler crane. The hydraulic cylinder mechanism includes a hoisting cylinder and a lifting cylinder, and the hoisting cylinder is used to lift the mast of the crawler crane. The lifting cylinder is used to lift the mast in the crawler crane.

2. The control method according to claim 1, characterized in that, The hydraulic cylinder mechanism includes a hoisting cylinder and a lifting cylinder. Determining the initial movement speed of the hydraulic cylinder mechanism and the initial movement speed of the luffing mechanism, respectively, includes: Obtain the total retraction length of the hoisting cylinder, the total extension length of the lifting cylinder, and the total release length of the luffing mechanism; Determine the maximum theoretical speed of the hoisting cylinder, the maximum theoretical speed of the lifting cylinder, and the maximum theoretical speed of the luffing mechanism; The first theoretical motion time is determined based on the total retraction length of the lifting cylinder and the maximum theoretical speed of the lifting cylinder; The second theoretical motion time is determined based on the total extension length of the lifting cylinder and the maximum theoretical speed of the lifting cylinder; The third theoretical motion time is determined based on the total release length of the amplitude-changing mechanism and the maximum theoretical speed of the amplitude-changing mechanism; The maximum value among the first theoretical motion time, the second theoretical motion time, and the third theoretical motion time is determined as the target motion time; Based on the target motion time, the initial motion speeds of the hoisting cylinder, the lifting cylinder, and the luffing mechanism are determined respectively.

3. The control method according to claim 1, characterized in that, Determining the first target current based on the initial movement speed of the hydraulic cylinder mechanism, the extension length of the hydraulic cylinder mechanism, and the theoretical extension length of the hydraulic cylinder mechanism includes: Determine the first initial current corresponding to the initial movement speed of the hydraulic cylinder mechanism; The first initial current is adjusted according to the extension length of the hydraulic cylinder mechanism and the theoretical extension length of the hydraulic cylinder mechanism to obtain the first target current.

4. The control method according to claim 3, characterized in that, The first target current satisfies formula (1): ； （1） in, For the first target current, For the first initial current, This is the deviation current; The deviation current satisfies formula (2): ；（2） in, The deviation current, This is the proportional adjustment coefficient. This represents the difference in the extension length of the hydraulic cylinder mechanism during the first sampling period. This represents the difference in the extension length of the cylinder mechanism during the second sampling period. This represents the difference in the extension length of the cylinder mechanism during the third sampling period. The sampling period is The integral time constant is... is the differential time constant.

5. The control method according to claim 1, characterized in that, The step of combining the initial movement speed of the hydraulic cylinder mechanism and the initial movement speed of the luffing mechanism, and determining the second movement speed based on the first movement speed, includes: The second motion speed is determined based on the ratio of the initial motion speed of the hydraulic cylinder mechanism to the initial motion speed of the luffing mechanism, according to the first motion speed.

6. The control method according to claim 1, characterized in that, The hydraulic cylinder mechanism includes a hoisting cylinder and a lifting cylinder. Determining the theoretical extension length of the hydraulic cylinder mechanism includes: Obtain mast angle data; The theoretical extension lengths of the hoisting cylinder and the lifting cylinder are determined by combining the mast angle data.

7. The control method according to claim 6, characterized in that, The theoretical extension length of the lifting cylinder satisfies formula (3): ；（3） in, This refers to the theoretical extension length of the lifting cylinder. The length from the lifting cylinder to the mast support. The length from the mast support to the mast hinge point is determined based on the mast angle data. The length of the sling; The theoretical extension length of the lifting cylinder satisfies formula (4): ；（4） in, This is the theoretical extension length of the lifting cylinder. The distance between the apex of the lifting cylinder and the mast hinge point. This is the distance from the mast hinge point to the bottom of the lifting cylinder. These are known parameters related to the mast angle data.

8. 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 control method for the tracked crane lever according to any one of claims 1 to 7.

9. A crawler crane, characterized in that, include: The controller according to claim 8; The hydraulic cylinder mechanism, which communicates with the controller, is configured to actuate the mast in the crawler crane. The luffing mechanism, which communicates with the controller, is configured to actuate the mast in the crawler crane.

10. The crawler crane according to claim 9, characterized in that, The hydraulic cylinder mechanism includes: The lifting cylinder is configured to lift the mast in the crawler crane; The lifting cylinder is configured to lift the mast in the crawler crane.

11. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for the tracked crane lever according to any one of claims 1 to 7.

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