A Dynamic Protection Control Method, Control System and Lifting Equipment

Abstract

A dynamic protection control method, control system and lifting equipment for a lifting device. The control method includes: during driving braking, a braking acceleration acquisition system collects the vehicle braking acceleration generated by an electronic braking system to ensure that, within the allowable braking distance, the vehicle braking acceleration is less than the tipping acceleration, thereby dynamically limiting the maximum driving speed at which the equipment is allowed to operate. When the speed exceeds the maximum allowable operating speed, operations such as engine deceleration and gearbox downshifting are performed, and at the same time, the electronic braking force is restricted by an actuator to ensure smooth deceleration braking of the equipment. The steering acceleration acquisition and control system, a steering acceleration sensor collects the steering acceleration in real time and calculates the allowable steering speed of the steering wheel, so as to achieve the consistency between the steering speed of the steering axle and the driving speed. The present invention can achieve the purpose of intelligent dynamic anti-tipping of the crane and has a good protection effect on both people and objects.

Description

Technical Field

[0001] The present invention belongs to the field of crane equipment, and particularly relates to a dynamic protection control method, a control system and a lifting equipment for lifting equipment. Background Art

[0002] Logistics transfer equipment used in ports and terminal yards, etc. (mainly reach stackers, abbreviated as reach stackers, and stacker cranes, abbreviated as stackers, and also including forklifts, etc.), are mobile port equipment represented by reach stackers and stackers. Taking reach stackers as an example, the boom of the equipment can be telescoped and the boom angle can be changed, resulting in a large change in the center of gravity of the equipment; the load can reach 45T or even 60T, the driving speed of the equipment is relatively high, the maximum braking inertia overturning moment is large, and its stability is dynamically variable. During the transfer transportation, it completely depends on the operator's control of speed, braking force and steering angle, and the factors leading to equipment overturning cannot be completely eliminated, and there is a possibility of longitudinal and lateral overturning. The single overturning stability coefficient method only calculates the permitted acceleration and does not automatically control the braking torque. In actual driving conditions, when the brakes are suddenly stepped on, the equipment still has the situation of forward overturning, and at the same time, it cannot solve the lateral overturning caused by emergency steering during driving.

[0003] For example, a Chinese patent, a reach stacker anti-overturning auxiliary safety mechanism (publication number is CN208054771U, and the authorization announcement date is January 17, 2018), is mainly an anti-overturning support mechanism installed at the head of the frame body. During normal operation and driving, the connecting rod can swing at a certain angle around the hinge point with the support wheel, and does not affect the operation when the ground is basically stable. When there is an impact load or the front load is too large and the overturning moment is greater than the stability moment, causing the whole vehicle to lean forward, the connecting rod and the support wheel rotate clockwise around the hinge point to the limit angle. At this time, the support wheel touches the ground, increasing the stability moment and playing a supporting role of counter-reaction, which belongs to a mechanical mechanism for increasing the stability moment. Summary of the Invention

[0004] Aiming at the defects existing in the prior art, the purpose of the present invention is to propose a dynamic protection control method for lifting equipment, which can effectively solve the deficiencies existing in the prior art. The present invention realizes the purpose of intelligent dynamic anti-overturning of the crane, and has a good protection effect on both people and objects.

[0005] The second object of the present invention is to provide a dynamic protection control system for lifting equipment.

[0006] The third object of the present invention is to provide a lifting equipment.

[0007] The technical solution of the present invention is: a dynamic protection control method for lifting equipment, including:

[0008] Obtaining the overturning acceleration;

[0009] When the vehicle is braking, the braking acceleration generated by the electronic brake system is collected. If the braking distance allows, the distance between the obstacle and the front frame is detected by the millimeter-wave radar. If the braking acceleration of the vehicle is less than the rollover acceleration, the maximum speed allowed for the vehicle is dynamically limited. When the vehicle speed exceeds the maximum speed allowed for the vehicle, the engine is decelerated and the transmission is downshifted. At the same time, the electronic brake force is limited, that is, the maximum braking torque is limited. 制动 is the current braking force, and the maximum value is the maximum braking torque F Max , ensuring smooth deceleration and braking of the vehicle;

[0010] When the vehicle is turning, the system collects steering acceleration, calculates the permissible steering wheel speed, and controls the steering axle's steering speed to match the vehicle's travel speed. During emergency steering, the hydraulic steering flow distribution proportional valve actively reduces the steering acceleration.

[0011] Establish a system model, take the tire center as the coordinate, measure the center of mass position of each moving part of the vehicle through the long angle sensor and the load weight, and calculate the total mass M according to formula 1 and formula 2 总 The coordinates of the center of mass are (X, Y); according to formula 3, the system's rollover acceleration a is obtained 倾翻 ;

[0012] Formula 1:

[0013] Formula 2:

[0014] where m i is the weight of the i-th component, x i is the horizontal coordinate of the i-th component, y i is the vertical coordinate of the i-th component;

[0015] Among them, the boom, pitch cylinder and sling system, load (x i ,y i ) is a function of (θ, L), where θ is the angle of the boom and L is the length of the boom;

[0016] According to formula 3, the system's rollover acceleration a is obtained 倾翻 , Formula 3: Where g is the acceleration due to gravity, X and Y refer to M 总 The center of mass coordinate value.

[0017] When the brake pressure sensor outputs a signal, it is determined that the vehicle is in the driving braking state, and the acceleration sensor collects the vehicle braking acceleration generated by the electronic brake system to obtain a 反馈 , if the braking distance permits,反馈 = a 最小行驶 < a 倾翻 , where S max is the maximum effective braking distance, and V Emax is the maximum driving speed allowed for the whole vehicle; compare the driving speed V E of the whole vehicle with the maximum driving speed allowed for the whole vehicle. If V E > the maximum driving speed allowed for the whole vehicle, perform operations of Step A and Step B; where Step A is: perform engine deceleration and gearbox downshift operations to limit the maximum driving speed allowed for the whole vehicle, and Step B is: according to the braking force obtained from the electronic brake pedal signal, by reducing the opening of the hydraulic braking proportional valve, limit the supply amount of hydraulic oil, and adjust the braking force F 制动 generated by the brake disc. F 制动 = M 总 * a 制动 , where a 制动 is the braking acceleration of the whole vehicle.

[0018] If a 反馈 ≥ a 倾翻 , reduce the gearbox gear or engine speed.

[0019] When the whole vehicle is turning, obtain the steering acceleration through the steering acceleration sensor, and control the steering acceleration a 实际转向 to be less than the tipping acceleration a 转向倾翻 . Collect the steering angle and speed of the tire through the wire displacement sensor to calculate the allowable steering speed of the steering wheel, and ensure the consistency of the steering speed of the steering axle and the driving speed; when a 实际转向 ≥ a 转向倾翻 , control the maximum allowable steering acceleration of the steering axle by reducing the opening of the hydraulic steering flow distribution proportional valve, and reduce the magnitude of the acceleration a 实际转向 . Among them, where V E is the driving speed of the whole vehicle, R is the turning radius, and take the minimum value R min of R to obtain the maximum steering acceleration a 转向倾翻 . The steering wheel drives the steering, affects the real-time steering acceleration, and affects the real-time steering acceleration through the rotation speed of the steering wheel. The steering wheel is the input mechanism, and the steering axle is the output result.

[0020] When a 制动 ≥ 0.9 * a 倾翻 , perform the alarm operation for the relatively high running speed of the whole vehicle, perform engine speed reduction and gearbox downshift operations, and at the same time, by reducing the opening of the hydraulic braking proportional valve, limit the supply amount of hydraulic oil and reduce the braking force F 制动 generated by the brake disc;

[0021] When a 实际转向 ≥ 0.9 * a 转向倾翻 , perform the alarm operation for excessive vehicle steering speed, and at the same time, perform the engine speed reduction and gearbox downshift operations to reduce the steering speed of the steering axle. The steering speed of the steering axle can be assisted to be reduced through mode selection. The delay steering mode (in this mode, the tire rotates from the center to the left and right limits for 5 turns) and the conventional steering mode (in this mode, the tire rotates from the center to the left and right limits for 3.5 turns) can be selected.

[0022] A dynamic protection control system for a lifting device, comprising:

[0023] A data processing unit one for obtaining the roll acceleration;

[0024] A data processing unit four for obtaining the steering roll acceleration;

[0025] A controller for dynamically limiting the maximum driving speed allowed for the whole vehicle and controlling the consistency between the steering speed of the steering axle and the driving speed of the whole vehicle according to the steering permitted speed of the steering wheel; The controller is connected to a hydraulic braking proportional valve for limiting the braking force of the brake disc of the driving braking mechanism and a hydraulic steering flow distribution proportional valve for controlling the maximum permitted steering acceleration of the steering axle;

[0026] The data processing unit one includes a collection module one for collecting the centroid positions of each moving part of the whole vehicle, and a data processing unit two for calculating the centroid coordinates of the total mass M according to the centroid positions of each moving part of the whole vehicle collected by the collection module one 总 and a data processing unit three for calculating the roll acceleration through the centroid coordinate value of M 总 ;

[0027] The data processing unit four includes a collection module two for collecting the driving speed of the whole vehicle and a data processing unit five for calculating the steering roll acceleration according to the driving speed of the whole vehicle collected by the collection module two.

[0028] It further includes

[0029] A collection module three for collecting the braking acceleration and the steering acceleration;

[0030] When the braking acceleration a collected by the collection module three 制动 ≥ 0.9 * a 倾翻 , and the steering acceleration a 实际转向 ≥ 0.9 * a 转向倾翻 , an alarm unit for sending an alarm signal.

[0031] A lifting device, comprising a whole machine device, an electronic brake system, and further comprising the above control system;

[0032] The whole machine device includes a vehicle frame body, a boom, and a spreader; a long-angle sensor for measuring the extended length of the boom and the boom's pitching angle is installed at the tail of the boom, and inside the vehicle frame body, there is a travel acceleration sensor for detecting the actual driving speed of the whole vehicle by measuring the rotational speed of the transmission shaft or the rotational speed of the gearbox;

[0033] The electronic brake system includes an electronic brake pedal and a hydraulic braking proportional valve; the electronic brake pedal is installed inside the driver's cab, and the hydraulic proportional drive valve is installed inside the vehicle frame body. The hydraulic proportional drive valve is used to drive the travel braking mechanism, and the travel braking mechanism refers to the brake system or the brake disc, which controls the maximum allowable braking force;

[0034] The acquisition module three in the control system includes an acceleration sensor for detecting the braking acceleration of the current device, and the acceleration sensor is installed at the front end of the vehicle frame body;

[0035] The acquisition module three in the control system further includes a steering acceleration sensor; the steering acceleration sensor is used to detect the steering acceleration of the steering tires.

[0036] The present invention mainly analyzes and studies the above technical difficulties and finds that the key factor affecting the dynamic rollover of the whole vehicle is the braking torque. The present invention dynamically adjusts the maximum braking torque, thereby fundamentally solving the problem of dynamic anti-rollover of the whole vehicle. The present invention makes a detection feedback on the braking acceleration by adjusting the maximum braking torque in real time, and at the same time protects the steering acceleration and related lateral rollovers.

[0037] The present invention effectively detects the braking acceleration through the measurement of the centroid position, the calculation of the inertia torque, the electronic brake system, and the acceleration acquisition module, realizes the controllability of the braking torque and the detection of the steering acceleration, makes a feedback identification and automatic control of the critical factors causing rollover, and gives a warning message to the operator, thereby realizing the control of the crane's travel and steering and reducing the rollover risk. In addition, the alarm information can be automatically recorded and transmitted to the remote cloud platform to realize remote data management and analysis, and truly achieve the purpose of intelligent dynamic anti-rollover of the crane. Description of the Drawings

[0038] Figure 1 is a schematic plan view of a preferred embodiment of the whole vehicle device described in the first aspect of the present invention;

[0039] Figure 2 is a schematic plan top view of a preferred embodiment of the whole vehicle device described in the first aspect of the present invention;

[0040] Figure 3 is a schematic layout diagram of the steering angle sensor described in the present invention;

[0041] Figure 4It is the schematic diagram of the control method described in the second aspect of the present invention;

[0042] Figure 5 It is the system model;

[0043] Reference numerals: 1 boom, 2 long angle sensor, 3 spreader, 4 traveling speed sensor, 5 drive axle, 6 vehicle frame, 7 electronic brake system, 8 steering axle, 9 engine, 10 transmission, 11 hydraulic braking proportional valve, 12 acceleration sensor, 13 hydraulic steering flow distribution proportional valve, 14 steering acceleration sensor. Detailed implementation manners

[0044] The embodiments of the present invention will be described in detail below. The illustrated embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0045] In the description of the present invention, it should be noted that for orientation terms, such as the terms "center", "transverse (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the orientation and position relationships indicated are based on the orientation or position relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as limiting the specific protection scope of the present invention.

[0046] In addition, such terms as "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meanings of "several" and "a number of" are two or more, unless otherwise specifically defined.

[0047] The technical solutions and their beneficial effects of the present invention will be made clearer and more definite by further describing the specific implementation manners of the present invention in conjunction with the accompanying drawings of the specification. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0048] Specific Embodiment 1: A lifting device is composed of the following mechanisms: a whole machine device, an electronic brake system, and a controller.

[0049] Such as Figure 1 And Figure 2 、 3As shown in the figure, the whole machine device is composed of a boom 1, a spreader 3, a drive axle 5, a steering axle 8, an engine 9, a gearbox 10, a frame body 6, etc. At the tail of the boom 1, a long angle sensor 2 is installed to measure the extension length of the boom and the angle of the boom's pitch. The traveling speed sensor 4 is installed inside the frame body 6, and the actual traveling speed of the equipment is detected by measuring the rotational speed of the transmission shaft or the rotational speed of the gearbox.

[0050] Preferably, the braking acceleration acquisition system includes an acceleration sensor 12, which is installed at the front end of the frame body and is mainly used to detect the braking acceleration of the current equipment.

[0051] Preferably, the electronic brake system 7 mainly includes an electronic brake pedal, which is installed inside the driver's cab.

[0052] The hydraulic proportional drive valve 11 is installed inside the frame body 6 and is used to drive the traveling braking mechanism to control the maximum allowable braking force.

[0053] Preferably, the steering acceleration acquisition system is installed inside the steering axle 8 and mainly includes a steering acceleration sensor 14. The steering acceleration sensor 14 is mainly used to detect the steering acceleration of the steering tires, and the hydraulic steering flow distribution proportional valve 13 is mainly used to control the maximum allowable steering acceleration of the steering axle.

[0054] Figure 4 In the second aspect of the present invention, a control method is provided, which includes: [[ID=!7]]

[0055] Measure the centroid positions of the moving parts of the whole vehicle through the long angle sensor 2 and the load weight, and calculate the tipping acceleration. During traveling braking, the braking acceleration of the whole vehicle generated by the electronic brake system is collected through the acceleration sensor 12. Ensure that within the allowable braking distance, the distance between the obstacle detected by the millimeter-wave radar and the front frame body is ensured. Within the allowable braking distance, the braking acceleration of the whole vehicle is less than the tipping acceleration, so as to dynamically limit the maximum traveling speed allowed for the equipment to operate. When the speed exceeds the maximum allowable operating speed, operations such as decelerating the engine 9 and downshifting the gearbox 10 are performed. At the same time, the electronic brake force is also limited through the actuator (i.e., the hydraulic braking proportional valve), that is, the maximum braking torque is limited to ensure the equipment decelerates and brakes smoothly. The maximum braking distance is reference empirical data, usually 10 meters; the allowable braking distance needs to be less than or equal to the maximum braking distance.

[0056] The steering acceleration is collected in real time through the steering acceleration sensor 14, so as to calculate the allowable steering speed of the steering wheel through the actuator, so as to achieve the consistency between the steering speed of the steering axle and the traveling speed.

[0057] To achieve the above objectives, the dynamic anti-tipping protection device for lifting equipment described in the first aspect of the present invention consists of the following mechanisms: the whole machine device, the braking acceleration acquisition system, the electronic braking system, and the steering acceleration acquisition and control system.

[0058] The whole machine device includes a vehicle frame body, a boom, and a lifting appliance. The tail of the boom includes a long-angle sensor for measuring the extension length of the boom and the angle of the boom's pitch. The traveling acceleration sensor is located inside the vehicle frame body and detects the actual traveling speed of the equipment by measuring the rotational speed of the transmission shaft or the rotational speed of the gearbox.

[0059] Preferably, the braking acceleration acquisition system includes an acceleration sensor installed at the front end of the vehicle frame body, mainly for detecting the braking acceleration of the current equipment.

[0060] Preferably, the electronic braking system mainly includes an electronic brake pedal and a hydraulic braking proportional valve. The electronic brake pedal is installed inside the driver's cab, and the hydraulic proportional drive valve is installed inside the vehicle frame body to drive the traveling braking mechanism and control the maximum allowable braking force. The signal of the electronic brake pedal enters the controller, and the controller outputs to control the opening degree of the hydraulic braking proportional valve to limit the supply amount of hydraulic oil.

[0061] Preferably, the steering acceleration acquisition and control system mainly includes a steering acceleration sensor and a hydraulic steering flow distribution proportional valve. The steering acceleration sensor is mainly used to detect the steering acceleration of the steering tires, and the hydraulic steering flow distribution proportional valve is mainly used to control the maximum allowable steering acceleration of the steering axle. By outputting from the controller to control the opening degree of the hydraulic steering flow distribution proportional valve to limit the supply amount of hydraulic oil, the steering speed can be restricted, thereby affecting the steering acceleration.

[0062] System calculation

[0063] Establish a system model with the center of the front tires as the coordinate, as Figure 5 .

[0064]

[0065]

[0066] where m i is the weight of the i-th component, x i is the horizontal coordinate of the i-th component, and y i is the vertical coordinate of the i-th component;

[0067] The centroid coordinates of the total mass M 总 are (X, Y).

[0068] Among them, for the boom, the pitch cylinder and the lifting appliance system, and the load (x i, y i ) is a function of (θ, L).

[0069] Where θ is the angle of the boom and L is the length of the boom.

[0070] Thus, the tipping acceleration of the system is obtained:

[0071] Where g is the acceleration due to gravity.

[0072] a 实际制动 is the braking acceleration collected by the acceleration sensor.

[0073] The driving braking force F generated by the electronic brake pedal 制动 = M 总 *a 制动

[0074] F 制动 is the braking force generated by driving the brake disc by the hydraulic braking proportional valve through the electronic brake pedal signal, and a 制动 is the braking acceleration of the whole vehicle. Stepping on the electronic brake pedal manually sends an electronic brake pedal signal, and the electronic brake pedal signal feeds back the braking pressure.

[0075] The operating acceleration can be obtained from the vehicle running speed and the braking distance:

[0076] Where V Emax is the maximum running speed allowed for the whole vehicle, S is the braking distance, where S is less than the maximum effective braking distance S max . So

[0077] The condition for the system to run and brake stably is: a 最小行驶 ≈ a 制动 < a 倾翻

[0078] Where a 实际制动 ≈ a 制动 , so

[0079] The maximum allowable running speed V of the system operation is limited by a 反馈 . The operating gear and engine speed are adjusted in real time by a Emax to achieve the purpose of limiting the driving speed. And V 反馈 is related to the engine speed and the gear of the transmission. The maximum allowable running speed can be limited by restricting the engine speed and the gear of the transmission. Emax is related to the engine speed and the gear of the transmission. The maximum allowable running speed can be limited by restricting the engine speed and the gear of the transmission.

[0080] At the same time, F 反馈 is adjusted by a 制动, the hydraulic brake proportional valve is controlled by an electronic brake pedal. The electronic brake pedal signal enters the controller, and the controller outputs to control the opening of the electro-hydraulic proportional valve, restricting the supply of hydraulic oil and regulating the braking force F 制动 magnitude. By adjusting the output of the controller, the opening of the hydraulic brake proportional valve is reduced, i.e., the braking oil supply is regulated.

[0081] When the vehicle is turning, the steering acceleration where V E is the vehicle driving speed and R is the turning radius. Taking R min the maximum steering acceleration is obtained.

[0082] The condition for satisfying steering stability is a 实际转向 < a 转向倾翻 , only then can the vehicle achieve stable turning and avoid centrifugal tipping. Therefore, the vehicle driving speed V E should also meet the requirements of the steering acceleration.

[0083] During emergency steering, the steering acceleration a 实际转向 magnitude can also be actively reduced by the hydraulic steering flow distribution proportional valve, thus avoiding over-reliance on human factors and solving the hidden danger of vehicle side tipping.

[0084] Safety protection

[0085] During the driving of the reach stacker, when a 制动 ≥ 0.9 * a 倾翻 , the system warns that the operating speed of the whole machine is relatively high, and at the same time, the engine speed is reduced, the gearbox is downshifted, etc., and the maximum allowable electronic braking force is automatically reduced.

[0086] When a 实际转向 ≥ 0.9 * a 转向倾翻 , the system warns that the steering is too fast, and at the same time, the engine speed is reduced, the gearbox is downshifted, etc., and the steering speed of the steering axle can be assisted to be reduced through mode selection.

[0087] In the description of the specification, the descriptions with reference to terms such as "one embodiment", "preferably", "example", "specific example" or "some examples", etc., mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. The schematic expressions of the above terms in this specification do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0088] Through the description of the above structures and control methods, those skilled in the art should understand that the present invention is not limited to the above specific embodiments, and improvements and substitutions using well-known techniques in the art based on the present invention fall within the protection scope of the present invention, which should be defined by each claim.

Claims

1. A dynamic protection control method for a lifting device, characterized in that: Including: Obtaining the tipping acceleration; When the whole vehicle is driving and braking, collect the vehicle braking acceleration generated by the electronic braking system. When the braking distance permits, the vehicle braking acceleration is less than the tipping acceleration, and dynamically limit the maximum driving speed allowed for the whole vehicle to run. When the driving speed of the whole vehicle exceeds the maximum driving speed allowed for the whole vehicle to run, perform engine deceleration and gearbox downshift operations, and at the same time limit the electronic braking force to ensure the whole vehicle decelerates and brakes smoothly; When the whole vehicle is steering, collect the steering acceleration, calculate the permitted steering speed of the steering wheel, and control the consistency between the steering speed of the steering axle and the driving speed of the whole vehicle; Build a system model. Taking the center of the front tire as the coordinate, measure the centroid positions of all moving parts of the vehicle through a long-angle sensor and the load weight, and calculate the centroid coordinates of the total mass according to Formula 1 and Formula 2. The centroid coordinates of are (X, Y); obtain the rollover acceleration of the system according to Formula 3 ; Formula 1: ; Formula 2: ; wherein is the weight of the i-th component part, is the horizontal coordinate of the i-th component part, is the vertical coordinate of the i-th component part; Among them, the boom, the luffing cylinder, the spreader system, and the load are functions of, where is the angle of the boom, is the length of the boom; The tipping acceleration of the system is obtained according to Equation 3 , Equation 3: , where is the acceleration due to gravity, and X and y are the centroid coordinate values of M 总 ; Obtain a by collecting the vehicle braking acceleration generated by the electronic braking system through an acceleration sensor 反馈 , when the braking distance permits, if a 反馈 =a 最小行驶 <a 倾翻 , where , S max is the maximum effective braking distance, is the maximum driving speed allowed for the vehicle to run; compare the vehicle driving speed with the maximum driving speed allowed for the vehicle to run. If >the maximum driving speed allowed for the vehicle to run, perform operations of Step A and Step B; where Step A is: perform engine deceleration and gearbox downshift operations to limit the maximum driving speed allowed for the vehicle to run, and Step B is: adjust the braking force generated by the brake disc by reducing the opening degree of the hydraulic braking proportional valve magnitude, , where is the braking acceleration of the vehicle 2. The dynamic protection control method for a lifting device according to claim 1, characterized in that: If a 反馈 a 倾翻 , reduce the gearbox gear or engine speed.

3. The dynamic protection control method for a lifting device according to claim 1, characterized in that: When the whole vehicle is steering, the steering acceleration is obtained through the steering acceleration sensor to control the steering acceleration a 实际转向 less than the tipping acceleration , the angle and speed of the tire steering are collected through the wire displacement sensor to calculate the allowable steering speed of the steering wheel, ensuring the consistency between the steering speed of the steering axle and the driving speed; when , the maximum allowable steering acceleration of the steering axle is controlled by reducing the opening of the hydraulic steering flow distribution proportional valve to reduce the acceleration magnitude, where , where is the driving speed of the whole vehicle, R is the turning radius, and the minimum value of R is taken to obtain the maximum steering acceleration .

4. The dynamic protection control method for a lifting device according to claim 1, characterized in that: When the vehicle's running speed is relatively high, an alarm operation for the vehicle's running speed is executed, and the engine speed is reduced and the gear of the transmission is downshifted. At the same time, by reducing the opening degree of the hydraulic brake proportional valve, the braking force generated by the brake disc is reduced ; When occurs, perform the operation of alarming for excessive vehicle steering speed, and at the same time, perform the operations of reducing the engine speed and downshifting the transmission to reduce the steering speed of the steering axle.

5. A dynamic protection control system for a lifting device adopting the dynamic protection control method of the lifting device as described in claim 1, characterized in that: Including: A data processing unit one for obtaining the tipping acceleration; A data processing unit four for obtaining the steering tipping acceleration; A controller for dynamically limiting the maximum driving speed allowed for the whole vehicle to run and controlling the consistency between the steering speed of the steering axle and the driving speed of the whole vehicle according to the permitted steering speed of the steering wheel; The controller is connected to a hydraulic braking proportional valve for limiting the braking disc braking force of the driving braking mechanism and a hydraulic steering flow distribution proportional valve for controlling the maximum permitted steering acceleration of the steering axle; The first data processing unit includes a first acquisition module for acquiring the centroid positions of each moving part of the vehicle, and a second data processing unit for calculating the centroid coordinates of the total mass according to the centroid positions of each moving part of the vehicle acquired by the first acquisition module and a third data processing unit for calculating the rollover acceleration through the centroid coordinate value The data processing unit four includes a collection module two for collecting the driving speed of the whole vehicle and a data processing unit five for calculating the steering tipping acceleration according to the driving speed of the whole vehicle collected by the collection module two.

6. The dynamic protection control system for a lifting device according to claim 5, wherein: It also includes A collection module three for collecting the braking acceleration and the steering acceleration; An alarm unit for sending an alarm signal when the braking acceleration and the steering acceleration are collected by the third acquisition module.

7. A lifting device, characterized in that: Including the whole machine device, the electronic braking system, and also including the control system according to any one of claims 5 or 6; The whole machine device includes a vehicle frame body, a boom, and a spreader; A long angle sensor for measuring the extension length of the boom and the boom pitching angle is installed at the tail of the boom, and a driving acceleration sensor for detecting the actual driving speed of the whole vehicle by measuring the transmission shaft speed or the gearbox speed is installed inside the vehicle frame body; The electronic braking system includes an electronic brake pedal and a hydraulic braking proportional valve; The electronic brake pedal is installed inside the driver's cab, and the hydraulic proportional drive valve is installed inside the vehicle frame body. The hydraulic proportional drive valve is used to drive the driving braking mechanism and control the maximum permitted braking force; The collection module three in the control system includes an acceleration sensor for detecting the braking acceleration of the current device, and the acceleration sensor is installed at the front end of the vehicle frame body; The collection module three in the control system also includes a steering acceleration sensor; The steering acceleration sensor is used to detect the steering acceleration of the steering tire.

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