A method and system for power control of an aerial work platform

Abstract

The application provides a kind of aerial work platform power control method, method is through when aerial work platform is in running state, obtains real-time platform chassis inclination and engine real-time speed;Subsequently through real-time platform chassis inclination and engine real-time speed, calculate and obtain composite walking hydraulic displacement current;Composite walking hydraulic displacement current is converted into the PWM voltage signal of the hydraulic pump proportional valve of aerial work platform;Through PWM point signal control hydraulic pump displacement, so that the hydraulic power generated by hydraulic pump is not greater than the output power under engine real-time speed.The application, compared with prior art, dynamically and continuously adjusts the displacement output of hydraulic pump according to the change of real-time platform chassis inclination and engine real-time speed, to control the power adaptation of aerial work platform, suitable for various scenes or working conditions, save cost and improve work efficiency.The system has the same beneficial effects.

Description

Technical Field

[0001] This invention relates to the field of aerial work platform technology, and in particular to a power control method and system for aerial work platforms. Background Technology

[0002] Aerial work platforms are mobile aerial work platforms that serve various industries for high-altitude operations, equipment installation, maintenance, and other similar tasks.

[0003] Currently, aerial work platforms are equipped with high-power engines. However, due to the typical operating conditions of aerial work platforms, high power is generally only required when climbing slopes, and this type of operation accounts for a relatively small proportion, leaving ample engine power. Directly equipping them with low-power engines would result in insufficient power and engine stalling under high-power conditions.

[0004] Therefore, providing a power control method and system for aerial work platforms that adaptively adjusts engine power to suit various scenarios or working conditions is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a power control method for aerial work platforms. This method is logically clear, safe, effective, reliable and easy to operate. It can adaptively adjust the engine power to adapt to various scenarios or working conditions, thereby saving costs and improving work efficiency.

[0006] Based on the above objectives, the technical solution provided by the present invention is as follows:

[0007] A power control method for aerial work platforms includes the following steps:

[0008] When the aerial work platform is in operation, the real-time platform chassis tilt angle and the real-time engine speed are obtained respectively.

[0009] The composite walking hydraulic displacement current is obtained based on the real-time platform chassis tilt angle and the real-time engine speed.

[0010] The composite walking hydraulic displacement current is converted into a PWM voltage signal for the hydraulic pump proportional valve.

[0011] The hydraulic pump displacement is controlled according to the PWM voltage signal so that the corresponding hydraulic power is not greater than the output power of the engine at the real-time speed.

[0012] Preferably, before acquiring the real-time platform chassis tilt angle and engine speed when the aerial work platform is in operation, the following steps are also included:

[0013] Determine if the driving handle of the aerial work platform is in the middle position;

[0014] If so, the aerial work platform is in a stopped state, and power control is stopped;

[0015] If not, the aerial work platform is in operation.

[0016] Preferably, obtaining the composite travel hydraulic displacement current based on the real-time platform chassis tilt angle and the real-time engine speed includes the following steps:

[0017] The feedforward displacement current is obtained based on the real-time platform chassis tilt angle and the preset tilt angle threshold.

[0018] The feedback displacement current is obtained based on the real-time engine speed and the preset speed threshold.

[0019] The composite walking hydraulic displacement current is obtained based on the feedforward displacement current and the feedback displacement current.

[0020] Preferably, obtaining the feedforward displacement current based on the real-time platform chassis tilt angle and a preset tilt angle threshold includes the following steps:

[0021] Determine whether the real-time platform chassis tilt angle is greater than the preset tilt angle threshold, and obtain the tilt angle difference between the real-time platform chassis tilt angle and the preset tilt angle threshold;

[0022] The feedforward displacement current is obtained based on the first judgment result, the tilt angle difference, and the first preset formula.

[0023] Preferably, obtaining the feedforward displacement current based on the first judgment result, the tilt angle difference, and the first preset formula specifically involves:

[0024] When the first judgment result is yes, the first preset formula is:

[0025] I1 = I1 - α * Δθ;

[0026] When the first judgment result is negative, the first preset formula is:

[0027] I1 = I1 + α*Δθ;

[0028] Where I1 is the feedforward displacement current, α is the preset tilt angle-current conversion coefficient, and Δθ is the tilt angle difference.

[0029] Preferably, obtaining the feedback displacement current based on the engine's real-time speed and a preset speed threshold includes the following steps:

[0030] Determine whether the real-time engine speed is greater than the preset speed threshold, and obtain the speed difference between the real-time engine speed and the preset speed threshold;

[0031] The feedback displacement current is obtained based on the second judgment result, the speed difference, and the second preset formula.

[0032] Preferably, obtaining the feedback displacement current based on the second judgment result, the speed difference, and the second preset formula specifically involves:

[0033] When the second judgment result is yes, the second preset formula is:

[0034] I2 = I2 - β * Δn;

[0035] When the second judgment result is negative, the second preset formula is:

[0036] I2 = I2 + β*Δn;

[0037] Where I2 is the feedforward displacement current, β is the preset speed-current conversion coefficient, and Δn is the speed difference.

[0038] Preferably, the step of controlling the displacement of the hydraulic pump according to the PWM voltage signal so that the corresponding hydraulic power is not greater than the output power of the engine at the real-time speed specifically involves:

[0039] The PWM voltage signal is applied to the coil of the hydraulic pump proportional valve through the connecting wire harness to form a loop current signal;

[0040] Based on the circuit current signal, the displacement of the hydraulic pump is controlled by adjusting the angle of the swashplate, so that the corresponding hydraulic power is not greater than the output power of the engine at the real-time speed.

[0041] A power control system for aerial work platforms, comprising:

[0042] The acquisition module is used to acquire the real-time platform chassis tilt angle and the real-time engine speed when the aerial work platform is in operation.

[0043] The composite walking hydraulic displacement current module is used to obtain the composite walking hydraulic displacement current based on the real-time platform chassis tilt angle and the real-time engine speed.

[0044] The PWM voltage module is used to convert the composite walking hydraulic displacement current into a PWM voltage signal for the hydraulic pump proportional valve.

[0045] The control module controls the displacement of the hydraulic pump according to the PWM voltage signal, so that the corresponding hydraulic power is not greater than the output power of the engine at the real-time speed.

[0046] The aerial work platform power control method provided by this invention involves acquiring the real-time platform chassis tilt angle and engine speed when the aerial work platform is in operation; then calculating the composite travel hydraulic displacement current using the real-time platform chassis tilt angle and engine speed; converting the composite travel hydraulic displacement current into a PWM voltage signal for the proportional valve of the hydraulic pump of the aerial work platform; and controlling the hydraulic pump displacement through the PWM signal to ensure that the hydraulic power generated by the hydraulic pump is not greater than the output power of the engine at the real-time engine speed.

[0047] Compared to existing technologies, this invention dynamically and continuously adjusts the hydraulic pump's displacement output based on real-time changes in the platform chassis tilt angle and engine speed, thereby controlling the power adaptation of the aerial work platform. This makes it suitable for various scenarios or working conditions, saving costs and improving operational efficiency.

[0048] The present invention also provides a power control system for aerial work platforms. Since it belongs to the same technical concept as the method and solves the same technical problem, it should have the same beneficial effects, and will not be described in detail here. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0050] Figure 1 A flowchart of a power control method for an aerial work platform provided in an embodiment of the present invention;

[0051] Figure 2 A flowchart of step S2 provided in an embodiment of the present invention;

[0052] Figure 3 A flowchart of step A1 provided in an embodiment of the present invention;

[0053] Figure 4 A flowchart of step A2 provided in an embodiment of the present invention;

[0054] Figure 5 This is a flowchart illustrating the specific implementation of step S4 in an embodiment of the present invention.

[0055] Figure 6 This is a schematic diagram of the structure of a power control system for an aerial work platform provided in an embodiment of the present invention. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] The embodiments of this invention are written in a progressive manner.

[0058] This invention provides a power control method and system for aerial work platforms. It primarily addresses the technical problem in the prior art where the engine power of aerial work platforms is mismatched with the actual application scenario or operating conditions, leading to increased costs and reduced work efficiency.

[0059] like Figure 1 As shown, a power control method for an aerial work platform includes the following steps:

[0060] S1. When the aerial work platform is in operation, the real-time platform chassis tilt angle and the real-time engine speed are obtained respectively;

[0061] S2. Obtain the composite travel hydraulic displacement current based on the real-time platform chassis tilt angle and the real-time engine speed;

[0062] S3. Convert the composite walking hydraulic displacement current into the PWM voltage signal of the hydraulic pump proportional valve;

[0063] S4. Control the hydraulic pump displacement according to the PWM voltage signal so that the corresponding hydraulic power is not greater than the output power of the engine at the real-time speed.

[0064] In step S1, when the aerial work platform is in operation, the real-time platform chassis tilt angle θ and the real-time engine speed n are collected by sensors installed on the chassis and engine and uploaded to the controller.

[0065] In step S2, after the controller collects the real-time platform chassis tilt angle θ and the real-time engine speed n, it calculates the composite travel hydraulic displacement current.

[0066] In step S3, the obtained composite walking hydraulic displacement current is converted into a PWM voltage signal for controlling the hydraulic pump displacement proportional solenoid valve through the current-to-voltage conversion module in the controller.

[0067] In step S4, after receiving the PWM voltage signal, the hydraulic pump displacement proportional solenoid valve controls the hydraulic pump displacement according to the voltage signal so that the hydraulic power is not greater than the output power corresponding to the engine real-time speed.

[0068] Preferably, before step S1, the following steps are also included:

[0069] Determine if the driving handle of the aerial work platform is in the middle position;

[0070] If so, the aerial work platform is in a stopped state, and power control is stopped;

[0071] If not, the aerial work platform is in operation.

[0072] In actual use, before executing step S1, the controller determines whether the driving handle of the high-pressure work platform is in the middle position. If it is, the high-pressure work platform is in a stopped or standby state and no power control is required; if it is not, the high-pressure work platform is in the running state and step S1 is executed.

[0073] like Figure 2 As shown, preferably, step S2 includes the following steps:

[0074] A1. Obtain the feedforward displacement current based on the real-time platform chassis tilt angle and the preset tilt angle threshold;

[0075] A2. Obtain the feedback displacement current based on the engine's real-time speed and preset speed threshold;

[0076] A3. Obtain the composite walking hydraulic displacement current based on the feedforward displacement current and the feedback displacement current.

[0077] In steps A1 to A3, a tilt angle threshold and a speed threshold are preset in advance. The feedforward displacement current is calculated and obtained by using the real-time platform tilt angle of the chassis and the corresponding preset tilt angle threshold. The feedback displacement current is calculated and obtained by using the real-time engine speed and the corresponding preset speed threshold. The composite travel hydraulic displacement current is obtained by using the obtained feedforward displacement current and feedback displacement current.

[0078] In this embodiment, the composite walking hydraulic displacement current is the sum of the feedforward displacement current and the feedback displacement current, as shown in the following formula:

[0079] I = I1 + I2, I ∈ [I min I max ]

[0080] like Figure 3 As shown, preferably, step A1 includes the following steps:

[0081] B1. Determine whether the real-time platform chassis tilt angle is greater than the preset tilt angle threshold, and obtain the tilt angle difference between the real-time platform chassis tilt angle and the preset tilt angle threshold;

[0082] B2. Based on the first judgment result, the tilt angle difference, and the first preset formula, obtain the feedforward displacement current.

[0083] Preferably, step B2 specifically includes:

[0084] When the first judgment result is yes, the first preset formula is:

[0085] I1 = I1 - α * Δθ;

[0086] When the first judgment result is negative, the first preset formula is:

[0087] I1 = I1 + α*Δθ;

[0088] Where I1 is the feedforward displacement current, α is the preset tilt angle-current conversion coefficient, and Δθ is the tilt angle difference.

[0089] In steps B1 to B2, it is determined whether the real-time platform chassis tilt angle θ is greater than the preset tilt angle threshold θ0, that is, it is determined whether the aerial work platform is currently in a flat working condition or a climbing working condition. When the first judgment result is yes or no, the corresponding first preset formula and the tilt angle difference Δθ are selected to calculate the feedforward displacement current.

[0090] The formula for obtaining the tilt angle difference Δθ is:

[0091] Δθ=θ-θ0

[0092] like Figure 4 As shown, preferably, step A2 includes the following steps:

[0093] C1. Determine whether the real-time engine speed is greater than the preset speed threshold, and obtain the speed difference between the real-time engine speed and the preset speed threshold;

[0094] C2. Based on the second judgment result, the speed difference, and the second preset formula, obtain the feedback displacement current.

[0095] Preferably, step C2 specifically includes:

[0096] When the second judgment result is yes, the second preset formula is:

[0097] I2 = I2 - β * Δn;

[0098] When the second judgment result is negative, the second preset formula is:

[0099] I2 = I2 + β*Δn;

[0100] Where I2 is the feedforward displacement current, β is the preset speed-current conversion coefficient, and Δn is the speed difference.

[0101] In steps C1 to C2, it is determined whether the real-time engine speed n is greater than the preset speed threshold n0 of the preset transmitter, that is, to determine the power output state of the engine at the current speed. When the second judgment result is yes or no, the corresponding second preset formula and the speed difference Δn are selected to calculate the feedback displacement current.

[0102] like Figure 5 As shown, preferably, step S4 specifically includes:

[0103] D1. The PWM voltage signal is applied to the coil of the hydraulic pump proportional valve through the connecting harness to form a loop current signal;

[0104] D2. Based on the circuit current signal, the displacement of the hydraulic pump is controlled by adjusting the angle of the slant plate of the hydraulic pump, so that the corresponding hydraulic power is not greater than the output power of the engine at the real-time speed.

[0105] In steps D1 and D2, the output pin drive signal of the controller is a PWM voltage signal. This signal is applied to the coil of the hydraulic pump displacement proportional solenoid valve (reactive load) through the connecting harness to form a loop current signal. This signal can control the variable mechanism of the hydraulic pump to drive the hydraulic pump swashplate angle to change, thereby controlling the output displacement of the hydraulic pump so that the hydraulic power is not greater than the output power corresponding to the real-time engine speed.

[0106] like Figure 6 As shown, a power control system for an aerial work platform includes:

[0107] The acquisition module is used to acquire the real-time platform chassis tilt angle and the real-time engine speed when the aerial work platform is in operation.

[0108] The composite walking hydraulic displacement current module is used to obtain the composite walking hydraulic displacement current based on the real-time platform chassis tilt angle and the real-time engine speed.

[0109] The PWM voltage module is used to convert the composite travel hydraulic displacement current into a PWM voltage signal for the hydraulic pump proportional valve.

[0110] The control module controls the displacement of the hydraulic pump based on the PWM voltage signal, so that the corresponding hydraulic power does not exceed the output power of the engine at the real-time speed.

[0111] In practical applications, the aerial work platform power control system, through an acquisition module, collects real-time chassis tilt angle and engine speed data while the platform is in motion, and sends this data to the composite travel hydraulic displacement current module in the controller. This module, combined with the real-time chassis tilt angle and engine speed, calculates the composite travel hydraulic displacement current and sends it to the PWM voltage module. The PWM voltage module then converts this current into a PWM voltage signal to control the proportional valve of the hydraulic pump, and sends this signal to the control module. The control module then controls the hydraulic pump's displacement based on the PWM voltage signal, ensuring that the corresponding hydraulic power does not exceed the engine's output power at its real-time speed.

[0112] In the embodiments provided in this application, it should be understood that the disclosed methods and systems can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, and can be electrical, mechanical, or other forms.

[0113] Furthermore, in the various embodiments of the present invention, each functional module can be fully integrated into a processor, or each module can be a separate device, or two or more modules can be integrated into a device; each functional module in the various embodiments of the present invention can be implemented in hardware or in the form of hardware plus software functional units.

[0114] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by program instructions and related hardware. The aforementioned program instructions can be stored in a computer-readable storage medium. When the program instructions are executed, they perform the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0115] It should be understood that the use of terms such as "system," "device," "unit," and / or "module" in this application is merely one method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0116] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0117] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0118] If a flowchart is used in this application, it is used to illustrate the operations performed by the system according to embodiments of this application. It should be understood that the preceding or following operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. Furthermore, other operations can be added to these processes, or one or more steps can be removed from them.

[0119] The above provides a detailed description of a power control method and system for aerial work platforms provided by the present invention. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of power control for an aerial work platform, characterized by, The method comprises the following steps: obtaining a real-time platform chassis inclination angle and a real-time engine speed when the aerial work platform is in a running state; obtaining a composite walking hydraulic displacement current according to the real-time platform chassis inclination angle and the real-time engine speed; converting the composite walking hydraulic displacement current into a PWM voltage signal of a hydraulic pump proportional valve; controlling the displacement of the hydraulic pump according to the PWM voltage signal, so that the corresponding hydraulic power is not greater than the output power under the real-time engine speed; the step of obtaining the composite walking hydraulic displacement current according to the real-time platform chassis inclination angle and the real-time engine speed comprises the following steps: obtaining a feed-forward displacement current according to the real-time platform chassis inclination angle and a preset inclination threshold; obtaining a feedback displacement current according to the real-time engine speed and a preset speed threshold; obtaining the composite walking hydraulic displacement current according to the feed-forward displacement current and the feedback displacement current; the step of obtaining the feed-forward displacement current according to the real-time platform chassis inclination angle and the preset inclination threshold comprises the following steps: determining whether the real-time platform chassis inclination angle is greater than the preset inclination threshold, and obtaining an inclination difference between the real-time platform chassis inclination angle and the preset inclination threshold; obtaining the feed-forward displacement current according to a first determination result, the inclination difference and a first preset formula; the step of controlling the displacement of the hydraulic pump according to the PWM voltage signal, so that the corresponding hydraulic power is not greater than the output power under the real-time engine speed, specifically comprises: loading the PWM voltage signal onto the coil of the hydraulic pump proportional valve through a connection harness to form a loop current signal; controlling the displacement of the hydraulic pump according to the loop current signal by adjusting the angle of the hydraulic pump bevel disc, so that the corresponding hydraulic power is not greater than the output power under the real-time engine speed.

2. The aerial work platform power control method of claim 1, wherein, Before the steps of obtaining a real-time platform chassis inclination angle and a real-time engine speed when the aerial work platform is in a running state, the method further comprises the following steps: determining whether the travel handle of the aerial work platform is in a neutral position; if yes, the aerial work platform is in a stop state, and power control is stopped; if no, the aerial work platform is in a running state.

3. The aerial work platform power control method of claim 1, wherein, the step of obtaining the feed-forward displacement current according to a first determination result, the inclination difference and a first preset formula, specifically comprises: when the first determination result is yes, the first preset formula is: ； when the first determination result is no, the first preset formula is: ； wherein, is a feed-forward displacement current, is a preset tilt-angle-current conversion coefficient, is a tilt-angle difference.

4. The aerial work platform power control method of claim 1, wherein, the step of obtaining a feedback displacement current according to the real-time engine speed and a preset speed threshold comprises the following steps: determining whether the real-time engine speed is greater than the preset speed threshold, and obtaining a speed difference between the real-time engine speed and the preset speed threshold; obtaining the feedback displacement current according to a second determination result, the speed difference and a second preset formula.

5. The aerial work platform power control method of claim 4, wherein, the step of obtaining the feedback displacement current according to a second determination result, the speed difference and a second preset formula, specifically comprises: when the second determination result is yes, the second preset formula is: ； when the second determination result is no, the second preset formula is: ； wherein, is a feed forward displacement current, is a preset rotational speed-current conversion coefficient, is a rotational speed difference.

6. A power control system for a mobile elevated work platform, for use in the power control method for a mobile elevated work platform as claimed in claim 1, characterized in that, comprises: An acquisition module is configured to acquire a real-time platform chassis inclination angle and a real-time engine rotating speed when the aerial work platform is in a running state; A composite traveling hydraulic displacement current module is configured to acquire a composite traveling hydraulic displacement current according to the real-time platform chassis inclination angle and the real-time engine rotating speed; A PWM voltage module is configured to convert the composite traveling hydraulic displacement current into a PWM voltage signal of a hydraulic pump proportional valve; A control module is configured to control a displacement of the hydraulic pump according to the PWM voltage signal, so that a corresponding hydraulic power is not greater than an output power at the real-time engine rotating speed.

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