Construction method of hydraulic tower crane operation instruction response model

Abstract

The invention discloses a construction method of a hydraulic tower crane operation instruction response model and a control method for a hydraulic tower crane. The construction method comprises the following steps: acquiring a working condition type corresponding to an operation instruction; constructing an operation instruction numerical value conversion model according to the working condition type; obtaining a current control instruction separation value; constructing a hydraulic driving assembly output current model according to the current control instruction separation value; and constructing a hydraulic tower crane operation instruction response model according to the operation instruction numerical value conversion model and the hydraulic driving assembly output current model. According to the hydraulic tower crane operation instruction response model constructed by the construction method, the situation that the control current value of the hydraulic driving assembly is too large when the executing mechanism of the hydraulic tower crane is started or stopped can be avoided, and then the situation that the executing mechanism shakes after the working mode is started or the situation that the executing mechanism swings after the working mode is closed can be avoided.

Description

Technical Field

[0001] The present application belongs to the technical field of hydraulic tower cranes, and specifically relates to a method for constructing a hydraulic tower crane operation instruction response model and a control method for a hydraulic tower crane. Background Art

[0002] Hydraulic tower cranes usually convert the operating instructions of the actuator into the control of the hydraulic drive pump and hydraulic drive motor of the actuator, and then limit the output current of the hydraulic drive pump and hydraulic drive motor according to the lifting weight limit to achieve the limit speed effect. However, for hydraulic tower cranes with high start-stop requirements, if the method of simply linearly converting the operating instructions into the flow opening of the pump and motor is still used, the shaking of the actuator when starting and the swing back when stopping cannot be well controlled;

[0003] In addition, the existing hydraulic tower crane operators need to perform different operations in different working conditions (such as lifting conditions, rotation conditions or luffing conditions), which places high operating requirements on the operators. If the operators lack operating experience or make unexpected operating errors, the hydraulic tower crane may easily lose control or malfunction due to improper operation, and the safety of the hydraulic tower crane cannot be guaranteed. Summary of the invention

[0004] The purpose of the present application is to provide a method for constructing a hydraulic tower crane operation instruction response model and a control method for a hydraulic tower crane, which can at least solve one of the above-mentioned technical problems.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a method for constructing a hydraulic tower crane operation instruction response model, the construction method comprising:

[0006] Get the working condition type corresponding to the operation instruction;

[0007] Construct an operation instruction numerical conversion model according to the working condition type;

[0008] Get the current control instruction separation value;

[0009] Constructing a hydraulic drive component output current model according to the current control command separation value;

[0010] The hydraulic tower crane operation instruction response model is constructed based on the operation instruction numerical conversion model and the hydraulic drive component output current model.

[0011] In an embodiment of the present application, constructing an operation instruction value conversion model according to the operating condition type includes:

[0012] When the working condition type is a rotary working condition, an operation instruction numerical conversion model is constructed based on the power function.

[0013] In an embodiment of the present application, constructing a hydraulic drive component output current model according to the current control instruction separation value includes:

[0014] Based on the piecewise function, the output current model of the hydraulic drive component is constructed according to the separation value of the current control command.

[0015] In an embodiment of the present application, constructing a hydraulic tower crane operation instruction response model according to an operation instruction value conversion model and a hydraulic drive component output current model includes:

[0016] The operation instruction is used as an input value of the operation instruction numerical conversion model;

[0017] The output of the operation instruction numerical conversion model is used as the input of the output current model of the hydraulic drive component to construct the hydraulic tower crane operation instruction response model.

[0018] A second aspect of the present application provides a control method for a hydraulic tower crane, wherein the hydraulic tower crane includes a hydraulic drive pump, a hydraulic drive motor and an actuator, and the control method includes:

[0019] Get the operation instruction value;

[0020] Inputting the operation command value into the hydraulic tower crane operation command response model to determine a first control current value of the hydraulic drive pump and a second control current value of the hydraulic drive motor;

[0021] Controlling the hydraulic drive pump and the hydraulic drive motor to work respectively according to the first control current value and the final value of the second control current, so that the actuator performs the operation corresponding to the operation instruction value;

[0022] The hydraulic tower crane operation instruction response model is constructed according to the above-mentioned method for constructing the hydraulic tower crane operation instruction response model.

[0023] In an embodiment of the present application, inputting the operation instruction value into the hydraulic tower crane operation instruction response model to determine the first control current value of the hydraulic drive pump and the second control current value of the hydraulic drive motor includes:

[0024] Get the load value of the hydraulic tower crane;

[0025] Determining that the load value reaches a preset load value;

[0026] Inputting the operation instruction value into the operation instruction numerical conversion model of the hydraulic tower crane operation instruction response model to obtain the operation instruction conversion value;

[0027] The absolute value of the operation instruction conversion value is compared with the absolute value of the current control instruction separation value, and the current control instruction value output by the hydraulic tower crane operation instruction response model is determined according to the comparison result;

[0028] According to the current control command value, a first control current value of the hydraulic drive pump and a second control current value of the hydraulic drive motor are determined.

[0029] In an embodiment of the present application, determining the first control current value of the hydraulic drive pump and the second control current value of the hydraulic drive motor according to the current control command value includes:

[0030] When the absolute value of the operation instruction conversion value is less than or equal to the absolute value of the current control instruction separation value, the second control current value is determined to be zero, and the first control current value is determined to be a current value corresponding to the current control instruction value.

[0031] In an embodiment of the present application, determining the first control current value of the hydraulic drive pump and the second control current value of the hydraulic drive motor according to the current control command value includes:

[0032] When the absolute value of the operation instruction conversion value is greater than the absolute value of the current control instruction separation value, the second control current value is determined to be zero, and the first control current value is determined to be a current value corresponding to the current control instruction separation value.

[0033] In an embodiment of the present application, inputting the operation instruction value into the hydraulic tower crane operation instruction response model to determine the first control current value of the hydraulic drive pump and the second control current value of the hydraulic drive motor includes:

[0034] Get the load value of the hydraulic tower crane;

[0035] Determining that the load value is less than a preset load value;

[0036] Acquire a maximum allowable value of the second control current according to the load value;

[0037] Inputting the operation instruction value into the operation instruction numerical conversion model of the hydraulic tower crane operation instruction response model to obtain the operation instruction conversion value;

[0038] The absolute value of the operation instruction conversion value is compared with the absolute value of the current control instruction separation value, and the current control instruction value output by the hydraulic tower crane operation instruction response model is determined according to the comparison result;

[0039] According to the current control command value, a first control current value of the hydraulic drive pump and a second control current value of the hydraulic drive motor are determined.

[0040] In an embodiment of the present application, determining the first control current value of the hydraulic drive pump and the second control current value of the hydraulic drive motor according to the current control command value includes:

[0041] When the absolute value of the operation instruction conversion value is less than or equal to the absolute value of the current control instruction separation value, the second control current value is determined to be zero, and the first control current value is determined to be a current value corresponding to the current control instruction value.

[0042] In an embodiment of the present application, determining the first control current value of the hydraulic drive pump and the second control current value of the hydraulic drive motor according to the current control command value includes:

[0043] When the absolute value of the operation instruction conversion value is greater than the absolute value of the current control instruction separation value, determining the first control current value to be a current value corresponding to the current control instruction separation value;

[0044] A preliminary value of the second control current is acquired according to the current control command value, and the second control current value is determined to be the smaller of a maximum allowable value of the second control current and the preliminary value of the second control current.

[0045] Through the above technical scheme, it can be known that the construction method of the hydraulic tower crane operation instruction response model includes: obtaining the working condition type corresponding to the operation instruction; constructing the operation instruction numerical conversion model according to the working condition type; obtaining the current control instruction separation value; constructing the hydraulic drive component output current model according to the current control instruction separation value; constructing the hydraulic tower crane operation instruction response model according to the operation instruction numerical conversion model and the hydraulic drive component output current model. The construction method of the hydraulic tower crane operation instruction response model is simple and easy to implement. The operation instruction numerical conversion model is constructed according to the working condition type, and the hydraulic drive component output current model is constructed according to the current control instruction separation value. The hydraulic tower crane operation instruction response model constructed based on the operation instruction numerical conversion model and the hydraulic drive component output current model can avoid the hydraulic tower crane actuator when the hydraulic drive component control current value is too large when starting or stopping, thereby avoiding the actuator shaking after turning on the working mode or swinging back after turning off the working mode.

[0046] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0048] Figure 1 This is a schematic diagram of the main process of constructing the method in the embodiment of the present application;

[0049] Figure 2 This is a schematic diagram of a linear function model in an embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of a power function model in an embodiment of the present application;

[0051] Figure 4 This is a schematic diagram of a piecewise function model in an embodiment of the present application;

[0052] Figure 5 This is a schematic diagram of the main flow of the control method in the embodiment of the present application;

[0053] Figure 6 This is a control diagram of the main components of the hydraulic tower crane in the embodiment of the present application.

[0054] Description of Reference Numerals

[0055] 1-Hydraulic drive pump; 2-Hydraulic drive motor; 3-Processor; 4-Operation device; 5-Touch display device; 6-Load detector. DETAILED DESCRIPTION

[0056] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0057] The embodiment of the present application provides a method for constructing a hydraulic tower crane operation instruction response model, such as Figure 1 As shown, the construction method includes the following steps:

[0058] Step S101: Obtain the operating condition type corresponding to the operation instruction.

[0059] Specifically, the hydraulic tower crane includes a hydraulic drive pump 1, a hydraulic drive motor 2, an actuator, an operating device 4 (such as a control handle or a control rocker on a linkage table) and a processor 3. The actuator can be selected as a lifting mechanism, a variable amplitude mechanism or a slewing mechanism. The processor 3 is connected to the operating device 4, the hydraulic drive pump 1 and the hydraulic drive motor 2 in communication. The operator can control different types of actuators to perform corresponding operations through different operating devices 4 (or make the same operating device 4 move in different directions). In this embodiment, the operator turns on or off the working mode of the actuator (that is, the actuator starts or stops its corresponding function) by manipulating the operating device 4 corresponding to the actuator. After the operating device 4 is activated, it sends a corresponding action signal to the processor 3 through the CAN bus communication method. After receiving the above action signal, the processor 3 can determine that the actuator has turned on or off the working mode.

[0060] Furthermore, the operating device 4 sends an operation instruction value of corresponding size to the processor 3 according to its movement direction and movement amplitude (or movement angle). The processor 3 has a plurality of preset receiving ports of different types, and each preset receiving port is used to receive operation instruction values ​​corresponding to each type of actuator. For example, in the case where the actuator is a lifting mechanism, when the operator manipulates the operating device 4 corresponding to the lifting mechanism to make the lifting mechanism move in a first preset direction (such as upward), the operating device 4 sends an operation instruction value within a first preset numerical range (the first preset numerical range in this embodiment is [0, 1000]) to the first preset receiving port of the processor 3 according to its movement direction and movement amplitude; when the operator manipulates the operating device 4 corresponding to the lifting mechanism to make the lifting mechanism move in a second preset direction (such as downward), the operating device 4 sends an operation instruction value within a second preset numerical range (the second preset numerical range in this embodiment is [-1000, 0]) to the first preset receiving port of the processor 3 according to its movement direction and movement amplitude, wherein the second preset direction is opposite to the first preset direction;

[0061] In the case where the actuator is a rotary mechanism, when the operator manipulates the operating device 4 corresponding to the rotary mechanism to make the rotary mechanism move in a third preset direction (such as a clockwise direction on a horizontal plane), the operating device 4 sends an operation instruction value within a third preset numerical range (the third preset numerical range in this embodiment is [0, 1000]) to the second preset receiving port of the processor 3 according to its movement direction and movement amplitude; when the operator manipulates the operating device 4 corresponding to the rotary mechanism to make the rotary mechanism move in a fourth preset direction (such as a counterclockwise direction on a horizontal plane), the operating device 4 sends an operation instruction value within a fourth preset numerical range (the fourth preset numerical range in this embodiment is [-1000, 0]) to the second preset receiving port of the processor 3 according to its movement direction and movement amplitude, wherein the fourth preset direction is opposite to the third preset direction;

[0062] When the actuator is a variable amplitude mechanism, when the operator manipulates the operating device 4 corresponding to the variable amplitude mechanism to make the variable amplitude mechanism move in the fifth preset direction (such as the clockwise direction on the vertical plane), the operating device 4 sends an operation instruction value within the fifth preset numerical range (the fifth preset numerical range in this embodiment is [0, 1000]) to the third preset receiving port of the processor 3 according to its movement direction and movement amplitude; when the operator manipulates the operating device 4 corresponding to the variable amplitude mechanism to make the variable amplitude mechanism move in the sixth preset direction (such as the counterclockwise direction on the vertical plane), the operating device 4 sends an operation instruction value within the sixth preset numerical range (the sixth preset numerical range in this embodiment is [-1000, 0]) to the third preset receiving port of the processor 3 according to its movement direction and movement amplitude, wherein the sixth preset direction is opposite to the fifth preset direction.

[0063] Furthermore, in this embodiment, the hydraulic tower crane also includes a touch display device 5 (such as a touch display screen) that is communicatively connected to the processor 3 and can display the operation instruction value. The operator can also adjust the minimum value and / or maximum value of the first preset numerical range, the second preset numerical range, the third preset numerical range, the fourth preset numerical range, the fifth preset numerical range or the sixth preset numerical range through the touch display device 5 according to actual needs. The touch display device 5 sends the adjusted value to the processor 3 via UDP communication, which is conducive to improving the versatility of the control method so that it can adapt to hydraulic tower cranes of different specifications and types.

[0064] Step S102: constructing an operation instruction numerical conversion model according to the operating condition type.

[0065] In one embodiment of the present application, constructing the operation instruction value conversion model according to the operating condition type in step S102 further includes the following steps:

[0066] When the working condition type is a rotary working condition, an operation instruction numerical conversion model is constructed based on the power function.

[0067] Specifically, when the actuator is a slewing mechanism, the processor 3 inputs the operation instruction value received through the preset receiving port corresponding to the slewing mechanism into a pre-built power function model (i.e., the operation instruction numerical conversion model under the slewing condition) so as to solve (or alleviate) the shaking problem when the slewing mechanism starts or the swing problem when stopping according to the slewing characteristics of the slewing mechanism of the hydraulic tower crane.

[0068] Further, in the case where the actuator is a lifting mechanism or a luffing mechanism, the processor 3 inputs the operation instruction value received through the preset receiving port corresponding to the lifting mechanism, or the operation instruction value received through the preset receiving port corresponding to the luffing mechanism into a pre-built operation instruction numerical conversion model. The operation instruction numerical conversion model in this case includes but is not limited to a linear function model, an exponential function model, a power function model, and a sine function model. In this embodiment, the operation instruction numerical conversion model is preferably a linear function model (such as Figure 2 As shown, Figure 2 The horizontal axis is the operation instruction value, and the vertical axis is the operation instruction conversion value) so that the change of the operation instruction value can be directly reflected.

[0069] Step S103: obtaining a current control instruction separation value.

[0070] Specifically, the processor 3 pre-stores the current control instruction separation value, which can be retrieved when needed.

[0071] Step S104: constructing a hydraulic drive component output current model according to the current control instruction separation value;

[0072] In one embodiment of the present application, constructing the hydraulic drive component output current model according to the current control instruction separation value in step S104 further includes the following steps:

[0073] Based on the piecewise function, the output current model of the hydraulic drive component is constructed according to the separation value of the current control command.

[0074] Specifically, the output current model of the hydraulic drive component in this embodiment is a piecewise function model (such as Figure 4 As shown, Figure 4 The horizontal axis is the operation instruction conversion value, and the vertical axis is the current control instruction value) is determined according to the following formula:

[0075]

[0076] Among them, k5 is the fifth parameter, and in this embodiment, k5=2; a is the sixth parameter, and in this embodiment, a is consistent with the maximum value of the first preset numerical range (or the maximum value of the third preset numerical range, the maximum value of the fifth preset numerical range) (i.e., a=1000 in this embodiment); b is the current control instruction separation value; x3 is the operating instruction conversion value of the actuator; y3 is the current control instruction value of the actuator. Furthermore, the operator can also adjust the value of k5 and / or a and / or b through the touch display device 5 according to actual needs, and the touch display device 5 sends the adjusted value to the processor 3 through the UDP communication method, which is conducive to improving the application scope of the control method and making it adaptable to hydraulic tower cranes of different specifications and types.

[0077] Through the above-mentioned piecewise function model, the hydraulic drive pump 1 and the hydraulic drive motor 2 can be controlled in corresponding sections under different load conditions of the hydraulic tower crane. When in the middle section, only the opening of the hydraulic drive pump 1 is controlled. When in the two end sections, the opening of the hydraulic drive pump 1 reaches the maximum, and the opening of the hydraulic drive motor 2 is controlled to maximize the driving performance of the hydraulic drive pump 1 and the hydraulic drive motor 2 on the actuator. While meeting safety requirements, the movement speed of the actuator is maximized, thereby improving the working efficiency of the actuator and the hydraulic tower crane.

[0078] Step S105: constructing a hydraulic tower crane operation instruction response model according to the operation instruction value conversion model and the hydraulic drive component output current model.

[0079] In one embodiment of the present application, constructing the hydraulic tower crane operation instruction response model according to the operation instruction value conversion model and the hydraulic drive component output current model in step S105 further includes steps S201-S202, wherein:

[0080] Step S201: using the operation instruction as the input value of the operation instruction value conversion model;

[0081] Step S202: Using the output of the operation instruction value conversion model as the input of the hydraulic drive component output current model to construct a hydraulic tower crane operation instruction response model.

[0082] Specifically, when the actuator is a rotary mechanism, the operation instruction value conversion model processes the operation instruction value accordingly and outputs an operation instruction conversion value, the absolute value of which is smaller than the absolute value of the operation instruction value.

[0083] Furthermore, the power function model (such as Figure 3 As shown, Figure 3 The horizontal axis is the operation instruction value, and the vertical axis is the operation instruction conversion value) is pre-stored in the processor 3 and can be retrieved when needed. The power function model is determined by the following formula:

[0084] y1=[k1^(1-k2)]*(x1^k3) (2)

[0085] Among them, k1 is the first parameter, and in this embodiment, k1 is consistent with the maximum value of the third preset value range (i.e., k1=1000 in this embodiment); k2 is the second parameter, and the operator can set the size of k2 according to actual needs; k3 is the third parameter, and the operator can set the size of k3 according to actual needs (k3=k2 in this embodiment); x1 is the operation instruction value corresponding to the slewing mechanism; y1 is the operation instruction conversion value corresponding to the slewing mechanism. Furthermore, the operator can also adjust the value of k1, k2 or k3 according to actual needs and through the touch display device 5, and the touch display device 5 sends the adjusted value to the processor 3 through the UDP communication method, which is conducive to improving the scope of application of the control method and making it adaptable to hydraulic tower cranes of different specifications and types.

[0086] When the actuator is a lifting mechanism or a luffing mechanism, the operation instruction value conversion model processes the operation instruction value accordingly and outputs an operation instruction conversion value, the absolute value of which is less than or equal to the absolute value of the operation instruction value. In this embodiment, the operation instruction value conversion model is preferably a linear function model, which is determined by the following formula:

[0087] y2=k4*x2 (3)

[0088] Among them, k4 is the fourth parameter, and in this embodiment, k4=1; x2 is the operation instruction value corresponding to the lifting mechanism (or luffing mechanism); y2 is the operation instruction conversion value corresponding to the lifting mechanism (or luffing mechanism). Further, the operator can also adjust the value of k4 through the touch display device 5 according to actual needs, and the touch display device 5 sends the adjusted value to the processor 3 through the UDP communication method.

[0089] The method for constructing the hydraulic tower crane operation instruction response model in this embodiment is simple and easy to implement. An operation instruction numerical conversion model is constructed according to the working condition type, and a hydraulic drive component output current model is constructed according to the current control instruction separation value. The hydraulic tower crane operation instruction response model constructed based on the operation instruction numerical conversion model and the hydraulic drive component output current model can avoid the hydraulic tower crane's actuator having an excessively large control current value of the hydraulic drive component when starting or stopping, thereby avoiding the actuator from shaking after the working mode is turned on or swinging back after the working mode is turned off.

[0090] Another embodiment of the present application provides a control method for a hydraulic tower crane, wherein the hydraulic tower crane includes a hydraulic drive pump 1, a hydraulic drive motor 2 and an actuator, such as Figure 5 As shown, the control method includes the following steps:

[0091] Step S301: Obtain an operation instruction value.

[0092] Specifically, after the operator operates the operating device 4 corresponding to each type of actuator, the operating device 4 can send an operation instruction value to a preset receiving port corresponding to the actuator on the processor 3 according to its action direction and action amplitude.

[0093] Step S302: Input the operation instruction value into the hydraulic tower crane operation instruction response model to determine the first control current value of the hydraulic drive pump 1 and the second control current value of the hydraulic drive motor 2, wherein the hydraulic tower crane operation instruction response model is constructed by the construction method of the hydraulic tower crane operation instruction response model in the above embodiment.

[0094] In one embodiment of the present application, in step S302, inputting the operation instruction value into the hydraulic tower crane operation instruction response model to determine the first control current value of the hydraulic drive pump 1 and the second control current value of the hydraulic drive motor 2 further includes steps S401-step S405, wherein:

[0095] Step S401: obtaining the load value of the hydraulic tower crane;

[0096] Step S402: Determine whether the load value reaches a preset load value.

[0097] Specifically, Figure 6 As shown, the hydraulic tower crane also includes a load detector 6 (such as a weight sensor) that is connected to the processor 3 for communication and is used to detect the load value of the hydraulic tower crane (i.e., the weight of the load of the hydraulic tower crane). After the detection is completed, the load detector 6 sends the detected load value to the processor 3. The processor 3 pre-stores a preset load value (in this embodiment, the preset load value is 100% of the rated load value of the hydraulic tower crane), which can be retrieved when needed. After obtaining the load value, the processor 3 compares it with the preset load value. If the load value is greater than or equal to the preset load value, it is determined that the load value reaches the preset load value.

[0098] Step S403: inputting the operation instruction value into the operation instruction numerical conversion model of the hydraulic tower crane operation instruction response model to obtain the operation instruction conversion value.

[0099] Specifically, the processor calculates the operation instruction conversion value according to formula (2) or formula (3).

[0100] Step S404: comparing the absolute value of the operation instruction conversion value with the absolute value of the current control instruction separation value, and determining the current control instruction value output by the hydraulic tower crane operation instruction response model according to the comparison result;

[0101] Step S405 : determining a first control current value of the hydraulic drive pump 1 and a second control current value of the hydraulic drive motor 2 according to the current control command value.

[0102] In one embodiment of the present application, determining the first control current value of the hydraulic drive pump 1 and the second control current value of the hydraulic drive motor 2 according to the current control command value in step S405 further includes:

[0103] When the absolute value of the operation instruction conversion value is less than or equal to the absolute value of the current control instruction separation value, the second control current value is determined to be zero, and the first control current value is determined to be a current value corresponding to the current control instruction value.

[0104] Specifically, in this embodiment, the second control current value is the output current of the hydraulic drive motor 2. When the second control current value is 0, the torque output by the hydraulic drive motor 2 is the largest, and the output displacement is also the largest; if the second control current value is larger, the torque output by the hydraulic drive motor 2 is smaller, the output displacement is also smaller, and the hydraulic drive motor 2 rotates faster.

[0105] The processor 3 pre-stores a current control instruction separation value, which can be called out when needed; after determining that the load value reaches the preset load value, the processor 3 obtains the absolute value of the operation instruction conversion value and the absolute value of the current control instruction separation value, and then compares the absolute value of the operation instruction conversion value with the absolute value of the current control instruction separation value. If the absolute value of the operation instruction conversion value is less than or equal to the absolute value of the current control instruction separation value, the second control current value is determined to be zero, so as to ensure that the hydraulic drive motor 2 can output the maximum torque, so as to ensure that the actuator can safely perform the corresponding operation (i.e., safely rotate, lift or change the amplitude) under the current load value.

[0106] Furthermore, the processor 3 preselects and stores a first correspondence between the current control command value and the first control current value, which can be retrieved when needed; the processor 3 inputs the operation command conversion value into formula (1) and obtains the current control command value, and then determines the magnitude of the first control current value based on the mapping relationship between the current control command value and the parameter in the first correspondence (the parameter refers to the first control current value) (that is, the magnitude of the first control current value is consistent with the magnitude of the current value corresponding to the current control command value in the first correspondence). The first control current value is the output current of the hydraulic drive pump 1. If the output current of the hydraulic drive pump 1 is 0, the output displacement of the hydraulic drive pump 1 is 0; if the output current of the hydraulic drive pump 1 is larger, the output displacement of the hydraulic drive pump 1 is larger. After obtaining the first control current value, the processor 3 can control the hydraulic drive pump 1 accordingly based on the first control current value.

[0107] In another embodiment of the present application, determining the first control current value of the hydraulic drive pump 1 and the second control current value of the hydraulic drive motor 2 according to the current control command value in step S405 further includes:

[0108] When the absolute value of the operation instruction conversion value is greater than the absolute value of the current control instruction separation value, the second control current value is determined to be zero, and the first control current value is determined to be a current value corresponding to the current control instruction separation value.

[0109] Specifically, the processor compares the absolute value of the operation instruction conversion value with the absolute value of the current control instruction separation value. If the absolute value of the operation instruction conversion value is greater than the absolute value of the current control instruction separation value, the second control current value is still determined to be zero, so as to ensure that the hydraulic drive motor 2 can output the maximum torque, so as to ensure that the actuator can safely perform the corresponding operation (i.e., safely rotate, lift or change the amplitude) under the current load value.

[0110] Furthermore, a second correspondence between the current control instruction separation value and the first control current value is pre-stored in the processor 3, which can be called out when needed. Therefore, when the load value of the hydraulic tower crane reaches a preset load value and the absolute value of the operation instruction conversion value is greater than the absolute value of the current control instruction separation value, the processor 3 can directly determine the size of the first control current value based on the mapping relationship between the current control instruction separation value and the first control current value (i.e., the second correspondence relationship).

[0111] Step S303: Control the hydraulic drive pump 1 and the hydraulic drive motor 2 to operate respectively according to the first control current value and the final value of the second control current, so that the actuator performs the operation corresponding to the operation instruction value.

[0112] Specifically, after obtaining the first control current value and the second control current value, the processor 3 controls the operation of the hydraulic drive pump 1 according to the first control current value, and controls the operation of the hydraulic drive motor 2 according to the second control current value, so that the hydraulic drive pump 1 and the hydraulic drive motor 2 jointly drive their corresponding actuators to perform operations corresponding to the operation instruction values.

[0113] In one embodiment of the present application, in step S302, inputting the operation instruction value into the hydraulic tower crane operation instruction response model to determine the first control current value of the hydraulic drive pump 1 and the second control current value of the hydraulic drive motor 2 further includes steps S501-S506, wherein:

[0114] Step S501: Obtaining the load value of the hydraulic tower crane;

[0115] Step S502: Determine whether the load value is less than a preset load value;

[0116] Step S503: obtaining a maximum allowable value of the second control current according to the load value.

[0117] Specifically, the hydraulic tower crane also includes a load detector 6 (such as a weight sensor) that is connected to the processor 3 for communication and is used to detect the load value of the hydraulic tower crane (i.e., the weight of the load of the hydraulic tower crane). After the detection is completed, the load detector 6 sends the detected load value to the processor 3. The processor 3 pre-stores a preset load value (in this embodiment, the preset load value is 100% of the rated load value of the hydraulic tower crane), which can be retrieved when needed; the processor 3 also pre-stores a third corresponding relationship between the load value and the maximum allowable value of the second control current, which can be retrieved when needed; after obtaining the load value, the processor 3 compares it with the preset load value. If the load value is less than the preset load value, the maximum allowable value of the second control current corresponding to the load value is determined according to the mapping relationship between the load value and the parameter in the third corresponding relationship (the parameter refers to the maximum allowable value of the second control current).

[0118] Step S504: inputting the operation instruction value into the operation instruction numerical conversion model of the hydraulic tower crane operation instruction response model to obtain the operation instruction conversion value.

[0119] Specifically, the processor calculates the operation instruction conversion value according to formula (2) or formula (3).

[0120] Step S505: comparing the absolute value of the operation instruction conversion value with the absolute value of the current control instruction separation value, and determining the current control instruction value output by the hydraulic tower crane operation instruction response model according to the comparison result;

[0121] Step S506: Determine a first control current value of the hydraulic drive pump 1 and a second control current value of the hydraulic drive motor 2 according to the current control command value.

[0122] In one embodiment of the present application, determining the first control current value of the hydraulic drive pump 1 and the second control current value of the hydraulic drive motor 2 according to the current control command value in step S506 further includes:

[0123] When the absolute value of the operation instruction conversion value is less than or equal to the absolute value of the current control instruction separation value, the second control current value is determined to be zero, and the first control current value is determined to be a current value corresponding to the current control instruction value.

[0124] Specifically, after determining that the load value is less than the preset load value, the processor 3 obtains the absolute value of the operation instruction conversion value and the absolute value of the current control instruction separation value, and then compares the absolute value of the operation instruction conversion value with the absolute value of the current control instruction separation value. If the absolute value of the current control instruction value is less than or equal to the absolute value of the current control instruction separation value, the second control current value is determined to be zero, so as to ensure that the hydraulic drive motor 2 can output the maximum torque, so as to ensure that the actuator can safely perform the corresponding operation (i.e., safely rotate, lift or change the amplitude) under the current load value.

[0125] Furthermore, the processor 3 preselects and stores a first correspondence between the current control command value and the first control current value, which can be retrieved when needed; the processor 3 inputs the operation command conversion value into formula (1) and obtains the current control command value, and then determines the magnitude of the first control current value based on the mapping relationship between the current control command value and the parameter in the first correspondence (the parameter refers to the first control current value) (that is, the magnitude of the first control current value is consistent with the magnitude of the current value corresponding to the current control command value in the first correspondence). The first control current value is the output current of the hydraulic drive pump 1. If the output current of the hydraulic drive pump 1 is 0, the output displacement of the hydraulic drive pump 1 is 0; if the output current of the hydraulic drive pump 1 is larger, the output displacement of the hydraulic drive pump 1 is larger. After obtaining the first control current value, the processor 3 can control the hydraulic drive pump 1 accordingly based on the first control current value.

[0126] In another embodiment of the present application, determining the first control current value of the hydraulic drive pump 1 and the second control current value of the hydraulic drive motor 2 according to the current control command value in step S506 further includes steps S601-602, wherein:

[0127] Step S601: when the absolute value of the operation instruction conversion value is greater than the absolute value of the current control instruction separation value, determining the first control current value to be a current value corresponding to the current control instruction separation value.

[0128] Specifically, the processor 3 pre-stores a second correspondence between the current control instruction separation value and the first control current value. When the load value of the hydraulic tower crane is less than the preset load value and the absolute value of the operation instruction conversion value is greater than the absolute value of the current control instruction separation value, the second correspondence between the current control instruction separation value and the first control current value is called up. The processor 3 can directly determine the size of the first control current value based on the mapping relationship between the current control instruction separation value and the first control current value (i.e., the second correspondence).

[0129] Step 602: Obtain a preliminary value of the second control current according to the current control command value, and determine the second control current value to be the smaller one of the maximum allowable value of the second control current and the preliminary value of the second control current.

[0130] Specifically, the processor 3 also pre-stores a third correspondence between the current control command value and the preliminary value of the second control current, which can be called out when needed; after determining that the load value is less than the preset load value, the processor 3 determines the preliminary value of the second control current corresponding to the current control command value based on the mapping relationship between the current control command value and the parameter in the third correspondence (the parameter refers to the preliminary value of the second control current).

[0131] After obtaining the preliminary value of the second control current and the maximum allowable value of the second control current, the processor 3 compares the two. If the preliminary value of the second control current is less than or equal to the maximum allowable value of the second control current, it means that there is no need to limit the output current value of the hydraulic drive motor 2 at this time. Therefore, it is determined that the magnitude of the second control current value is consistent with the magnitude of the preliminary value of the second control current, that is, the second control current value is the preliminary value of the second control current;

[0132] If the preliminary value of the second control current is greater than the maximum allowable value of the second control current, it means that the output current value of the hydraulic drive motor 2 should be limited at this time, so that the speed of the hydraulic drive motor 2 can be adjusted to the maximum value under the current load value while meeting the torque control requirements of the hydraulic drive motor 2, so as to improve the working efficiency of the hydraulic drive motor 2. Therefore, it is determined that the size of the second control current value at this time is consistent with the size of the maximum allowable value of the second control current, that is, the second control current value is the maximum allowable value of the second control current.

[0133] The control method for the hydraulic tower crane in this embodiment is simple and easy to implement. It can determine the appropriate first control current value and the second control current value according to the different working conditions and different load values ​​of the hydraulic tower crane, so as to adaptively control the hydraulic drive pump and the hydraulic drive motor, thereby reducing the operating requirements of the operator. When the operator lacks operating experience or makes unexpected operating errors, the hydraulic tower crane will not be out of control or malfunction, thereby further improving the safety of the hydraulic tower crane.

[0134] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0135] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0136] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0137] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for constructing a hydraulic tower crane operation instruction response model, characterized in that: The construction method comprises: Get the working condition type corresponding to the operation instruction; Constructing an operation instruction numerical conversion model according to the working condition type; Get the current control instruction separation value; Constructing a hydraulic drive component output current model according to the current control instruction separation value; A hydraulic tower crane operation instruction response model is constructed according to the operation instruction numerical conversion model and the hydraulic drive component output current model.

2. The method for constructing a hydraulic tower crane operation instruction response model according to claim 1, characterized in that: The constructing of the operation instruction numerical conversion model according to the working condition type comprises: When the operating condition type is a rotary operating condition, the operation instruction numerical value conversion model is constructed based on a power function.

3. The method for constructing a hydraulic tower crane operation instruction response model according to claim 1, characterized in that: The constructing of the hydraulic drive component output current model according to the current control instruction separation value comprises: Based on the piecewise function and according to the current control instruction separation value, the output current model of the hydraulic drive component is constructed.

4. The method for constructing a hydraulic tower crane operation instruction response model according to claim 1, characterized in that: The constructing of the hydraulic tower crane operation instruction response model according to the operation instruction numerical conversion model and the hydraulic drive component output current model comprises: Using the operation instruction as an input value of the operation instruction value conversion model; The output of the operation instruction numerical conversion model is used as the input of the hydraulic drive component output current model to construct the hydraulic tower crane operation instruction response model.

5. A control method for a hydraulic tower crane, characterized in that: The hydraulic tower crane comprises a hydraulic drive pump (1), a hydraulic drive motor (2) and an actuator, and the control method comprises: Get the operation instruction value; Inputting the operation instruction value into the hydraulic tower crane operation instruction response model to determine a first control current value of the hydraulic drive pump (1) and a second control current value of the hydraulic drive motor (2); Controlling the hydraulic drive pump (1) and the hydraulic drive motor (2) to operate respectively according to the final values ​​of the first control current value and the second control current, so that the actuator performs the operation corresponding to the operation instruction value; Wherein, the hydraulic tower crane operation instruction response model is constructed according to the construction method of the hydraulic tower crane operation instruction response model according to any one of claims 1-4.

6. The control method for a hydraulic tower crane according to claim 5, characterized in that: The step of inputting the operation instruction value into the hydraulic tower crane operation instruction response model to determine the first control current value of the hydraulic drive pump (1) and the second control current value of the hydraulic drive motor (2) comprises: Obtaining a load value of the hydraulic tower crane; Determining that the load value reaches a preset load value; Inputting the operation instruction value into the operation instruction numerical conversion model of the hydraulic tower crane operation instruction response model to obtain the operation instruction conversion value; Comparing the absolute value of the operation instruction conversion value with the absolute value of the current control instruction separation value, and determining the current control instruction value output by the hydraulic tower crane operation instruction response model according to the comparison result; According to the current control command value, a first control current value of the hydraulic drive pump (1) and a second control current value of the hydraulic drive motor (2) are determined.

7. The control method for a hydraulic tower crane according to claim 6, characterized in that: Determining the first control current value of the hydraulic drive pump (1) and the second control current value of the hydraulic drive motor (2) according to the current control command value comprises: When the absolute value of the operation instruction conversion value is less than or equal to the absolute value of the current control instruction separation value, the second control current value is determined to be zero, and the first control current value is determined to be a current value corresponding to the current control instruction value.

8. The control method for a hydraulic tower crane according to claim 6, characterized in that: Determining the first control current value of the hydraulic drive pump (1) and the second control current value of the hydraulic drive motor (2) according to the current control command value comprises: When the absolute value of the operation instruction conversion value is greater than the absolute value of the current control instruction separation value, the second control current value is determined to be zero, and the first control current value is determined to be a current value corresponding to the current control instruction separation value.

9. The control method for a hydraulic tower crane according to claim 5, characterized in that: The step of inputting the operation instruction value into the hydraulic tower crane operation instruction response model to determine the first control current value of the hydraulic drive pump (1) and the second control current value of the hydraulic drive motor (2) comprises: Obtaining a load value of the hydraulic tower crane; Determining that the load value is less than a preset load value; Acquire a maximum allowable value of the second control current according to the load value; Inputting the operation instruction value into the operation instruction numerical conversion model of the hydraulic tower crane operation instruction response model to obtain the operation instruction conversion value; Comparing the absolute value of the operation instruction conversion value with the absolute value of the current control instruction separation value, and determining the current control instruction value output by the hydraulic tower crane operation instruction response model according to the comparison result; According to the current control command value, a first control current value of the hydraulic drive pump (1) and a second control current value of the hydraulic drive motor (2) are determined.

10. The control method for a hydraulic tower crane according to claim 9, characterized in that: Determining the first control current value of the hydraulic drive pump (1) and the second control current value of the hydraulic drive motor (2) according to the current control command value comprises: When the absolute value of the operation instruction conversion value is less than or equal to the absolute value of the current control instruction separation value, the second control current value is determined to be zero, and the first control current value is determined to be a current value corresponding to the current control instruction value.

11. The control method for a hydraulic tower crane according to claim 9, characterized in that: Determining the first control current value of the hydraulic drive pump (1) and the second control current value of the hydraulic drive motor (2) according to the current control command value comprises: When the absolute value of the operation instruction conversion value is greater than the absolute value of the current control instruction separation value, determining the first control current value to be a current value corresponding to the current control instruction separation value; A preliminary value of the second control current is obtained according to the current control command value, and the second control current value is determined to be the smaller one of the maximum allowable value of the second control current and the preliminary value of the second control current.

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