Method for constructing hydraulic tower crane operation instruction response model

Abstract

The application discloses a construction method of a hydraulic tower crane operation instruction response model and a control method for the hydraulic tower crane. The construction method comprises the following steps: acquiring a working condition type corresponding to an operation instruction; constructing an operation instruction value conversion model according to the working condition type; acquiring a current control instruction separation value; constructing a hydraulic drive 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 value conversion model and the hydraulic drive assembly output current model. The hydraulic tower crane operation instruction response model constructed by the construction method can avoid the control current value of the hydraulic drive assembly being too large when an actuator of the hydraulic tower crane is started or stopped, and can further avoid the actuator from shaking after starting the working mode or from swinging back after stopping the working mode.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of hydraulic tower cranes, and particularly relates to a construction method of a hydraulic tower crane operation instruction response model and a control method for a hydraulic tower crane. BACKGROUND

[0002] The hydraulic tower crane usually converts the operation instruction of an actuator into control of a hydraulic drive pump and a hydraulic drive motor of the actuator, and then limits the output current of the hydraulic drive pump and the hydraulic drive motor according to the lifting weight limit to achieve the effect of limiting the speed, but for a hydraulic tower crane with high start-stop requirements, if the method of simply linearly converting the operation instruction into the flow opening degree of the pump and the motor is still adopted, the shaking when the actuator starts and the swing when the actuator stops cannot be well controlled.

[0003] In addition, the existing hydraulic tower crane requires different operations by the operator under different working conditions (such as the lifting working condition, the rotating working condition or the luffing working condition), and the operation requirements for the operator are high. If the operator lacks operation experience or makes an accidental operation mistake, the hydraulic tower crane may be out of control or fail due to improper operation, and the use safety of the hydraulic tower crane is difficult to be ensured. SUMMARY

[0004] The application aims to provide a construction method of a hydraulic tower crane operation instruction response model and a control method for a hydraulic tower crane, which can at least solve the above technical problem.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the application provides a construction method of a hydraulic tower crane operation instruction response model, which comprises the following steps:

[0006] acquiring a working condition type corresponding to an operation instruction;

[0007] constructing an operation instruction value conversion model according to the working condition type;

[0008] acquiring a current control instruction separation value;

[0009] constructing a hydraulic drive assembly output current model according to the current control instruction separation value;

[0010] constructing a hydraulic tower crane operation instruction response model according to the operation instruction value conversion model and the hydraulic drive assembly output current model.

[0011] In the embodiments of the application, the operation instruction value conversion model is constructed according to the working condition type, which comprises the following steps:

[0012] In the case where the working condition type is a rotating working condition, the operation instruction value conversion model is constructed based on a power function.

[0013] In the embodiments of the present application, the output current model of the hydraulic drive assembly is constructed according to the current control instruction interval value, which comprises:

[0014] The output current model of the hydraulic drive assembly is constructed according to the current control instruction interval value based on a piecewise function.

[0015] In the embodiments of the present application, the operation instruction response model of the hydraulic tower crane is constructed according to the operation instruction numerical value conversion model and the output current model of the hydraulic drive assembly, which comprises:

[0016] The operation instruction is taken as the input value of the operation instruction numerical value conversion model.

[0017] The output of the operation instruction numerical value conversion model is taken as the input of the output current model of the hydraulic drive assembly, and the operation instruction response model of the hydraulic tower crane is constructed.

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

[0019] An operation instruction value is obtained.

[0020] The operation instruction value is input into the operation instruction response model of the hydraulic tower crane to determine a first control current value of the hydraulic drive pump and a second control current value of the hydraulic drive motor.

[0021] The hydraulic drive pump and the hydraulic drive motor are respectively controlled according to the final values of the first control current value and the second control current value to make the actuator perform an operation corresponding to the operation instruction value.

[0022] The operation instruction response model of the hydraulic tower crane is constructed according to the construction method of the operation instruction response model of the hydraulic tower crane.

[0023] In the embodiments of the present application, the operation instruction value is input into the operation instruction response model of the hydraulic tower crane to determine a first control current value of the hydraulic drive pump and a second control current value of the hydraulic drive motor, which comprises:

[0024] A load value of the hydraulic tower crane is obtained.

[0025] It is determined that the load value reaches a preset load value.

[0026] The operation instruction value is input into the operation instruction numerical value conversion model of the operation instruction response model of the hydraulic tower crane to obtain an 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 interval value, and the current control instruction value output by the operation instruction response model of the hydraulic tower crane is determined according to the comparison result.

[0028] determining a first control current value of the hydraulic driving pump and a second control current value of the hydraulic driving motor according to the current control instruction value.

[0029] In embodiments of the present application, determining the first control current value of the hydraulic driving pump and the second control current value of the hydraulic driving motor according to the current control instruction value comprises:

[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, determining the second control current value as zero and the first control current value as the current value corresponding to the current control instruction value.

[0031] In embodiments of the present application, determining the first control current value of the hydraulic driving pump and the second control current value of the hydraulic driving motor according to the current control instruction value comprises:

[0032] 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 second control current value as zero and the first control current value as the current value corresponding to the current control instruction separation value.

[0033] In embodiments 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 driving pump and the second control current value of the hydraulic driving motor comprises:

[0034] obtaining a load value of the hydraulic tower crane;

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

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

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

[0038] 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;

[0039] determining a first control current value of the hydraulic driving pump and a second control current value of the hydraulic driving motor according to the current control instruction value.

[0040] In embodiments of the present application, determining the first control current value of the hydraulic driving pump and the second control current value of the hydraulic driving motor according to the current control instruction value comprises:

[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 the embodiments 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 instruction value comprises:

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

[0044] According to the current control instruction value, a preliminary value of the second control current is obtained, 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.

[0045] According to the above technical solution, the construction method of the hydraulic tower crane operation instruction response model comprises: obtaining a working condition type corresponding to an operation instruction; constructing an operation instruction value conversion model according to the working condition type; obtaining a current control instruction separation value; constructing a hydraulic drive 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 value conversion model and the hydraulic drive assembly output current model. The construction method of the hydraulic tower crane operation instruction response model is simple and easy to implement. According to the working condition type, the operation instruction value conversion model is constructed, according to the current control instruction separation value, the hydraulic drive assembly output current model is constructed, and based on the operation instruction value conversion model and the hydraulic drive assembly output current model, the hydraulic tower crane operation instruction response model is constructed, which can avoid the control current value of the hydraulic drive assembly being too large when the actuator of the hydraulic tower crane is started or stopped, and further avoid the actuator from shaking after starting the working mode or swinging back after stopping the working mode.

[0046] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0047] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For those skilled in the art, other drawings can be obtained from the structures shown in the drawings without creative labor. In the drawings:

[0048] Figure 1 The main flowchart of the construction method in the embodiments of the present application is shown in the figure;

[0049] Figure 2 FIG. 1 is a schematic diagram of a linear function model in an embodiment of the present application;

[0050] Figure 3 FIG. 2 is a schematic diagram of a power function model in an embodiment of the present application;

[0051] Figure 4 FIG. 3 is a schematic diagram of a piecewise function model in an embodiment of the present application;

[0052] Figure 5 FIG. 4 is a schematic diagram of the main flow of a control method in an embodiment of the present application;

[0053] Figure 6 FIG. 5 is a schematic diagram of the control of main components of a hydraulic tower crane in an embodiment of the present application.

[0054] Explanation of Reference Signs

[0055] 1 - hydraulic drive pump; 2 - hydraulic drive motor; 3 - processor; 4 - operating device; 5 - touch display device; 6 - load detector. DETAILED DESCRIPTION

[0056] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0057] An embodiment of the present application provides a method for constructing a hydraulic tower crane operation instruction response model, as shown in FIG. 5, which includes the following steps: Figure 1

[0058] Step S101: Obtain the working 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 from a hoisting mechanism, an amplitude changing mechanism, or a slewing mechanism. The processor 3 is in communication connection with the operating device 4, the hydraulic drive pump 1, and the hydraulic drive motor 2. An operator can control different types of actuators to perform corresponding operations through different operating devices 4 (or by moving the same operating device 4 in different directions). In the present embodiment, the operator turns on or off the working mode of the actuator by operating the operating device 4 corresponding to the actuator (i.e., starts or stops the corresponding function of the actuator). After the operating device 4 is actuated, it sends a corresponding action signal to the processor 3 through a CAN bus communication mode. After receiving the above-mentioned action signal, the processor 3 can determine that the actuator has turned on or off the working mode.

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

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

[0062] When the operator manipulates the operation device 4 corresponding to the luffing mechanism to move the luffing mechanism in the fifth preset direction (for example, clockwise direction in the vertical plane), the operation device 4 sends an operation instruction value in the fifth preset numerical range (in this embodiment, the fifth preset numerical range is [0, 1000]) to the third preset receiving port of the processor 3 according to the action direction and action amplitude thereof; when the operator manipulates the operation device 4 corresponding to the luffing mechanism to move the luffing mechanism in the sixth preset direction (for example, counterclockwise direction in the vertical plane), the operation device 4 sends an operation instruction value in the sixth preset numerical range (in this embodiment, the sixth preset numerical range is [-1000, 0]) to the third preset receiving port of the processor 3 according to the action direction and action amplitude thereof, wherein the sixth preset direction is opposite to the fifth preset direction.

[0063] Further, in this embodiment, the hydraulic tower crane further comprises a touch display device 5 (for example, a touch display screen) in communication connection with the processor 3 and capable of displaying the operation instruction value, and the operator can also adjust the minimum value and / or maximum value of each 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 according to actual needs and through the touch display device 5, and the touch display device 5 sends the adjusted numerical value to the processor 3 through the UDP communication mode, which is advantageous to improve the universality of the control method and make it suitable for hydraulic tower cranes of different specifications.

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

[0065] In an embodiment of the present application, the step S102 of constructing an operation instruction numerical value conversion model according to the working condition type further comprises the following steps:

[0066] In the case of the working condition type being the slewing working condition, the operation instruction numerical value conversion model is constructed based on a power function.

[0067] Specifically, in the case of the actuating mechanism being the slewing mechanism, the processor 3 inputs the operation instruction value received through the preset receiving port corresponding to the slewing mechanism into the pre-constructed power function model (i.e., the operation instruction numerical value conversion model under the slewing working condition) so as to solve (or alleviate) the swing problem of the slewing mechanism at the start or stop of the slewing mechanism in view of the slewing characteristics of the slewing mechanism of the hydraulic tower crane.

[0068] Further, in the case that the actuating mechanism is the hoisting mechanism or the luffing mechanism, the processor 3 inputs the operation instruction value received through the preset receiving port corresponding to the hoisting mechanism or the operation instruction value received through the preset receiving port corresponding to the luffing mechanism into the pre-constructed operation instruction value conversion model, which includes but is not limited to a linear function model, an exponential function model, a power function model and a sine function model. In the embodiment, the operation instruction value conversion model is preferably a linear function model (as shown in FIG. 6, wherein the abscissa is the operation instruction value and the ordinate is the operation instruction conversion value) so as to directly reflect the change of the operation instruction value. Figure 2 Figure 2

[0069] Step S103: Obtain the current control instruction separation value.

[0070] Specifically, the current control instruction separation value is pre-stored in the processor 3 and can be called out when needed.

[0071] Step S104: Construct the hydraulic drive assembly output current model according to the current control instruction separation value.

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

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

[0074] Specifically, the hydraulic drive assembly output current model in the embodiment is a piecewise function model (as shown in FIG. 7, wherein the abscissa is the operation instruction conversion value and the ordinate is the current control instruction value) determined according to the following formula: Figure 4 Figure 4

[0075]

[0076] wherein k5 is the fifth parameter, k5 = 2 in the embodiment; a is the sixth parameter, 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) in the embodiment (i.e. a = 1000 in the embodiment); b is the current control instruction separation value; x3 is the operation instruction conversion value of the actuating mechanism; y3 is the current control instruction value of the actuating mechanism. Further, the operator can also adjust the values of k5 and / or a and / or b according to the actual demand through the touch display device 5, and the touch display device 5 sends the adjusted values to the processor 3 through the UDP communication mode, which is advantageous to improve the application range of the control method and make it suitable for hydraulic tower cranes of different specifications. ​​​​

[0077] Using the piecewise function model described above, the hydraulic drive pump 1 and hydraulic drive motor 2 can be controlled in segments under different load conditions of the hydraulic tower crane. When in the middle segment, only the opening of the hydraulic drive pump 1 is controlled. When in the two end segments, the opening of the hydraulic drive pump 1 reaches its maximum, and the opening of the hydraulic drive motor 2 is controlled to maximize the driving performance of the hydraulic drive pump 1 and hydraulic drive motor 2 on the actuator. Under the premise of meeting safety requirements, the movement speed of the actuator reaches its maximum, thereby improving the working efficiency of the actuator and the hydraulic tower crane.

[0078] Step S105: Construct the hydraulic tower crane operation command response model based on the operation command numerical conversion model and the hydraulic drive component output current model.

[0079] In one embodiment of this application, the step S105, which involves constructing a hydraulic tower crane operation command response model based on the operation command numerical conversion model and the hydraulic drive component output current model, further includes steps S201-S202, wherein:

[0080] Step S201: Use the operation command as the input value of the operation command numerical conversion model;

[0081] Step S202: Use the output of the numerical conversion model of the operation command as the input of the output current model of the hydraulic drive component to construct the hydraulic tower crane operation command response model.

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

[0083] Furthermore, power function models (such as...) Figure 3 As shown, Figure 3 The x-axis represents the operation instruction value, and the y-axis represents the operation instruction conversion value. These values ​​are pre-stored in processor 3 and can be retrieved when needed. This power function model is determined by the following formula:

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

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

[0086] In the case where the actuator is the hoisting mechanism or the luffing mechanism, the operation instruction value is processed by the operation instruction value conversion model, and the operation instruction conversion value is output. The absolute value of the operation instruction conversion value is less than or equal to the absolute value of the operation instruction value. In the 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] Wherein, k4 is the fourth parameter, k4 = 1 in the embodiment; x2 is the operation instruction value corresponding to the hoisting mechanism (or the luffing mechanism); y2 is the operation instruction conversion value corresponding to the hoisting mechanism (or the luffing mechanism). Further, the operator can also adjust the value of k4 according to the actual demand and through the touch display device 5, and the touch display device 5 sends the numerical value after the adjustment to the processor 3 through the UDP communication mode.

[0089] The construction method of the hydraulic tower crane operation instruction response model in the embodiment is simple and easy to implement. The operation instruction value conversion model is constructed according to the working condition type, and the hydraulic drive assembly 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 value conversion model and the hydraulic drive assembly output current model can avoid the control current value of the hydraulic drive assembly being too large when the actuator of the hydraulic tower crane starts or stops, and further avoid the actuator from shaking after starting the working mode or swinging back after stopping the working mode.

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

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

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

[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 an embodiment of the present application, 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 in step S302 further includes steps S401-S405, wherein:

[0095] Step S401: obtain the load value of the hydraulic tower crane.

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

[0097] Specifically, as shown in Figure 6 the hydraulic tower crane further includes a load detector 6 (such as a weight sensor) in communication connection with the processor 3 and used for detecting the load value (i.e. the weight of the load of the hydraulic tower crane) of the hydraulic tower crane, which sends the detected load value to the processor 3 after detection. 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, and compares the load value with the preset load value after obtaining the load value, and determines that the load value reaches the preset load value if the load value is greater than or equal to the preset load value.

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

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

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

[0101] Step S405: determine 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 instruction value.

[0102] In one embodiment of the present application, the step S405 of 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 instruction value comprises:

[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 as zero, and the first control current value is determined as the current value corresponding to the current control instruction value.

[0104] Specifically, in the present 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 maximum, and the output displacement is also maximum. The greater the second control current value, the smaller the torque output by the hydraulic drive motor 2, the smaller the output displacement, and the faster the speed of the hydraulic drive motor 2.

[0105] The current control instruction separation value is pre-stored in the processor 3 and can be retrieved when needed. After the processor 3 determines that the load value reaches the preset load value, the absolute value of the operation instruction conversion value and the absolute value of the current control instruction separation value are obtained, and then the absolute value of the operation instruction conversion value and the absolute value of the current control instruction separation value are compared. 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 as zero, so as to ensure that the hydraulic drive motor 2 can output maximum torque, and 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] Further, the first correspondence relationship between the current control instruction value and the first control current value is pre-stored in the processor 3 and can be retrieved when needed. The processor 3 inputs the operation instruction conversion value into formula (1) to obtain the current control instruction value, and then determines the size of the first control current value based on the mapping relationship between the current control instruction value and the parameter (which refers to the first control current value) in the first correspondence relationship (i.e., the size of the first control current value is consistent with the size of the current value corresponding to the current control instruction value in the first correspondence relationship). 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. The greater the output current of the hydraulic drive pump 1, the greater the output displacement of the hydraulic drive pump 1. After the processor 3 obtains the first control current value, the hydraulic drive pump 1 can be controlled accordingly based on the first control current value.

[0107] In another embodiment of the present application, the step S405 of 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 instruction value comprises:

[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 as zero, and the first control current value is determined as the current value corresponding to the current control instruction separation value.

[0109] Specifically, the processor compares the absolute value of the operation instruction conversion value and 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 as zero to ensure that the hydraulic drive motor 2 can output the maximum torque 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] Further, the processor 3 has a second correspondence relationship between the current control instruction separation value and the first control current value stored in advance, which can be retrieved when needed. Therefore, when the load value of the hydraulic tower crane reaches 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 processor 3 can directly determine the size of the first control current value based on the mapping relationship (i.e., the second correspondence relationship) between the current control instruction separation value and the first control current value.

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

[0113] In an embodiment of the present application, 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 includes steps S501-S506, wherein:

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

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

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

[0117] Specifically, the hydraulic tower crane further comprises a load detector 6 (such as a weight sensor) communicatively connected with the processor 3 and configured to detect a load value (i.e. the weight of the load of the hydraulic tower crane) of the hydraulic tower crane, and send the detected load value to the processor 3 after detection. 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 recalled when needed; the processor 3 also pre-stores a third correspondence between the load value and the maximum allowable value of the second control current, which can be recalled when needed; the processor 3 compares the load value with the preset load value after obtaining the load value, and if the load value is less than the preset load value, determines the maximum allowable value of the second control current corresponding to the load value according to the mapping relationship between the load value and the parameter (i.e. the maximum allowable value of the second control current) in the third correspondence.

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

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

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

[0121] Step S506: determine 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 instruction value.

[0122] In one embodiment of the present application, the determination of 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 instruction value in step S506 further comprises:

[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 the current value corresponding to the current control instruction value.

[0124] Specifically, after the processor 3 determines that the load value is less than the preset load value, the absolute value of the operation instruction conversion value and the absolute value of the current control instruction separation value are obtained, and then the absolute value of the operation instruction conversion value and the absolute value of the current control instruction separation value are compared. 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, and to ensure that the actuator can safely perform the corresponding operation (i.e. safely rotate, hoist or change the amplitude) under the current load value.

[0125] Further, the first correspondence relationship between the current control instruction value and the first control current value is pre-stored in the processor 3 and can be called when needed; the processor 3 inputs the operation instruction conversion value into formula (1) to obtain the current control instruction value, and determines the size of the first control current value based on the mapping relationship between the current control instruction value and the parameter (which refers to the first control current value) in the first correspondence relationship (i.e., the size of the first control current value is consistent with the size of the current value corresponding to the current control instruction value in the first correspondence relationship). 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; the greater the output current of the hydraulic drive pump 1, the greater the output displacement of the hydraulic drive pump 1, and the processor 3 can control the hydraulic drive pump 1 based on the first control current value after obtaining the first control current value.

[0126] In another embodiment of the present application, the step S506 of 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 instruction value further comprises steps S601-S602, 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 as the current value corresponding to the current control instruction separation value.

[0128] Specifically, the second correspondence relationship between the current control instruction separation value and the first control current value is pre-stored in the processor 3, and 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 relationship between the current control instruction separation value and the first control current value is called, and the processor 3 can 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).

[0129] Step 602: obtaining a preliminary value of the second control current according to the current control instruction value, and determining the second control current value as 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 third correspondence relationship between the current control instruction value and the preliminary value of the second control current is pre-stored in the processor 3 and can be called 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 instruction value according to the mapping relationship between the current control instruction value and the parameter (which refers to the preliminary value of the second control current) in the third correspondence relationship.

[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 indicates that the output current value of the hydraulic drive motor 2 does not need to be limited at this time, and therefore the size of the second control current value is determined to be consistent with the size 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 indicates that the output current value of the hydraulic drive motor 2 should be limited at this time, so as to adjust the speed of the hydraulic drive motor 2 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, and therefore the size of the second control current value is determined to be 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 the embodiment is simple and easy to implement, and can determine appropriate first control current value and second control current value according to the hydraulic tower crane under different working conditions and different load values, so as to adaptively control the hydraulic drive pump and the hydraulic drive motor, reduce the operation requirements of the operator, and when the operator lacks operation experience or makes accidental operation mistakes, the hydraulic tower crane will not lose control or fail, further improving the use safety of the hydraulic tower crane.

[0134] In the description of the present application, it should be understood that the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can be explicitly or implicitly included at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0135] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0136] In the description of the specification, the description using the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the particular feature, structure, material or characteristic being described is included in at least one embodiment or example of the present application. The illustrative appearances of the above-mentioned terms in various places in the specification are not necessarily referred to the same embodiment or example. Moreover, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Furthermore, the terms "comprise", "comprising", "include", "including", "contain", "containing" or variations thereof are used inclusively and do not exclude the additional inclusion of unrecited features, structures, materials, or characteristics.

[0137] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be interpreted as limiting the present application, and ordinary skilled people in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. 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: obtaining an operation instruction value; inputting the operation instruction value into a 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 work according to the final values of the first control current value and the second control current value respectively, so that the actuator performs an operation corresponding to the operation instruction value; wherein the hydraulic tower crane operation instruction response model is constructed according to the following manner: obtaining 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 drive assembly output current model according to the current control instruction separation value; constructing a hydraulic tower crane operation instruction response model according to the operation instruction numerical value conversion model and the hydraulic drive assembly output current model. The construction of the operation instruction numerical value conversion model according to the working condition type comprises:

2. The control method for a hydraulic tower crane according to claim 1, wherein in the case that the working condition type is a slewing working condition, constructing the operation instruction numerical value conversion model based on a power function. The construction of the hydraulic drive assembly output current model according to the current control instruction separation value comprises:

3. The control method for a hydraulic tower crane according to claim 1, wherein based on a piecewise function, constructing the hydraulic drive assembly output current model according to the current control instruction separation value. The construction of the hydraulic tower crane operation instruction response model according to the operation instruction numerical value conversion model and the hydraulic drive assembly output current model comprises:

4. The control method for a hydraulic tower crane according to claim 1, wherein taking the operation instruction as the input value of the operation instruction numerical value conversion model; taking the output of the operation instruction numerical value conversion model as the input of the hydraulic drive assembly output current model to construct the hydraulic tower crane operation instruction response model. The inputting of 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:

5. The control method for a hydraulic tower crane according to claim 1, wherein 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 an operation instruction numerical value conversion model of the hydraulic tower crane operation instruction response model to obtain an 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 to determine the current control instruction value output by the hydraulic tower crane operation instruction response model according to the comparison result; 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 instruction value. The determination of 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 instruction value comprises:

6. The control method for a hydraulic tower crane according to claim 5, wherein 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, determining that the second control current value is zero and determining that the first control current value is a current value corresponding to the current control instruction value. ​ 7. The control method for a hydraulic tower crane according to claim 5, wherein The determining the first control current value of the hydraulic driving pump (1) and the second control current value of the hydraulic driving motor (2) according to the current control instruction 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 as zero, and the first control current value is determined as the current value corresponding to the current control instruction separation value.

8. The control method for a hydraulic tower crane according to claim 1, wherein The inputting the operation instruction value into the hydraulic tower crane operation instruction response model to determine the first control current value of the hydraulic driving pump (1) and the second control current value of the hydraulic driving motor (2) comprises: Obtaining a load value of the hydraulic tower crane; Determining that the load value is less than a preset load value; Obtaining a maximum allowable value of the second control current according to the load value; Inputting the operation instruction value into an operation instruction numerical value conversion model of the hydraulic tower crane operation instruction response model to obtain an 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; Determining the first control current value of the hydraulic driving pump (1) and the second control current value of the hydraulic driving motor (2) according to the current control instruction value.

9. The control method for a hydraulic tower crane according to claim 8, wherein The determining the first control current value of the hydraulic driving pump (1) and the second control current value of the hydraulic driving motor (2) according to the current control instruction 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 as zero, and the first control current value is determined as the current value corresponding to the current control instruction value.

10. The control method for a hydraulic tower crane according to claim 8, wherein The determining the first control current value of the hydraulic driving pump (1) and the second control current value of the hydraulic driving motor (2) according to the current control instruction 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 first control current value is determined as the current value corresponding to the current control instruction separation value; Obtaining a preliminary value of the second control current according to the current control instruction value, and determining the second control current value as 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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