Cantilever crane driving control method and device and cantilever crane driving control system

Abstract

The invention relates to the field of mechanical equipment, and discloses a cantilever crane driving control method, device and system, a cantilever crane comprises a fixed support, a driving motor and a rotating arm driven by the driving motor, the rotating arm bears a load, and the method comprises the steps that when the target angular speed and the overturning direction information of the rotating arm are obtained, the rotating arm is driven by the driving motor to rotate; acquiring a preset angle between the rotating arm and the fixed bracket; determining a predetermined angular velocity according to the predetermined angle; according to the preset angular velocity, the target angular velocity and the overturning direction, the transformation relation between the angle and the maximum angular acceleration of the rotating arm is determined; the dynamic adjustment step of the driving motor is repeatedly executed until the rotating arm reaches the target angular speed; the step comprises the following steps: acquiring a current angle; according to the transformation relation, the current angle, the weight of the rotating arm bearing the load, the length of the rotating arm and the maximum torque capable of being borne by the arm frame, the current maximum angular acceleration is determined; and controlling the driving motor according to the current maximum angular acceleration. According to the method, start-stop impact can be reduced, and operation stability and efficiency are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of mechanical equipment, and in particular to a boom drive control method and device, and a boom drive control system. Background Art

[0002] At present, many mechanical equipments are provided with a rotary mechanical arm lifting mechanism to lift the load.

[0003] However, the existing rotary mechanical boom lifting mechanism usually adopts a direct control strategy, which does not take into account the force conditions of the boom at different positions and angles of the boom, and directly drives the boom to start, stop or change speed at a quantitative angular velocity. This will cause the boom structure and drive mechanism to withstand excessive start-stop impacts, and also cause the boom to run unsteadily and inefficiently, posing corresponding safety hazards. Summary of the invention

[0004] In the field of mechanical equipment technology, in order to solve the problems of large start-stop impact and unstable operation existing in the control strategy adopted by the rotary mechanical boom lifting mechanism in the prior art, the purpose of the present invention is to provide a boom drive control method, device and boom drive control system.

[0005] According to one aspect of the present disclosure, a drive control method for an arm is provided, the method being applied to an arm drive control system comprising an arm, the arm comprising a fixed support, a drive motor fixed to one end of the fixed support and a swivel arm driven to rotate by the drive motor, the end of the swivel arm away from the drive motor bearing a load, the method comprising: when a target angular velocity that the swivel arm needs to reach and information on a flipping direction of the swivel arm are obtained, obtaining an angle of the swivel arm relative to the fixed support as a predetermined angle; determining an angular velocity of the swivel arm according to the predetermined angle as a predetermined angular velocity; determining a rotation direction of the swivel arm according to the predetermined angular velocity, the target angular velocity and the flipping direction information; A transformation relationship between the angle relative to the fixed bracket and the maximum allowable angular acceleration of the swing arm; repeatedly executing the dynamic adjustment step of the drive motor until the swing arm reaches the target angular velocity; the dynamic adjustment step of the drive motor includes: obtaining the current angle of the swing arm relative to the fixed bracket; determining the current maximum angular acceleration of the swing arm according to the transformation relationship, the current angle, the weight of the swing arm carrying the load, and the pre-acquired length of the swing arm and the maximum torque that the arm can withstand; controlling the drive motor according to the current maximum angular acceleration so that the drive motor drives the swing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration.

[0006] According to another aspect of the present disclosure, a drive control device for an arm is provided, the device being located in an arm drive control system including an arm, the arm including a fixed support, a drive motor fixed to one end of the fixed support and a swivel arm driven to rotate by the drive motor, the end of the swivel arm away from the drive motor carrying a load, the device comprising: an acquisition module, configured to acquire an angle of the swivel arm relative to the fixed support as a predetermined angle when a target angular velocity that the swivel arm needs to reach and information on the flipping direction of the swivel arm are acquired; an angular velocity determination module, configured to determine the angular velocity of the swivel arm as a predetermined angular velocity according to the predetermined angle; a transformation relationship determination module, configured to determine the angular velocity of the swivel arm according to the predetermined angular velocity, the target angular velocity and the flipping direction information. The invention relates to a method for controlling the rotation direction of the swing arm and the swing arm to a rotation direction information, and determining a transformation relationship between the angle of the swing arm relative to the fixed bracket and the maximum allowable angular acceleration of the swing arm; a repeated execution module is configured to repeatedly execute the dynamic adjustment step of the drive motor until the swing arm reaches the target angular velocity; the dynamic adjustment step of the drive motor comprises: obtaining the current angle of the swing arm relative to the fixed bracket; determining the current maximum angular acceleration of the swing arm according to the transformation relationship, the current angle, the weight of the swing arm carrying the load, and the pre-acquired length of the swing arm and the maximum torque that the arm can withstand; and controlling the drive motor according to the current maximum angular acceleration so that the drive motor drives the swing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration.

[0007] Optionally, based on the aforementioned scheme, the transformation relationship determination module is further configured to: determine the target motion state of the swing arm according to the predetermined angular velocity, the target angular velocity and the flipping direction information; determine the transformation relationship corresponding to the target motion state according to the correspondence relationship information between the preset motion state and the transformation relationship, as the transformation relationship between the angle of the swing arm relative to the fixed bracket and the maximum allowable angular acceleration of the swing arm.

[0008] Optionally, based on the above-mentioned scheme, the target motion state is one of the following motion states: accelerating the upward flip of the rotating arm, decelerating the upward flip of the rotating arm, accelerating the downward flip of the rotating arm, and decelerating the downward flip of the rotating arm; wherein, accelerating the upward flip of the rotating arm is to make the rotating arm flip upward at a larger angular velocity, decelerating the upward flip of the rotating arm is to make the rotating arm flip upward at a smaller angular velocity, accelerating the downward flip of the rotating arm is to make the rotating arm flip downward at a larger angular velocity, and decelerating the downward flip of the rotating arm is to make the rotating arm flip downward at a smaller angular velocity.

[0009] Optionally, based on the above-mentioned scheme, the arm drive control system also includes an upward proportional flow valve and a downward proportional flow valve, and the drive motor is a hydraulic motor; when the target motion state is to accelerate the upward flip of the boom or to decelerate the upward flip of the boom, the hydraulic motor is controlled by the flow of the upward proportional flow valve; when the target motion state is to accelerate the downward flip of the boom or to decelerate the downward flip of the boom, the hydraulic motor is controlled by the flow of the downward proportional flow valve.

[0010] Optionally, based on the aforementioned scheme, the repeated execution module is further configured to: take the current maximum angular acceleration as the target angular acceleration, and control the drive motor according to the target angular acceleration so that the drive motor drives the rotating arm to rotate at the target angular acceleration.

[0011] Optionally, based on the aforementioned scheme, the repeated execution module is further configured to: obtain a predetermined proportional coefficient; determine a target angular acceleration based on the current maximum angular acceleration and the predetermined proportional coefficient, and the target angular acceleration is less than the current maximum angular acceleration; control the drive motor based on the target angular acceleration so that the drive motor drives the rotating arm to rotate at the target angular acceleration.

[0012] Optionally, based on the above-mentioned solution, the estimated weight of the rotating arm carrying the load is the sum of the empty weight of the rotating arm and the upper limit of the load weight that the rotating arm can bear.

[0013] Optionally, based on the above-mentioned solution, the estimated weight of the rotating arm carrying the load is the sum of the empty weight of the rotating arm and the actual weight of the load.

[0014] According to another aspect of the present disclosure, a computer-readable program medium is provided, which stores computer program instructions. When the computer program instructions are executed by a computer, the computer is caused to execute the method as described above.

[0015] According to another aspect of the present disclosure, there is provided a boom drive control system, comprising: a boom, comprising a fixed support, a drive motor fixed to one end of the fixed support, and a rotating arm driven to rotate by the drive motor; and a control unit, for controlling the drive motor to implement the boom drive control method as described above.

[0016] The technical solution provided by the present disclosure may have the following beneficial effects:

[0017] With regard to the boom drive control method, device and boom drive control system provided by the present disclosure, since the method is applied to a boom drive control system including a boom, and the boom includes a fixed support, a driving motor fixed to one end of the fixed support and a rotating arm driven to rotate by the driving motor, the end of the rotating arm away from the driving motor also carries a load, and in this method, when the target angular velocity that the rotating arm needs to reach and the flipping direction information of the rotating arm are obtained, the predetermined angle of the rotating arm relative to the fixed support is obtained, and then, the predetermined angular velocity of the rotating arm is determined according to the predetermined angle, and according to the predetermined angular velocity, the target angular velocity and the flipping direction information, it can be determined that the current angular velocity of the rotating arm relative to the fixed support is The transformation relationship between the angle of the fixed bracket and the maximum allowable angular acceleration of the swing arm; finally, by repeatedly executing the dynamic adjustment steps of the drive motor, until the swing arm reaches the target angular velocity; wherein, in each dynamic adjustment step of the drive motor, the current angle of the swing arm relative to the fixed bracket is obtained, and the current maximum angular acceleration of the swing arm is determined according to the aforementioned transformation relationship, the current angle, the weight of the swing arm carrying the load, and the pre-obtained length of the swing arm and the maximum torque that the arm can withstand, and then, the drive motor can be controlled according to the current maximum angular acceleration, so that the drive motor drives the swing arm to rotate at a target angular acceleration not exceeding the current maximum angular acceleration. Since the current maximum angular acceleration of the boom is determined based on the transformation relationship, the current angle, the estimated weight of the boom carrying the load, and the pre-obtained length of the boom and the maximum torque that the boom can withstand, and the control of the drive motor is achieved based on the current maximum angular acceleration, the scheme of the embodiment of the present disclosure takes into account the stress conditions of the boom at different positions and angles, and adopts dynamic flexible adjustment of the drive motor for acceleration and deceleration control, which can realize the start and stop and acceleration and deceleration motion control of the dynamic flexible adjustment boom, and can effectively alleviate the start and stop impact of the rotary lifting boom, improve the stability and efficiency of the boom operation, and reduce the probability of safety hazards.

[0018] It is to be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] Figure 1A is a perspective view of a boom according to an exemplary embodiment;

[0021] Figure 1B is a front view of a boom according to an exemplary embodiment;

[0022] Figure 2 is a flow chart of a driving control method of a boom according to an exemplary embodiment;

[0023] Figure 3 is a schematic diagram of an electric control part of a boom drive control system according to an exemplary embodiment;

[0024] Figure 4 According to an exemplary embodiment, Figure 2 A flowchart of the details of step 230 in an embodiment;

[0025] Figure 5 is a schematic diagram of a moment M generated by the deadweight of a rotating arm and a load according to an exemplary embodiment;

[0026] Figure 6 is a schematic diagram showing a change rule of the moment M generated by the deadweight of the rotating arm and the load as the rotating arm rotates according to an exemplary embodiment;

[0027] Figure 7 It is a schematic diagram showing the change rules of the moment M generated by the deadweight of the swing arm and the load, the current maximum angular acceleration of the swing arm, and the maximum flow rate change rate of the upward proportional flow valve as the swing arm rotates in the state of upward acceleration of the swing arm according to an exemplary embodiment;

[0028] Figure 8 It is a schematic diagram showing the change law of the moment M generated by the deadweight of the swing arm and the load, the current maximum angular acceleration of the swing arm, and the maximum flow rate change rate of the upward proportional flow valve as the swing arm rotates in the motion state of the swing arm turning up and decelerating according to an exemplary embodiment;

[0029] Fig. 9 It is a schematic diagram showing the change rules of the moment M generated by the deadweight of the swing arm and the load, the current maximum angular acceleration of the swing arm, and the maximum flow rate change rate of the downward proportional flow valve as the swing arm rotates in the motion state of the swing arm turning down and accelerating according to an exemplary embodiment;

[0030] Fig.10 It is a schematic diagram showing the change law of the moment M generated by the deadweight of the swing arm and the load, the current maximum angular acceleration of the swing arm, and the maximum flow rate change rate of the downward proportional flow valve as the swing arm rotates in the motion state of the swing arm turning down and decelerating according to an exemplary embodiment;

[0031] Fig.11 is a flow chart showing, according to an exemplary embodiment, controlling a drive motor according to a current maximum angular acceleration so that the drive motor drives a rotating arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration;

[0032] Fig.12The invention is a block diagram of a driving control device of an arm according to an exemplary embodiment. DETAILED DESCRIPTION

[0033] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0034] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings represent the same or similar parts, and their repeated descriptions will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0035] In the related art, the rotary mechanical boom lifting mechanism usually adopts a direct control strategy, which not only produces excessive start-stop impact on the mechanical structure such as the boom, but also causes the boom to run unsteadily and have low operating efficiency, posing corresponding safety hazards.

[0036] To this end, the present disclosure first provides a boom drive control method, which can overcome the above defects, effectively reduce the impact of starting and stopping the rotary lifting boom, improve the stability and efficiency of operation, and achieve safe and efficient arm movement.

[0037] The drive control method of a boom provided in the present disclosure can be applied to a boom drive control system including a boom. In addition to the boom, the boom drive control system can also include an electric control part, which can include a control unit, etc. The boom drive control system can be applied to sanitation equipment such as sanitation vehicles, that is, the boom in the boom drive control system can be a lifting mechanism on the sanitation equipment.

[0038] Figure 1A is a perspective view of a boom according to an exemplary embodiment. Figure 1AAs shown, the arm 100 includes a fixed bracket 105, a driving motor 102 fixed to one end of the fixed bracket 105, and a rotating arm 101 driven to rotate by the driving motor 102. Specifically, the fixed bracket 105 can be arranged along the vertical direction, the driving motor 102 can be fixed to the upper end of the fixed bracket 105, one end of the rotating arm 101 is fixedly connected to the driving motor 102, and the driving motor 102 can drive the rotating arm 101 to perform an upward and downward rotation movement, and the other end of the rotating arm 101 is fixedly connected to a clamp 104, which is a claw and includes a pair of clamping arms that can move relatively, and the clamp 104 can be used to clamp a load such as a trash can; although not shown in the figure, the end of the rotating arm 101 away from the driving motor 102 can also carry a load, that is, the load can be clamped by the clamp 104. The arm 100 can also include an angle sensor 103.

[0039] Figure 1B is a front view of a boom according to an exemplary embodiment. Figure 1B As shown, the angle sensor 103 can be used to monitor in real time the angle 106 of the rotating arm 101 relative to the fixed bracket 105. The angle 106 is θ, which is the angle between the first vertical line emitted from the axis of the driving motor 102 and the second vertical line emitted from the axis of the driving motor 102 along the length direction of the rotating arm. The value range of θ can be 0° to 180°.

[0040] Figure 2 FIG. 1 is a flow chart of a boom drive control method according to an exemplary embodiment. The method can be executed by the above-mentioned boom drive control system. Figure 2 As shown, the driving control method of the boom may include the following steps:

[0041] Step 210: When the target angular velocity that the rotating arm needs to reach and the flipping direction information of the rotating arm are obtained, the angle of the rotating arm relative to the fixed support is obtained as the predetermined angle.

[0042] The target angular velocity that the rotating arm needs to reach and the information of the flipping direction of the rotating arm can be obtained at any time. The predetermined angle is the angle of the rotating arm relative to the fixed support at a specified time, that is, the current angle at the specified time.

[0043] Since the arm often needs to rotate relative to the fixed bracket during the use of the arm, the angle of the arm relative to the fixed bracket also changes at any time. Figure 1A The angle sensor shown detects the angle of the pivot arm relative to the fixed support.

[0044] The target angular velocity that the rotating arm needs to reach can be pre-defined and set in the arm drive control system, or can be set manually. The flipping direction information of the rotating arm can be set manually.

[0045] Figure 3 is a schematic diagram of the electric control part of the boom drive control system according to an exemplary embodiment. Figure 3 As shown, the electronic control part of the arm drive control system includes a control handle 301, a programmable logic controller 305 and an angle sensor 302, wherein the control handle 301, the programmable logic controller 305 and the angle sensor 302 are powered by the same power supply, the programmable logic controller 305 can be used to execute the method provided in the embodiment of the present disclosure, the control handle 301 is connected to the programmable logic controller 305 through a communication line, and the angle sensor 302 is electrically connected to the programmable logic controller 305, and the user can set the target angular velocity and the flipping direction information of the swing arm by operating the control handle 301, and this information will be transmitted to the programmable logic controller 305 via the communication line; the programmable logic controller 305 can also obtain the current angle of the swing arm relative to the fixed bracket at each moment from the angle sensor 302.

[0046] It is easy to understand that although in the embodiment of the present disclosure, the driving control method of the arm is executed by the programmable logic controller 305, and the control handle 301 is connected to the programmable logic controller 305 via a wired communication line; but in other embodiments of the present disclosure, the driving control method of the arm can also be executed by other types of control units such as a single-chip microcomputer and a computer, and the control handle 301 can also establish a communication connection with the control unit through a wireless link.

[0047] Step 220, determining the angular velocity of the rotating arm according to the predetermined angle as the predetermined angular velocity.

[0048] The current angular velocity of the swing arm can be determined based on the predetermined angle and the most recently acquired angle of the swing arm relative to the fixed bracket as the predetermined angular velocity. Specifically, the angle difference between the predetermined angle and the most recently acquired angle of the swing arm relative to the fixed bracket can be determined first; then the angle difference is divided by the time difference between acquiring the predetermined angle and acquiring the most recently acquired angle of the swing arm relative to the fixed bracket, and the average angular velocity corresponding to the time difference is obtained as the predetermined angular velocity ω0 of the swing arm. Since the time interval between two consecutive angle acquisitions is very short, that is, the angle sensor 302 collects and sends the angle of the swing arm relative to the fixed bracket at a very high sampling frequency. Therefore, by using the average angular velocity in the time period corresponding to the most recently acquired two angles as the angular velocity of the swing arm, the predetermined angular velocity of the swing arm can be determined more accurately.

[0049] Step 230, determining the transformation relationship between the angle of the rotating arm relative to the fixed support and the maximum allowable angular acceleration of the rotating arm according to the predetermined angular velocity, the target angular velocity and the flipping direction information.

[0050] The transformation relationship between the angle of the swing arm relative to the fixed support and the maximum allowable angular acceleration of the swing arm determined in step 230 is the transformation relationship between the angle of the swing arm relative to the fixed support and the maximum allowable angular acceleration of the swing arm under the current working condition.

[0051] Figure 4 According to an exemplary embodiment, Figure 2 Flow chart of details of step 230 in the embodiment. Figure 4 As shown, according to the predetermined angular velocity, the target angular velocity and the flip direction information, determining the transformation relationship between the angle of the rotating arm relative to the fixed bracket and the maximum allowable angular acceleration of the rotating arm may specifically include the following steps:

[0052] Step 231, determining the target motion state of the rotating arm according to the predetermined angular velocity, the target angular velocity and the flipping direction information.

[0053] The target motion state of the rotating arm is: the motion state that the rotating arm needs to enter in order to make the rotating arm reach the target angular velocity.

[0054] In one embodiment of the present disclosure, the target motion state is one of the following motion states: the arm is accelerated when turning upward, the arm is decelerated when turning upward, the arm is accelerated when turning downward, and the arm is decelerated when turning downward; wherein the arm is accelerated when turning upward to make the arm turn upward at a greater angular velocity, the arm is decelerated when turning upward to make the arm turn upward at a smaller angular velocity, the arm is accelerated when turning downward to make the arm turn downward at a greater angular velocity, and the arm is decelerated when turning downward to make the arm turn downward at a smaller angular velocity. For example, if the predetermined angular velocity is less than the target angular velocity and the flipping direction information is flipping upward, then the target motion state is the arm is accelerated when turning upward; if the predetermined angular velocity is greater than the target angular velocity and the flipping direction information is flipping upward, then the target motion state is the arm is decelerated when turning upward; if the predetermined angular velocity is less than the target angular velocity and the flipping direction information is flipping downward, then the target motion state is the arm is accelerated when turning downward; if the predetermined angular velocity is greater than the target angular velocity and the flipping direction information is flipping downward, then the target motion state is the arm is decelerated when turning downward.

[0055] In order to realize the variable speed flexible control of the boom, it is necessary to determine the corresponding maximum allowable angular acceleration for each motion state.

[0056] Step 232, according to the correspondence information between the preset motion state and the transformation relationship, determine the transformation relationship corresponding to the target motion state as the transformation relationship between the angle of the swing arm relative to the fixed support and the maximum allowable angular acceleration of the swing arm.

[0057] The transformation relationship corresponding to each motion state can be determined in advance, and various motion states and corresponding transformation relationships can be organized into a table; the transformation relationship corresponding to the target motion state can be determined by querying the table.

[0058] Figure 5 is a schematic diagram showing a moment M generated by the deadweight of a rotating arm and a load according to an exemplary embodiment. Figure 5 As shown, assuming that the sum of the weights of the swing arm and the load is m (it is easy to understand that the swing arm here can include the aforementioned clamp, i.e., the claw), and the angle of the swing arm relative to the fixed bracket is θ, then the swing arm and the load as a whole will be subjected to a downward force at the center of mass, the magnitude of which is mg, and the length of the swing arm is L, then, this force will generate a torque on the rotating shaft (i.e., the drive motor). Figure 6 is a schematic diagram showing the change of the moment M generated by the deadweight of the swing arm and the load as the swing arm rotates according to an exemplary embodiment. Figure 6 As shown, the torque generated by the gravity on the swing arm and the load as a whole changes sinusoidally with the change of the angle θ, that is, M=mgLsinθ.

[0059] Obviously, in the two motion states of the boom up-flipping speeding up and the boom down-flipping decelerating, the gravity exerted on the boom and the load as a whole will provide a resistance torque; in the two motion states of the boom up-flipping decelerating and the boom down-flipping speeding up, the gravity exerted on the boom and the load as a whole will provide a dynamic torque.

[0060] The maximum torque that the boom can withstand is also the maximum driving torque of the driving motor.

[0061] For the motion state of the boom turning up and accelerating, the maximum torque that the boom can withstand is M max =τ+M=mL 2 α max +mgL sinθ, where M=mgL sinθ is the moment generated by the gravity on the arm and the load as a whole, τ=mL 2 α max is the acceleration torque required by the swing arm and the load, that is, the torque that causes the swing arm and the load to produce the maximum angular acceleration as a whole, where m is the sum of the weight of the swing arm and the load, L is the length of the swing arm, and α max The maximum angular acceleration allowed by the swing arm and the load as a whole is the maximum permissible angular acceleration of the swing arm, and θ is the angle of the swing arm relative to the fixed bracket. In other words, the drive motor can be imagined as a lever. When the swing arm is turning up and accelerating, the drive motor will overcome the resistance torque provided by the gravity of the swing arm and the load as a whole, and generate an upward angular acceleration.

[0062] Therefore, in this motion state, the maximum allowable angular acceleration of the swing arm is This formula is the transformation relationship corresponding to the motion state of the rotating arm turning up and accelerating.

[0063] Figure 7 The figure is a schematic diagram showing the change rules of the moment M generated by the deadweight of the swing arm and the load, the current maximum angular acceleration of the swing arm, and the maximum flow rate change rate of the upward proportional flow valve as the swing arm rotates in the state of the swing arm turning up and accelerating according to an exemplary embodiment. Figure 7 As shown in (a), the angle θ of the rotating arm relative to the fixed bracket changes from 0° to 180°, thereby realizing the upward flipping of the rotating arm. During this process, the resistance torque provided by the gravity of the rotating arm and the load as a whole will first increase and then decrease. Figure 7 As shown in (b), in the motion state of the swing arm turning up and accelerating, if the maximum allowable angular acceleration of the swing arm is used as the current maximum angular acceleration of the swing arm, and the drive control is performed according to the current maximum angular acceleration as the actual angular acceleration adopted, as the angle θ of the swing arm relative to the fixed bracket changes from 0° to 180°, the current maximum angular acceleration of the swing arm will first decrease and then increase, and the position where the current maximum angular acceleration of the swing arm is the smallest corresponds to the position where the resistance torque provided by the gravity acting on the swing arm and the load as a whole is the largest.

[0064] For the motion state of the boom turning up and decelerating, the maximum moment that the boom can withstand is M max =-τ-M=-mL 2 α max -mgL sinθ, where M = mgL sinθ is the moment generated by the gravity of the arm and the load as a whole, τ = mL 2 α max is the acceleration torque required by the swing arm and the load, that is, the torque that causes the swing arm and the load to produce the maximum angular acceleration as a whole, where m is the sum of the weight of the swing arm and the load, L is the length of the swing arm, and α max To allow the maximum angular acceleration of the swing arm and the load as a whole, that is, the maximum allowable angular acceleration of the swing arm, θ is the angle of the swing arm relative to the fixed bracket. In the state of deceleration of the swing arm turning up, the torque generated by the drive motor will produce a downward angular acceleration together with the dynamic torque provided by the gravity of the swing arm and the load as a whole.

[0065] Therefore, in this motion state, the maximum allowable angular acceleration of the swing arm is This formula is the transformation relationship corresponding to the motion state of the swing arm flipping up and decelerating.

[0066] Figure 8The figure is a schematic diagram showing the change rules of the moment M generated by the deadweight of the swing arm and the load, the current maximum angular acceleration of the swing arm, and the maximum flow rate change rate of the upward proportional flow valve as the swing arm rotates in the state of deceleration of the swing arm according to an exemplary embodiment. Figure 8 As shown in (a), the angle θ of the swing arm relative to the fixed bracket changes from 0° to 180°, thereby realizing the upward flipping of the swing arm. During this process, the dynamic torque provided by the gravity of the swing arm and the load as a whole will first increase and then decrease. Figure 8 As shown in (b), in the state of deceleration of the swing arm turning up, if the maximum allowable angular acceleration of the swing arm is used as the current maximum angular acceleration of the swing arm, and the drive control is performed according to the current maximum angular acceleration as the actual angular acceleration, as the angle θ of the swing arm relative to the fixed bracket changes from 0° to 180°, the current maximum angular acceleration of the swing arm will first decrease and then increase, and the position where the current maximum angular acceleration of the swing arm is the smallest corresponds to the position where the dynamic torque provided by the gravity of the swing arm and the load as a whole is the largest. It can be understood that in the state of deceleration of the swing arm turning up, the current maximum angular acceleration of the swing arm is a negative value, that is, when the dynamic torque provided by the gravity of the swing arm and the load as a whole is the largest, the current maximum angular acceleration of the swing arm should be the smallest (the absolute value of the current maximum angular acceleration of the swing arm is the largest) to provide the smallest current maximum angular acceleration.

[0067] For the motion state of the boom turning down and accelerating, the maximum moment that the boom can withstand is M max =τ-M=mL 2 α max -mgL sinθ, where M = mgL sinθ is the moment generated by the gravity of the arm and the load as a whole, τ = mL 2 α max is the acceleration torque required by the swing arm and the load, that is, the torque that causes the swing arm and the load to produce the maximum angular acceleration as a whole, where m is the sum of the weight of the swing arm and the load, L is the length of the swing arm, and α max To allow the maximum angular acceleration of the swing arm and the load as a whole, that is, the maximum allowable angular acceleration of the swing arm, θ is the angle of the swing arm relative to the fixed bracket. In other words, the drive motor can be imagined as a lever, and the torque generated by the drive motor will produce a downward angular acceleration together with the dynamic torque provided by the gravity of the swing arm and the load as a whole.

[0068] Therefore, in this motion state, the maximum allowable angular acceleration of the swing arm is This formula is the transformation relationship corresponding to the motion state of the swing arm turning down and accelerating.

[0069] Fig. 9The figure is a schematic diagram showing the change rules of the moment M generated by the deadweight of the arm and the load, the current maximum angular acceleration of the arm, and the maximum flow rate change rate of the downward proportional flow valve as the arm rotates in the state of the arm turning down and accelerating according to an exemplary embodiment. Fig. 9 As shown in (a), the angle θ of the swing arm relative to the fixed bracket changes from 180° to 0°, thereby realizing the swing arm flipping downward. During this process, the dynamic torque provided by the gravity of the swing arm and the load as a whole will first increase and then decrease. Fig. 9 As shown in (b), in the motion state of the swing arm turning down and accelerating, if the maximum allowable angular acceleration of the swing arm is used as the current maximum angular acceleration of the swing arm, and the drive control is performed according to the current maximum angular acceleration as the actual angular acceleration, as the angle θ of the swing arm relative to the fixed bracket changes from 180° to 0°, the current maximum angular acceleration of the swing arm will first increase and then decrease, and the position where the current maximum angular acceleration of the swing arm is the largest corresponds to the position where the dynamic torque provided by the gravity acting on the swing arm and the load as a whole is the largest.

[0070] For the motion state of the boom turning down and decelerating, the maximum moment that the boom can withstand is M max =-τ+M=-mL 2 α max +mgL sinθ, where M=mgL sinθ is the moment generated by the gravity on the arm and the load as a whole, τ=mL 2 α max is the acceleration torque required by the swing arm and the load, that is, the torque that causes the swing arm and the load to produce the maximum angular acceleration as a whole, where m is the sum of the weight of the swing arm and the load, L is the length of the swing arm, and α max The maximum angular acceleration of the swing arm and the load as a whole is allowed, that is, the maximum allowable angular acceleration of the swing arm, and θ is the angle of the swing arm relative to the fixed bracket. In other words, the drive motor can be imagined as a lever. When the swing arm is in the state of deceleration, the drive motor will overcome the resistance torque provided by the gravity of the swing arm and the load as a whole, and generate an upward angular acceleration.

[0071] Therefore, in this motion state, the maximum allowable angular acceleration of the swing arm is This formula is the transformation relationship corresponding to the motion state of the boom turning down and decelerating.

[0072] Fig.10 The figure is a schematic diagram showing the change rules of the moment M generated by the deadweight of the swing arm and the load, the current maximum angular acceleration of the swing arm, and the maximum flow rate change rate of the downward proportional flow valve as the swing arm rotates in the state of deceleration of the swing arm according to an exemplary embodiment. Fig.10As shown in (a), the angle θ of the rotating arm relative to the fixed bracket changes from 180° to 0°, thereby realizing the downward flipping of the rotating arm. During this process, the resistance torque provided by the gravity of the rotating arm and the load as a whole will first increase and then decrease. Fig.10 As shown in (b), in the state of deceleration of the swing arm turning down, if the maximum allowable angular acceleration of the swing arm is used as the current maximum angular acceleration of the swing arm, and the drive control is performed according to the current maximum angular acceleration as the actual angular acceleration, as the angle θ of the swing arm relative to the fixed bracket changes from 180° to 0°, the current maximum angular acceleration of the swing arm will first increase and then decrease, and the position where the current maximum angular acceleration of the swing arm is the largest corresponds to the position where the resistance torque provided by the gravity of the swing arm and the load as a whole is the largest. It can be understood that in the state of deceleration of the swing arm turning down, the current maximum angular acceleration of the swing arm is a negative value, that is, when the resistance torque provided by the gravity of the swing arm and the load as a whole is the largest, the current maximum angular acceleration of the swing arm should be the largest (the absolute value of the current maximum angular acceleration of the swing arm is the smallest) to provide the maximum current maximum angular acceleration.

[0073] The maximum permissible angular acceleration α of the counter-rotating arm max By adjusting and controlling the regular change of the angle θ, flexible start-stop and speed change control of the boom can be achieved. The maximum boom acceleration and deceleration speed control can be provided without exceeding the maximum torque received by the boom, thereby realizing dynamic flexible control of the boom speed change action.

[0074] Step 240, repeatedly execute the dynamic adjustment step of the drive motor until the swing arm reaches the target angular velocity; the dynamic adjustment step of the drive motor includes: obtaining a new current angle; determining the current maximum angular acceleration of the swing arm according to the transformation relationship, the new current angle, the weight of the swing arm carrying the load, and the pre-acquired length of the swing arm and the maximum torque that the arm can withstand; controlling the drive motor according to the current maximum angular acceleration so that the drive motor drives the swing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration.

[0075] The embodiment of the present application aims to achieve the target angular velocity of the swing arm, thereby realizing effective control of the angular velocity of the boom. Since the current maximum angular acceleration of the swing arm is determined according to the maximum torque that the boom can withstand, the drive control process can be within the limits of the boom's own structure and strength.

[0076] When the dynamic adjustment step of the first drive motor is executed, the current angle of the rotating arm relative to the fixed support obtained in step 210 can be used as the new current angle required to be obtained in the dynamic adjustment step of the first drive motor; of course, the new current angle can also be directly obtained through the angle sensor. The dynamic adjustment step of the drive motor can be executed every time a new current angle is obtained.

[0077] The maximum moment that the boom can withstand M max It can be determined in advance through experiments; the length of the rotating arm can also be measured in advance.

[0078] It is easy to understand that in practical applications, the weight of the swing arm carrying the load can be the estimated weight of the swing arm carrying the load. The estimated weight of the swing arm carrying the load can include the weight of the aforementioned clamp (i.e., the claw), or this part of the weight can be ignored.

[0079] In one embodiment of the present disclosure, the estimated weight of the swing arm carrying a load is the sum of the empty weight of the swing arm and the upper limit of the load weight that the swing arm can carry.

[0080] The upper limit of the load weight that the swing arm can bear can be preset. In the embodiment of the present disclosure, by taking the sum of the upper limit of the load weight that the swing arm can bear and the empty weight of the swing arm as the estimated weight of the swing arm bearing the load, there is no need to measure the actual weight of the load, which can further save costs while ensuring the flexible drive control effect of the boom.

[0081] In one embodiment of the present disclosure, the estimated weight of the swing arm carrying a load is the sum of the empty weight of the swing arm and the actual weight of the load.

[0082] A weight sensor may be provided in the boom to detect the actual weight of the load.

[0083] In the embodiment of the present disclosure, by calculating the estimated weight of the swing arm carrying the load based on the actual weight of the load, the current maximum angular acceleration of the swing arm can be determined more accurately, so that the drive control of the boom can be achieved more accurately and efficiently.

[0084] The following describes the embodiment of the present disclosure by taking an open variable hydraulic drive system as an example.

[0085] In one embodiment of the present disclosure, the arm drive control system also includes an upward flip proportional flow valve and a downward flip proportional flow valve, and the drive motor is a hydraulic motor; when the target motion state is to accelerate the upward flip of the boom or to decelerate the upward flip of the boom, the hydraulic motor is controlled by the flow of the upward flip proportional flow valve; when the target motion state is to accelerate the downward flip of the boom or to decelerate the downward flip of the boom, the hydraulic motor is controlled by the flow of the downward flip proportional flow valve.

[0086] Please continue to see Figure 3As shown, the electronic control part of the boom drive control system includes an upward proportional flow valve 303 and a downward proportional flow valve 304 electrically connected to a programmable logic controller 305. Although not shown in the drawings, it is easy to understand that the boom drive control system can also include a hydraulic pump, which can deliver hydraulic oil to the hydraulic motor through an oil pipe, and the upward proportional flow valve 303 and the downward proportional flow valve 304 are used to control the flow input to the hydraulic motor, thereby controlling the speed of the hydraulic motor, wherein the speed of the hydraulic motor can be positively correlated with the flow input to the hydraulic motor, specifically, the two can be in a positive proportional relationship. Therefore, in step 240, the drive motor can be indirectly controlled by controlling the upward proportional flow valve or the downward proportional flow valve. The flow of the upward proportional flow valve 303 and the downward proportional flow valve 304 can be directly controlled by the programmable logic controller 305.

[0087] Although the solution in the embodiment of the present disclosure is specifically applied to an open hydraulic system, that is, the driving motor is a hydraulic motor; but in other embodiments of the present disclosure, the solution of the embodiment of the present disclosure can also be applied to control systems with other driving forms to drive the rotating arm to flip up and down, and the driving motor can also be other forms of motors such as electric motors.

[0088] In one embodiment of the present disclosure, a drive motor is controlled according to a current maximum angular acceleration so that the drive motor drives the rotating arm to rotate at a target angular acceleration not exceeding the current maximum angular acceleration, including: taking the current maximum angular acceleration as the target angular acceleration, and controlling the drive motor according to the target angular acceleration so that the drive motor drives the rotating arm to rotate at the target angular acceleration.

[0089] In the disclosed embodiment, by directly controlling the drive motor according to the current maximum angular acceleration, the maximum angular acceleration can be provided without exceeding the maximum torque that the arm can withstand, so that the swing arm can reach the target angular velocity more efficiently.

[0090] Controlling the drive motor according to the current maximum angular acceleration does not necessarily mean that the angular acceleration of the drive motor is the current maximum angular acceleration.

[0091] Fig.11 is a flowchart showing a method of controlling a drive motor according to a current maximum angular acceleration so that the drive motor drives the rotating arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration according to an exemplary embodiment. Fig.11 As shown, controlling the drive motor according to the current maximum angular acceleration so that the drive motor drives the rotating arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration may specifically include the following steps:

[0092] Step 1110, obtaining a predetermined proportionality coefficient.

[0093] The predetermined proportional coefficient can be set according to the operating habits of the operator and the safety margin of the boom bearing torque. For example, the value range of the predetermined proportional coefficient can be (0,1). The predetermined proportional coefficient can be set by the relevant personnel through the control handle. The predetermined proportional coefficient can be flexibly set by the relevant personnel according to the needs.

[0094] Step 1120, determining a target angular acceleration according to the current maximum angular acceleration and a predetermined proportional coefficient, wherein the target angular acceleration is less than the current maximum angular acceleration.

[0095] The product of the current maximum angular acceleration and a predetermined proportionality coefficient may be used as the target angular acceleration.

[0096] Step 1130: Control the drive motor according to the target angular acceleration so that the drive motor drives the rotating arm to rotate at the target angular acceleration.

[0097] Although only one predetermined proportional coefficient is set in the embodiment of the present disclosure, in other embodiments of the present disclosure, multiple predetermined proportional coefficients may be set, for example, different proportional coefficients may be set for different motion states.

[0098] In the embodiment of the present disclosure, by adjusting the current maximum angular acceleration according to a predetermined proportional coefficient, the operating comfort can be effectively improved, and the safety factor of the boom bearing torque can be improved.

[0099] The flow rate change rate of the upward proportional flow valve 303 and the downward proportional flow valve 304 It is positively correlated with the angular acceleration α of the rotating arm. Therefore, the angular acceleration provided by the driving mechanism (driving motor) to the rotating arm can be flexibly controlled by controlling the flow changes of the upward proportional flow valve 303 and the downward proportional flow valve 304.

[0100] Figure 7 (c) shows the flow change curve Q of the upward proportional flow valve in the state of the boom upward turning and speed increase. 目标 It can be seen that under this condition, the maximum flow rate change rate of the upward proportional flow valve is It is in direct proportion. As the angle θ of the rotating arm relative to the fixed bracket changes from 0° to 180°, the flow of the upward proportional flow valve gradually increases, and the maximum flow rate increase rate will first decrease and then increase.

[0101] Figure 8 (c) shows the flow change curve Q of the upward proportional flow valve in the state of deceleration of the swing arm upward. 目标 It can be seen that under this condition, the maximum flow rate change rate of the upward proportional flow valve is It is in direct proportion. As the angle θ of the rotating arm relative to the fixed bracket changes from 0° to 180°, the flow of the upward proportional flow valve gradually decreases, and the maximum flow rate decrease rate will first increase and then decrease.

[0102] Fig. 9 (c) shows the flow change curve Q of the downward proportional flow valve in the state of the boom downward acceleration. 目标 It can be seen that under this condition, the maximum flow rate change rate of the downward proportional flow valve is It is in direct proportion. As the angle θ of the swing arm relative to the fixed bracket changes from 180° to 0°, the flow of the downward proportional flow valve gradually increases, and the maximum flow rate increase rate will first increase and then decrease.

[0103] Fig.10 (c) shows the flow change curve Q of the downward proportional flow valve in the state of deceleration of the swing arm downward. 目标 It can be seen that under this condition, the maximum flow rate change rate of the downward proportional flow valve is It is in direct proportion. As the angle θ of the swing arm relative to the fixed bracket changes from 180° to 0°, the flow of the downward proportional flow valve gradually increases, and the maximum flow rate decreases first and then increases.

[0104] Combined with the above flow change curve, by changing the real-time flow Q of the proportional flow valve, the maximum moment M that the boom can withstand can be controlled with the shortest response time. max Under the premise of ensuring that the boom can safely and quickly reach the target angular velocity ω specified by the corresponding control handle 目标 .

[0105] To summarize, according to the drive control method of the boom provided in the embodiment of the present invention, the driving mechanism (driving motor) of the boom is dynamically and flexibly adjusted to achieve acceleration and deceleration control of the lifting mechanism (swinging arm), which can adapt to the force conditions of the boom at different positions and angles, thereby dynamically adjusting the torque received by the boom at different positions, and dynamically and flexibly adjusting the start and stop and acceleration and deceleration motion control of the boom, thereby achieving flexible start and stop or speed change control of the boom, effectively solving the problems of the rotary lifting boom in the prior art in terms of start and stop impact, operation stability and operation efficiency, and making the swing arm movement safer and more efficient.

[0106] The following describes an embodiment of the device disclosed herein, which can be used to execute the boom drive control method in the above embodiment of the present disclosure. For details not disclosed in the embodiment of the device disclosed herein, please refer to the embodiment of the boom drive control method in the above embodiment of the present application.

[0107] Fig.12 is a block diagram of a driving control device for an arm according to an exemplary embodiment. Fig.12 As shown, according to an embodiment of the present disclosure, a boom drive control device 1200 is located in a boom drive control system including a boom, wherein the boom includes a fixed support, a drive motor fixed to one end of the fixed support, and a swing arm driven to rotate by the drive motor, wherein the end of the swing arm away from the drive motor carries a load, and the device includes: an acquisition module 1210, an angular velocity determination module 1220, a transformation relationship determination module 1230, and a repeated execution module 1240. Among them, the acquisition module 1210 is configured to acquire the angle of the swing arm relative to the fixed support as a predetermined angle when the target angular velocity required for the swing arm to reach and the flip direction information of the swing arm are acquired; the angular velocity determination module 1220 is configured to determine the angular velocity of the swing arm according to the predetermined angle as the predetermined angular velocity; the transformation relationship determination module 1230 is configured to determine the transformation relationship between the angle of the swing arm relative to the fixed support and the maximum allowable angular acceleration of the swing arm according to the predetermined angular velocity, the target angular velocity and the flip direction information; the repeated execution module 1240 is configured to determine the transformation relationship between the angle of the swing arm relative to the fixed support and the maximum allowable angular acceleration of the swing arm; the repeated execution module 1240 is configured to determine the transformation relationship between the angle of the swing arm relative to the fixed support and the maximum allowable angular acceleration of the swing arm according to the predetermined angular velocity, the target angular velocity and the flip direction information; the repeated execution module 1240 is configured to determine the transformation relationship between the angle of the swing arm relative to the fixed support and the maximum allowable angular acceleration of the swing arm. Configured to repeatedly execute the dynamic adjustment step of the drive motor until the swing arm reaches the target angular velocity; the dynamic adjustment step of the drive motor includes: obtaining the current angle of the swing arm relative to the fixed bracket; determining the current maximum angular acceleration of the swing arm according to the transformation relationship, the current angle, the weight of the swing arm carrying the load, and the pre-acquired length of the swing arm and the maximum torque that the arm can withstand; controlling the drive motor according to the current maximum angular acceleration so that the drive motor drives the swing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration.

[0108] In some embodiments of the present disclosure, based on the aforementioned scheme, the transformation relationship determination module 1230 is further configured to: determine the target motion state of the swing arm according to the predetermined angular velocity, the target angular velocity and the flipping direction information; determine the transformation relationship corresponding to the target motion state according to the correspondence relationship information between the preset motion state and the transformation relationship, as the transformation relationship between the angle of the swing arm relative to the fixed bracket and the maximum allowable angular acceleration of the swing arm.

[0109] In some embodiments of the present disclosure, based on the aforementioned scheme, the target motion state is one of the following motion states: accelerating the upward flip of the rotating arm, decelerating the upward flip of the rotating arm, accelerating the downward flip of the rotating arm, and decelerating the downward flip of the rotating arm; wherein, accelerating the upward flip of the rotating arm is to make the rotating arm flip upward at a larger angular velocity, decelerating the upward flip of the rotating arm is to make the rotating arm flip upward at a smaller angular velocity, accelerating the downward flip of the rotating arm is to make the rotating arm flip downward at a larger angular velocity, and decelerating the downward flip of the rotating arm is to make the rotating arm flip downward at a smaller angular velocity.

[0110] In some embodiments of the present disclosure, based on the aforementioned scheme, the arm drive control system also includes an upward proportional flow valve and a downward proportional flow valve, and the drive motor is a hydraulic motor; when the target motion state is to accelerate the upward flip of the boom or to decelerate the upward flip of the boom, the hydraulic motor is controlled by the flow of the upward proportional flow valve; when the target motion state is to accelerate the downward flip of the boom or to decelerate the downward flip of the boom, the hydraulic motor is controlled by the flow of the downward proportional flow valve.

[0111] In some embodiments of the present disclosure, based on the aforementioned scheme, the repeated execution module 1240 is further configured to: take the current maximum angular acceleration as the target angular acceleration, and control the drive motor according to the target angular acceleration so that the drive motor drives the rotating arm to rotate at the target angular acceleration.

[0112] In some embodiments of the present disclosure, based on the aforementioned scheme, the repeated execution module 1240 is further configured to: obtain a predetermined proportional coefficient; determine a target angular acceleration based on the current maximum angular acceleration and the predetermined proportional coefficient, and the target angular acceleration is less than the current maximum angular acceleration; control the drive motor based on the target angular acceleration so that the drive motor drives the swing arm to rotate at the target angular acceleration.

[0113] In some embodiments of the present disclosure, based on the aforementioned solution, the estimated weight of the rotating arm carrying the load is the sum of the empty weight of the rotating arm and the upper limit of the load weight that the rotating arm can bear.

[0114] In some embodiments of the present disclosure, based on the aforementioned solution, the estimated weight of the rotating arm carrying the load is the sum of the empty weight of the rotating arm and the actual weight of the load.

[0115] According to a third aspect of the present disclosure, a computer-readable program medium is further provided, which stores computer program instructions. When the computer program instructions are executed by a computer, the computer executes the method as described above.

[0116] According to another aspect of the present disclosure, there is provided a boom drive control system, comprising: a boom, comprising a fixed support, a drive motor fixed to one end of the fixed support, and a rotating arm driven to rotate by the drive motor; and a control unit, for controlling the drive motor to implement the boom drive control method as described above.

[0117] The control unit can be a programmable logic control, a single-chip microcomputer, a computer device or any other module with control functions.

[0118] The control unit can directly control the drive motor, or directly control the proportional flow valve, and then control the drive motor via the proportional flow valve, thereby achieving indirect control of the drive motor.

[0119] Although the present disclosure has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present disclosure can be implemented in a variety of forms without departing from the spirit or essence of the present disclosure, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A driving control method for an arm, characterized in that: The method is applied to a boom drive control system including a boom, wherein the boom includes a fixed support, a drive motor fixed to one end of the fixed support, and a rotating arm driven to rotate by the drive motor, wherein one end of the rotating arm away from the drive motor carries a load, and the method includes: When the target angular velocity that the rotating arm needs to reach and the flipping direction information of the rotating arm are obtained, the angle of the rotating arm relative to the fixed bracket is obtained as the predetermined angle; Determining an angular velocity of the rotating arm according to the predetermined angle as a predetermined angular velocity; Determine, according to the predetermined angular velocity, the target angular velocity and the flipping direction information, a transformation relationship between the angle of the rotating arm relative to the fixed support and the maximum allowable angular acceleration of the rotating arm; Repeat the dynamic adjustment step of the drive motor until the swing arm reaches the target angular velocity; the dynamic adjustment step of the drive motor includes: obtaining the current angle of the swing arm relative to the fixed bracket; determining the current maximum angular acceleration of the swing arm according to the transformation relationship, the current angle, the weight of the swing arm carrying the load, and the pre-acquired length of the swing arm and the maximum torque that the arm can withstand; controlling the drive motor according to the current maximum angular acceleration so that the drive motor drives the swing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration.

2. The boom drive control method according to claim 1, characterized in that: The determining, according to the predetermined angular velocity, the target angular velocity and the flipping direction information, a transformation relationship between the angle of the rotating arm relative to the fixed support and the maximum allowable angular acceleration of the rotating arm comprises: Determining a target motion state of the rotating arm according to the predetermined angular velocity, the target angular velocity and the flipping direction information; According to the correspondence information between the preset motion state and the transformation relationship, the transformation relationship corresponding to the target motion state is determined as the transformation relationship between the angle of the rotating arm relative to the fixed bracket and the maximum allowable angular acceleration of the rotating arm.

3. The boom drive control method according to claim 2, characterized in that: The target motion state is one of the following motion states: accelerating the upward flip of the rotating arm, decelerating the upward flip of the rotating arm, accelerating the downward flip of the rotating arm, and decelerating the downward flip of the rotating arm; wherein, accelerating the upward flip of the rotating arm is to make the rotating arm flip upward at a larger angular velocity, decelerating the upward flip of the rotating arm is to make the rotating arm flip upward at a smaller angular velocity, accelerating the downward flip of the rotating arm is to make the rotating arm flip downward at a larger angular velocity, and decelerating the downward flip of the rotating arm is to make the rotating arm flip downward at a smaller angular velocity.

4. The boom drive control method according to claim 3, characterized in that: The arm drive control system also includes an upward proportional flow valve and a downward proportional flow valve, and the drive motor is a hydraulic motor; when the target motion state is to accelerate the upward flip of the swing arm or to decelerate the upward flip of the swing arm, the hydraulic motor is controlled by the flow of the upward proportional flow valve; when the target motion state is to accelerate the downward flip of the swing arm or to decelerate the downward flip of the swing arm, the hydraulic motor is controlled by the flow of the downward proportional flow valve.

5. The boom drive control method according to any one of claims 1 to 4, characterized in that: The step of controlling the drive motor according to the current maximum angular acceleration so that the drive motor drives the rotating arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration comprises: The current maximum angular acceleration is used as a target angular acceleration, and the drive motor is controlled according to the target angular acceleration, so that the drive motor drives the rotating arm to rotate at the target angular acceleration.

6. The boom drive control method according to any one of claims 1 to 4, characterized in that: The step of controlling the drive motor according to the current maximum angular acceleration so that the drive motor drives the rotating arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration comprises: Obtaining a predetermined proportionality factor; determining a target angular acceleration according to the current maximum angular acceleration and the predetermined proportionality coefficient, wherein the target angular acceleration is less than the current maximum angular acceleration; The drive motor is controlled according to the target angular acceleration so that the drive motor drives the rotating arm to rotate at the target angular acceleration.

7. The boom drive control method according to any one of claims 1 to 4, characterized in that: The estimated weight of the rotating arm carrying the load is the sum of the empty weight of the rotating arm and the upper limit of the load weight that the rotating arm can bear.

8. The boom drive control method according to any one of claims 1 to 4, characterized in that: The estimated weight of the rotating arm carrying the load is the sum of the empty weight of the rotating arm and the actual weight of the load.

9. A driving control device for an arm, characterized in that: The device is located in a boom drive control system including a boom, the boom including a fixed support, a drive motor fixed to one end of the fixed support, and a rotating arm driven to rotate by the drive motor, and the end of the rotating arm away from the drive motor carries a load, and the device includes: an acquisition module, configured to acquire, when a target angular velocity that the rotating arm needs to reach and information on a flipping direction of the rotating arm are acquired, an angle of the rotating arm relative to the fixed support as a predetermined angle; an angular velocity determination module, configured to determine the angular velocity of the rotating arm according to the predetermined angle as a predetermined angular velocity; a transformation relationship determination module, configured to determine a transformation relationship between the angle of the rotating arm relative to the fixed support and the maximum allowable angular acceleration of the rotating arm according to the predetermined angular velocity, the target angular velocity and the flipping direction information; A repeated execution module is configured to repeatedly execute the dynamic adjustment step of the drive motor until the swing arm reaches the target angular velocity; the dynamic adjustment step of the drive motor includes: obtaining the current angle of the swing arm relative to the fixed bracket; determining the current maximum angular acceleration of the swing arm according to the transformation relationship, the current angle, the weight of the swing arm carrying the load, and the pre-acquired length of the swing arm and the maximum torque that the arm can withstand; controlling the drive motor according to the current maximum angular acceleration so that the drive motor drives the swing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration.

10. A boom drive control system, characterized in that: include: The arm comprises a fixed support, a driving motor fixed to one end of the fixed support, and a rotating arm driven to rotate by the driving motor; A control unit is used to control the drive motor to implement the drive control method of the boom as described in any one of claims 1 to 8.

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