Method and device for driving control of a boom, and boom driving control system

Abstract

The present disclosure relates to the field of mechanical equipment, and discloses a driving control method and device of a boom and a boom driving control system. The boom comprises a fixed support, a driving motor and a rotating arm driven by the driving motor, and the rotating arm carries a load. The method comprises: obtaining a predetermined angle between the rotating arm and the fixed support when obtaining a target angular velocity and a rollover direction of the rotating arm; determining a predetermined angular velocity according to the predetermined angle; determining a transformation relationship between the angle and a maximum angular acceleration of the rotating arm according to the predetermined angular velocity, the target angular velocity and the rollover direction; repeatedly performing a dynamic adjustment step of the driving motor until the rotating arm reaches the target angular velocity; the step comprises: obtaining a current angle; determining a current maximum angular acceleration according to the transformation relationship, the current angle, a weight of the rotating arm carrying the load, a length of the rotating arm and a maximum torque that the boom can withstand; and controlling the driving motor according to the current maximum angular acceleration. The method can reduce start-stop impact and improve the stability and efficiency of operation.

Description

TECHNICAL FIELD

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

[0002] At present, many mechanical equipment are provided with a rotary mechanical boom lifting mechanism to lift a load.

[0003] However, the existing rotary mechanical boom lifting mechanism usually adopts a direct control strategy, and does not consider the force condition of the boom at different positions and angles, directly drives the boom to start, stop or change speed at a quantitative angular velocity, which will cause the boom structure and driving mechanism to bear excessive start-stop impact, and also cause the boom to run unstably, low efficiency and corresponding safety hazards. SUMMARY

[0004] In the technical field of mechanical equipment, in order to solve the problems of excessive start-stop impact and unstable running of the existing control strategy of the rotary mechanical boom lifting mechanism, the purpose of the present disclosure is to provide a driving control method and device of a boom and a boom driving control system.

[0005] According to an aspect of the present disclosure, a driving control method of a boom is provided, which is applied to a boom driving control system comprising a boom, the boom comprising 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 carrying a load, the method comprising: when obtaining a target angular velocity required for the rotating arm to reach and a rollover direction information of the rotating arm, obtaining an angle of the rotating arm relative to the fixed support as a predetermined angle; determining an angular velocity of the rotating arm as a predetermined angular velocity according to the predetermined angle; determining a transformation relationship between the angle of the rotating arm relative to the fixed support and a maximum allowable angular acceleration of the rotating arm according to the predetermined angular velocity, the target angular velocity and the rollover direction information; repeatedly performing a dynamic adjustment step of the driving motor until the rotating arm reaches the target angular velocity; the dynamic adjustment step of the driving motor comprising: obtaining a current angle of the rotating arm relative to the fixed support; determining a current maximum angular acceleration of the rotating arm according to the transformation relationship, the current angle, a weight of the rotating arm carrying the load, and a length of the rotating arm and a maximum torque that the boom can bear obtained in advance; and controlling the driving motor according to the current maximum angular acceleration, so that the driving motor drives the rotating 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, there is provided a driving control device of an arm support, the device being located in an arm support driving control system comprising an arm support, the arm support comprising 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, an end of the rotating arm away from the driving motor carrying a load, the device comprising: an acquisition module configured to acquire an angle of the rotating arm relative to the fixed support as a predetermined angle when acquiring target angular velocity required for the rotating arm to reach and information of a flipping direction of the rotating arm; an angular velocity determination module configured to determine an angular velocity of the rotating arm as a predetermined angular velocity according to the predetermined angle; a transformation relationship determination module configured to determine a transformation relationship between the angle of the rotating arm relative to the fixed support and a maximum allowable angular acceleration of the rotating arm according to the predetermined angular velocity, the target angular velocity, and the information of the flipping direction; a repeated execution module configured to repeatedly execute a dynamic adjustment step of the driving motor until the rotating arm reaches the target angular velocity; the dynamic adjustment step of the driving motor comprising: acquiring a current angle of the rotating arm relative to the fixed support; determining a current maximum angular acceleration of the rotating arm according to the transformation relationship, the current angle, a weight of the rotating arm carrying the load, and a length of the rotating arm and a maximum torque that the arm support can withstand obtained in advance; and controlling the driving motor according to the current maximum angular acceleration so that the driving motor drives the rotating arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration.

[0007] Optionally, based on the foregoing scheme, the transformation relationship determination module is further configured to: determine a target motion state of the rotating arm according to the predetermined angular velocity, the target angular velocity, and the information of the flipping direction; and determine a transformation relationship corresponding to the target motion state as 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 preset corresponding relationship information between motion states and transformation relationships.

[0008] Optionally, based on the foregoing scheme, the target motion state is one of: rotating arm upward flipping speed-up, rotating arm upward flipping speed-down, rotating arm downward flipping speed-up, and rotating arm downward flipping speed-down; wherein the rotating arm upward flipping speed-up is to flip the rotating arm upward at a larger angular velocity, the rotating arm upward flipping speed-down is to flip the rotating arm upward at a smaller angular velocity, the rotating arm downward flipping speed-up is to flip the rotating arm downward at a larger angular velocity, and the rotating arm downward flipping speed-down is to flip the rotating arm downward at a smaller angular velocity.

[0009] Optionally, based on the foregoing scheme, the arm support driving control system further comprises an upturning proportional flow valve and a downturn proportional flow valve, and the driving motor is a hydraulic motor; when the target motion state is upturning speed-up of the slewing arm or upturning speed-down of the slewing arm, the hydraulic motor is controlled by the flow of the upturning proportional flow valve; when the target motion state is downturn speed-up of the slewing arm or downturn speed-down of the slewing arm, the hydraulic motor is controlled by the flow of the downturn proportional flow valve.

[0010] Optionally, based on the foregoing scheme, the repeating execution module is further configured to: take the current maximum angular acceleration as a target angular acceleration, control the driving motor according to the target angular acceleration, so that the driving motor drives the slewing arm to rotate at the target angular acceleration.

[0011] Optionally, based on the foregoing scheme, the repeating execution module is further configured to: obtain a predetermined proportional coefficient; determine a target angular acceleration according to the current maximum angular acceleration and the predetermined proportional coefficient, the target angular acceleration being smaller than the current maximum angular acceleration; control the driving motor according to the target angular acceleration, so that the driving motor drives the slewing arm to rotate at the target angular acceleration.

[0012] Optionally, based on the foregoing scheme, the estimated weight of the slewing arm carrying the load is the sum of the no-load weight of the slewing arm and the upper limit of the load weight that the slewing arm can carry.

[0013] Optionally, based on the foregoing scheme, the estimated weight of the slewing arm carrying the load is the sum of the no-load weight of the slewing 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 program instructions cause the computer to execute the method as described above.

[0015] According to another aspect of the present disclosure, an arm support driving control system is provided, comprising: an arm support, comprising a fixed support, a driving motor fixed to one end of the fixed support, and a slewing arm driven to rotate by the driving motor; and a control unit configured to control the driving motor to implement the driving control method of the arm support as described above.

[0016] The technical solutions provided by the present disclosure can have the following beneficial effects:

[0017] For the driving control method, device and system of the boom provided by the present disclosure, since the method is applied to the boom driving control system including the 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 the method, when the target angular velocity required for the rotating arm to reach and the overturning direction information of the rotating arm are obtained, a predetermined angle of the rotating arm relative to the fixed support is obtained, then a 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 overturning direction information, the conversion relationship between the current angle of the rotating arm relative to the fixed support and the maximum allowable angular acceleration of the rotating arm can be determined; finally, the target angular velocity of the rotating arm is reached by repeatedly executing the dynamic adjustment step of the driving motor; in each dynamic adjustment step of the driving motor, the current angle of the rotating arm relative to the fixed support is obtained, and according to the aforementioned conversion relationship, the current angle, the weight of the rotating arm carrying the load, and the length of the rotating arm and the maximum torque that the boom can withstand obtained in advance, the current maximum angular acceleration of the rotating arm is determined, then the driving motor is controlled according to the current maximum angular acceleration, so that the driving motor drives the rotating arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration. Since the current maximum angular acceleration of the rotating arm is determined according to the conversion relationship, the current angle, the estimated weight of the rotating arm carrying the load, and the length of the rotating arm and the maximum torque that the boom can withstand obtained in advance, and the control of the driving motor is realized according to the current maximum angular acceleration, therefore, the scheme of the embodiment of the present disclosure considers the force condition of the rotating arm of the boom at different positions and angles, adopts dynamic flexible adjustment for speed control of the driving motor, can realize start-stop and speed control of the dynamically flexible adjustment boom, can effectively relieve the start-stop impact of the rotating lifting boom, improve the stability and efficiency of the boom operation, and reduce the probability of safety hazards.

[0018] It should be understood that the foregoing general description and the following detailed description are only examples. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0022] Figure 2 is a flowchart of a drive control method of an arm support according to an exemplary embodiment;

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

[0024] Figure 4 is a schematic diagram of a moment M generated by the self weight of a load according to an exemplary embodiment; Figure 2 is a flowchart of details of step 230 in an embodiment;

[0025] Figure 5 is a schematic diagram of a moment M generated by the self weight of a load according to an exemplary embodiment;

[0026] Figure 6 is a schematic diagram of a moment M generated by the self weight of a load according to an exemplary embodiment;

[0027] Figure 7 is a schematic diagram of a moment M generated by the self weight of a load, a current maximum angular acceleration of the arm, and a maximum flow rate change rate of the upturn proportional flow rate valve according to an exemplary embodiment;

[0028] Figure 8 is a schematic diagram of a moment M generated by the self weight of a load, a current maximum angular acceleration of the arm, and a maximum flow rate change rate of the upturn proportional flow rate valve according to an exemplary embodiment;

[0029] Figure 9 is a schematic diagram of a moment M generated by the self weight of a load, a current maximum angular acceleration of the arm, and a maximum flow rate change rate of the upturn proportional flow rate valve according to an exemplary embodiment;

[0030] Figure 10 is a schematic diagram of a moment M generated by the self weight of a load, a current maximum angular acceleration of the arm, and a maximum flow rate change rate of the upturn proportional flow rate valve according to an exemplary embodiment;

[0031] Figure 11 is a flowchart of controlling a drive motor according to a current maximum angular acceleration so that the drive motor drives the arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration according to an exemplary embodiment;

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

[0033] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The following description is made with reference to the accompanying drawings in which like reference numerals refer to like elements, unless the context of use indicates otherwise. The following description of exemplary embodiments is not representative of all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0034] Furthermore, the accompanying drawings are intended to be illustrative only and are not necessarily drawn to scale. Identical reference numerals in different drawings denote the same or similar elements, and thus their repeated description will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0035] In the related art, the control strategy of the rotating mechanical arm lifting mechanism usually adopts direct control, which not only causes excessive start-stop impact on the mechanical structure such as the arm support, but also causes unstable operation of the arm support, low operation efficiency, and corresponding safety hazards.

[0036] Therefore, the present disclosure first provides a driving control method of an arm support. Through the method, the above defects can be overcome, the impact of starting and stopping of the rotating lifting arm support can be effectively reduced, the stability and efficiency of operation can be improved, and the safety and efficiency of the rotating arm movement can be achieved.

[0037] The driving control method of the arm support provided by the present disclosure can be applied to an arm support driving control system including an arm support. The arm support driving control system can include an arm support and an electric control part, and the electric control part can include a control unit. The arm support driving control system can be applied to a sanitation vehicle and other sanitation equipment, i.e., the arm support in the arm support driving control system can be a lifting mechanism on the sanitation equipment.

[0038] Figure 1A is a perspective view of an arm support according to an exemplary embodiment. Please refer to Figure 1AAs shown, the arm support 100 comprises a fixed support 105, a driving motor 102 fixed to one end of the fixed support 105, and a rotating arm 101 driven to rotate by the driving motor 102. Specifically, the fixed support 105 can be arranged along a vertical direction, the driving motor 102 can be fixed to an upper end of the fixed support 105, one end of the rotating arm 101 is fixedly connected with the driving motor 102, the driving motor 102 can drive the rotating arm 101 to perform upward and downward rotating actions, and the other end of the rotating arm 101 is fixedly connected with a gripper 104, i.e. a pair of oppositely movable clamping arms, which can be used to clamp a load such as a garbage 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, i.e. the load can be clamped by the gripper 104. The arm support 100 can further comprise an angle sensor 103.

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

[0040] Figure 2 is a flow chart of a driving control method of an arm support according to an example embodiment. The method can be performed by the arm support driving control system described above. As Figure 2 As shown, the driving control method of the arm support can comprise the following steps:

[0041] In 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 a predetermined angle.

[0042] The target angular velocity that the rotating arm needs to reach and the flipping direction information 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, i.e. the current angle at the specified time.

[0043] Since the rotating arm needs to rotate relative to the fixed support during use of the arm support, the angle of the rotating arm relative to the fixed support also changes at any time. The angle of the rotating arm relative to the fixed support can be detected by Figure 1A The angle sensor shown detects the angle of the rotating arm relative to the fixed support.

[0044] The target angular velocity that the slewing arm needs to reach can be predefined and set in the arm support driving control system, or manually set by a person. The slewing direction information of the slewing arm can be manually set by a person.

[0045] Figure 3 is a schematic diagram of the electric control part of the arm support driving control system according to an exemplary embodiment. Referring to Figure 3 As shown in the figure, the electric control part of the arm support driving 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 by the embodiments of the present disclosure, the control handle 301 is connected with the programmable logic controller 305 through a communication line, the angle sensor 302 is electrically connected with the programmable logic controller 305, and a user can set the target angular velocity and the slewing direction information of the slewing arm by operating the control handle 301, and these information will be transmitted to the programmable logic controller 305 through the communication line; the programmable logic controller 305 can also obtain the current angle of the slewing arm relative to the fixed support at each time from the angle sensor 302.

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

[0047] In step 220, the angular velocity of the slewing arm is determined according to the predetermined angle as the predetermined angular velocity.

[0048] The current angular velocity of the slewing arm can be determined according to the predetermined angle and the angle of the slewing arm relative to the fixed support obtained at the last time as the predetermined angular velocity. Specifically, the angle difference between the predetermined angle and the angle of the slewing arm relative to the fixed support obtained at the last time can be determined first; and then the angle difference is divided by the time difference between obtaining the predetermined angle and obtaining the angle of the slewing arm relative to the fixed support obtained at the last time, to obtain the average angular velocity corresponding to the time difference, as the predetermined angular velocity ω0 of the slewing arm. Since the time interval between the two consecutive times of obtaining the angle is very short, that is, the angle sensor 302 collects and sends the angle of the slewing arm relative to the fixed support at a very high sampling frequency. Therefore, by taking the average angular velocity in the time period corresponding to the last two consecutive times of obtaining the angle as the angular velocity of the slewing arm, the predetermined angular velocity of the slewing arm can be determined more accurately.

[0049] At step 230, 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 is determined according to the predetermined angular velocity, the target angular velocity, and the flipping direction information.

[0050] 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 determined at step 230 is 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 in the current working condition.

[0051] Figure 4 is shown according to an exemplary embodiment Figure 2 A flowchart of the details of step 230 in the embodiment. Please refer to Figure 4 As shown, 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 is determined according to the predetermined angular velocity, the target angular velocity, and the flipping direction information, which can specifically include the following steps:

[0052] At step 231, a target motion state of the rotating arm is determined 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 a motion state in which the rotating arm needs to be brought into so as to reach the target angular velocity.

[0054] In an embodiment of the present disclosure, the target motion state is one of the following motion states: rotating arm up-flipping speed-up, rotating arm up-flipping speed-down, rotating arm down-flipping speed-up, and rotating arm down-flipping speed-down; wherein the rotating arm up-flipping speed-up is to make the rotating arm flip upward at a larger angular velocity, the rotating arm up-flipping speed-down is to make the rotating arm flip upward at a smaller angular velocity, the rotating arm down-flipping speed-up is to make the rotating arm flip downward at a larger angular velocity, and the rotating arm down-flipping speed-down is to make the rotating arm flip downward at a smaller angular velocity. For example, if the predetermined angular velocity is smaller than the target angular velocity and the flipping direction information is to flip upward, then the target motion state is the rotating arm up-flipping speed-up; if the predetermined angular velocity is greater than the target angular velocity and the flipping direction information is to flip upward, then the target motion state is the rotating arm up-flipping speed-down; if the predetermined angular velocity is smaller than the target angular velocity and the flipping direction information is to flip downward, then the target motion state is the rotating arm down-flipping speed-up; and if the predetermined angular velocity is greater than the target angular velocity and the flipping direction information is to flip downward, then the target motion state is the rotating arm down-flipping speed-down.

[0055] In order to achieve flexible speed control of the arm support, it is necessary to determine the determination manner of the maximum allowable angular acceleration corresponding to each motion state.

[0056] At step 232, a 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 support and the maximum allowable angular acceleration of the rotating arm according to the preset correspondence information between the motion states and the transformation relationships.

[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 of the moment M generated by the self-weight of the load and the slewing arm according to an example embodiment. Please see Figure 5 As shown in the figure, assuming that the sum of the weight of the load and the slewing arm is m (it is easy to understand that the slewing arm here can include the aforementioned gripper, i.e. the claw), and the angle of the slewing arm relative to the fixed support is θ, then the overall slewing arm and load will be subjected to a downward force at the center of mass, and the size of the force is mg, and the length of the slewing arm is L, then the force will generate a moment on the rotating shaft (i.e. the driving motor). Figure 6 is a schematic diagram of the change rule of the moment M generated by the self-weight of the load and the slewing arm with the slewing arm rotating according to an example embodiment. Please continue to see Figure 6 As shown in the figure, the moment generated by the gravity of the overall slewing arm and load changes with the angle θ in a sinusoidal manner, i.e. M = mgLsinθ.

[0059] Obviously, in the two motion states of the slewing arm lifting up at a high speed and the slewing arm lowering down at a low speed, the gravity of the overall slewing arm and load will provide a resistance moment; in the two motion states of the slewing arm lowering down at a high speed and the slewing arm lifting up at a low speed, the gravity of the overall slewing arm and load will provide a power moment.

[0060] The maximum moment that the arm support can withstand is also the maximum driving moment of the driving motor.

[0061] For the motion state of the slewing arm lifting up at a high speed, the maximum moment that the arm support can withstand is M max = τ + M = mL 2 α max + mgLsinθ, wherein M = mgLsinθ is the moment generated by the gravity of the overall slewing arm and load, τ = mL 2 α max is the acceleration moment required by the slewing arm and the load, i.e. the moment that allows the overall slewing arm and load to generate the maximum angular acceleration, wherein m is the sum of the weight of the slewing arm and the load, L is the length of the slewing arm, α max is the maximum angular acceleration allowed by the slewing arm, and θ is the angle of the slewing arm relative to the fixed support. That is, the driving motor can be imagined as a lever, and in the motion state of the slewing arm lifting up at a high speed, the driving motor will overcome the resistance moment provided by the gravity of the overall slewing arm and load, and generate an upward angular acceleration.

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

[0063] Figure 7 This is a schematic diagram showing how the moment M generated by the weight of the arm and the load, the current maximum angular acceleration of the arm, and the maximum flow rate change rate of the upward proportional flow valve change as the arm rotates, according to an exemplary embodiment, when the arm is tilted upward and accelerated. 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 flip of the rotating arm. During this process, the resistance torque provided by the gravity acting on the rotating arm and the load will first increase and then decrease. Figure 7 As shown in (b), in the motion state of the swing arm flipping 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. 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 boom upward deceleration motion state, 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 acting on the arm and the load as a whole, and τ = mL 2 α max is the acceleration torque required by the arm and the load, that is, the torque that causes the arm and the load to produce the maximum angular acceleration as a whole, where m is the sum of the weight of the arm and the load, L is the length of the arm, and α max The maximum angular acceleration allowed for the combined arm and load is θ, where θ is the angle of the arm relative to the fixed support. During the upward deceleration of the arm, the torque generated by the drive motor, combined with the dynamic torque from the gravity acting on the combined arm and load, produces a downward angular acceleration.

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

[0066] Figure 8This is a diagram showing how the moment M generated by the weight of the arm and the load, the current maximum angular acceleration of the arm, and the maximum flow rate change rate of the upward proportional flow valve change as the arm rotates, according to an exemplary embodiment, during the deceleration state of the arm's upward tilt. Figure 8 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 flip of the rotating arm. During this process, the dynamic torque provided by the gravity acting on the rotating arm and the load will first increase and then decrease. Figure 8 As shown in (b), in the state of deceleration of the swing arm turning upward, 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 support changes from 0° to 180°, the current maximum angular acceleration of the swing arm will first decrease and then increase. The position where the current maximum angular acceleration of the swing arm is minimum corresponds to the position where the dynamic torque provided by the gravity acting on the swing arm and the load as a whole is maximum. It can be understood that in the state of deceleration of the swing arm turning upward, the current maximum angular acceleration of the swing arm is a negative value, that is, when the dynamic torque provided by the gravity acting on the swing arm and the load as a whole is maximum, the current maximum angular acceleration of the swing arm should be minimum (the absolute value of the current maximum angular acceleration of the swing arm is maximum) to provide the minimum current maximum angular acceleration.

[0067] For the boom downward acceleration motion state, 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 acting on the arm and the load as a whole, and τ = mL 2 α max is the acceleration torque required by the arm and the load, that is, the torque that causes the arm and the load to produce the maximum angular acceleration as a whole, where m is the sum of the weight of the arm and the load, L is the length of the arm, and α max The maximum angular acceleration allowed for the combined arm and load is defined as θ, where θ represents the angle of the arm relative to the fixed support. Imagine the drive motor as a lever: the torque generated by the drive motor, combined with the gravity acting on the combined arm and load, produces downward angular acceleration.

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

[0069] Figure 9is a schematic diagram of the variation of the moment M generated by the weight of the slewing arm and the load, the current maximum angular acceleration of the slewing arm, and the maximum flow rate change of the slewing proportional flow valve with the slewing angle of the slewing arm in the slewing arm downward turning acceleration motion state according to an example embodiment. Please refer to Figure 9 (a) shows that the slewing angle θ of the slewing arm relative to the fixed support changes from 180° to 0°, so as to realize the slewing arm downward turning, and in this process, the dynamic moment provided by the gravity of the slewing arm and the load as a whole first increases and then decreases. Please refer to Figure 9 (b) shows that in the slewing arm downward turning acceleration motion state, if the maximum allowed angular acceleration of the slewing arm is taken as the current maximum angular acceleration of the slewing arm, and the slewing arm is driven and controlled according to the current maximum angular acceleration as the actual adopted angular acceleration, with the slewing angle θ of the slewing arm relative to the fixed support changing from 180° to 0°, the current maximum angular acceleration of the slewing arm first increases and then decreases, and the position where the current maximum angular acceleration of the slewing arm is the largest corresponds to the position where the dynamic moment provided by the gravity of the slewing arm and the load as a whole is the largest.

[0070] For the slewing arm downward turning deceleration motion state, the maximum moment that the arm support can withstand is M max = -τ + M = -mL 2 α max + mgL sin θ, wherein M = mgL sin θ is the moment generated by the gravity of the slewing arm and the load as a whole, τ = mL 2 α max is the acceleration moment required by the slewing arm and the load, that is, the moment that can make the slewing arm and the load as a whole generate the maximum angular acceleration, wherein m is the sum of the weights of the slewing arm and the load, L is the length of the slewing arm, α max is the maximum angular acceleration allowed to be generated by the slewing arm and the load, that is, the maximum allowed angular acceleration of the slewing arm, and θ is the size of the slewing angle of the slewing arm relative to the fixed support. That is, the driving motor can be imagined as a lever, and in the slewing arm downward turning deceleration motion state, the driving motor will overcome the resistance moment provided by the gravity of the slewing arm and the load as a whole, and generate an upward angular acceleration.

[0071] Therefore, in this motion state, the maximum allowed angular acceleration of the slewing arm is This formula is the transformation relationship corresponding to the slewing arm downward turning deceleration motion state.

[0072] Figure 10 is a schematic diagram of the variation of the moment M generated by the weight of the slewing arm and the load, the current maximum angular acceleration of the slewing arm, and the maximum flow rate change of the slewing proportional flow valve with the slewing angle of the slewing arm in the slewing arm downward turning deceleration motion state according to an example embodiment. Please refer to Figure 10(a) shown, the angle θ of the swing arm relative to the fixed support changes from 180° to 0°, so as to realize the downward overturning of the swing arm, and in this process, the resisting moment provided by the gravity acting on the swing arm and the load as a whole first increases and then decreases. Please refer to Figure 10 (b) shown, in the swing arm downward overturning deceleration state, if the maximum allowable angular acceleration of the swing arm is taken as the current maximum angular acceleration of the swing arm, and the current maximum angular acceleration is taken as the actual angular acceleration for driving control, with the angle θ of the swing arm relative to the fixed support changing from 180° to 0°, the current maximum angular acceleration of the swing arm first increases and then decreases, and the position where the current maximum angular acceleration of the swing arm is the largest corresponds to the position where the resisting moment provided by the gravity acting on the swing arm and the load as a whole is the largest. It can be understood that in the swing arm downward overturning deceleration state, the current maximum angular acceleration of the swing arm is negative, that is, when the resisting moment provided by the gravity acting on 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), so as to provide the largest current maximum angular acceleration.

[0073] By adjusting and controlling the maximum allowable angular acceleration α max With the regular change of the angle θ for adjustment and control, the flexible start-stop speed change control of the boom can be realized, the maximum boom acceleration and deceleration speed control can be provided without exceeding the maximum moment acting on the boom, so as to realize the dynamic flexible control of the boom speed change action.

[0074] In step 240, the dynamic adjustment step of the driving motor is repeatedly executed until the swing arm reaches the target angular velocity; the dynamic adjustment step of the driving 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 length of the swing arm and the maximum moment that the boom can withstand obtained in advance; and controlling the driving motor according to the current maximum angular acceleration, so that the driving motor drives the swing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration.

[0075] The embodiment scheme of the present application takes the swing arm reaching the target angular velocity as the target, so as to realize the 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 moment that the boom can withstand, the driving control process can be within the structure and strength limitation of the boom.

[0076] When the first dynamic adjustment step of the driving motor is executed, the current angle of the swing arm relative to the fixed support obtained in step 210 can be taken as the new current angle required by the first dynamic adjustment step of the driving motor; of course, the new current angle can also be directly obtained through the angle sensor. The dynamic adjustment step of the driving motor can be executed whenever a new current angle is obtained.

[0077] Maximum torque M that the boom can bear max The maximum torque M that the boom can bear can be determined in advance by experiment, and the length of the swing arm can also be measured in advance.

[0078] It is easy to understand that, in actual application, the weight of the swing arm carrying the load can be the estimated weight of the swing arm carrying the load, which can include the weight of the aforementioned gripper (i.e., the claw), or the weight can be ignored.

[0079] In an embodiment of the present disclosure, the estimated weight of the swing arm carrying the load is the sum of the no-load weight of the swing arm and the upper limit of the load weight that the swing arm can bear.

[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 no-load weight of the swing arm as the estimated weight of the swing arm carrying the load, the actual weight of the load does not need to be measured, and the cost can be further saved on the premise of ensuring the effect of the flexible driving control of the boom.

[0081] In an embodiment of the present disclosure, the estimated weight of the swing arm carrying the load is the sum of the no-load weight of the swing arm and the actual weight of the load.

[0082] A weight sensor can be arranged 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 more accurately determined, and the driving control of the boom can be more accurately and efficiently implemented.

[0084] Next, an embodiment of the present disclosure will be described by taking an open variable hydraulic driving system as an example.

[0085] In an embodiment of the present disclosure, the boom driving control system further comprises an upturning proportional flow valve and a downturn proportional flow valve, and the driving motor is a hydraulic motor; when the target motion state is swing arm upturning speed-up or swing arm upturning deceleration, the hydraulic motor is controlled by the flow of the upturning proportional flow valve; when the target motion state is swing arm downturning speed-up or swing arm downturning deceleration, the hydraulic motor is controlled by the flow of the downturn proportional flow valve.

[0086] Please continue to refer to Figure 3As shown, the electric control part of the boom drive control system includes an up-turning proportional flow valve 303 and a down-turning proportional flow valve 304 electrically connected with the programmable logic controller 305. Although not shown in the drawing, 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 up-turning proportional flow valve 303 and the down-turning proportional flow valve 304 are used to control the flow rate input to the hydraulic motor, thereby controlling the rotation speed of the hydraulic motor, wherein the rotation speed of the hydraulic motor can be positively correlated with the flow rate input to the hydraulic motor, specifically, the two can be in a proportional relationship. Therefore, in step 240, the drive motor can be indirectly controlled by controlling the up-turning proportional flow valve or the down-turning proportional flow valve. The flow rate of the up-turning proportional flow valve 303 and the down-turning proportional flow valve 304 can be directly controlled by the programmable logic controller 305.

[0087] Although the scheme of the embodiment of the present disclosure is specifically applied to an open hydraulic system, i.e., the drive motor is a hydraulic motor, in other embodiments of the present disclosure, the scheme of the embodiment of the present disclosure can also be applied to a control system for driving a slewing arm to turn up and down in other drive forms, and the drive motor can also be an electric motor or other forms of motor.

[0088] In an embodiment of the present disclosure, controlling the drive motor according to the current maximum angular acceleration to drive the slewing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration includes: taking the current maximum angular acceleration as the target angular acceleration, and controlling the drive motor according to the target angular acceleration to drive the slewing arm to rotate at the target angular acceleration.

[0089] In the embodiment of the present disclosure, by directly controlling the drive motor according to the current maximum angular acceleration, the maximum angular acceleration can be provided under the premise that the maximum torque that the boom can withstand is not exceeded, so that the slewing arm can more efficiently reach the target angular velocity.

[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] Figure 11 is a flow chart of controlling the drive motor according to the current maximum angular acceleration to drive the slewing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration according to an exemplary embodiment. Please refer to Figure 11 As shown, controlling the drive motor according to the current maximum angular acceleration to drive the slewing arm to rotate at a target angular acceleration that does not exceed the current maximum angular acceleration can specifically include the following steps:

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

[0093] The predetermined proportion coefficient can be set according to the operation habit of the operator and the safety margin of the arm support torque, for example, the value range of the predetermined proportion coefficient can be (0, 1). The predetermined proportion coefficient can be set by the relevant personnel through the control handle. The predetermined proportion coefficient can be flexibly set by the relevant personnel as needed.

[0094] In step 1120, the target angular acceleration is determined according to the current maximum angular acceleration and the predetermined proportion coefficient, and the target angular acceleration is less than the current maximum angular acceleration.

[0095] The product of the current maximum angular acceleration and the predetermined proportion coefficient can be taken as the target angular acceleration.

[0096] In step 1130, the driving motor is controlled according to the target angular acceleration, so that the driving motor drives the rotating arm to rotate at the target angular acceleration.

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

[0098] In the embodiment of the present disclosure, by adjusting the current maximum angular acceleration according to the predetermined proportion coefficient, the comfort of operation can be effectively improved, and the safety coefficient of the arm support torque can be improved.

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

[0100] Figure 7 (c) shows the flow rate change curve Q of the upward proportional flow valve in the motion state of upward rotating speed-up of the rotating arm 目标 It can be seen that in this working condition, the maximum flow rate change rate of the upward proportional flow valve is positively correlated with With the change of the angle θ of the rotating arm relative to the fixed support from 0° to 180°, the flow rate of the upward proportional flow valve gradually increases, and the maximum flow rate increases first and then increases.

[0101] Figure 8 (c) shows the flow rate change curve Q of the upward proportional flow valve in the motion state of upward rotating speed-up of the rotating arm 目标 It can be seen that in this working condition, the maximum flow rate change rate of the upward proportional flow valve is positively correlated with is proportional to the angle θ of the rotating arm relative to the fixed support, the flow rate of the downward tilting proportional flow valve gradually decreases as the angle θ changes from 0° to 180°, and the maximum flow rate decrease rate increases first and then decreases.

[0102] Figure 9 (c) shows the flow rate change curve Q of the downward tilting proportional flow valve in the downward tilting deceleration state of the rotating arm, and 目标 It can be seen that in this working condition, the maximum flow rate change rate of the downward tilting proportional flow valve is proportional to the angle θ of the rotating arm relative to the fixed support. is proportional to the angle θ of the rotating arm relative to the fixed support, the flow rate of the downward tilting proportional flow valve gradually increases as the angle θ changes from 180° to 0°, and the maximum flow rate decrease rate increases first and then decreases.

[0103] Figure 10 (c) shows the flow rate change curve Q of the downward tilting proportional flow valve in the downward tilting deceleration state of the rotating arm, and 目标 It can be seen that in this working condition, the maximum flow rate change rate of the downward tilting proportional flow valve is proportional to the angle θ of the rotating arm relative to the fixed support. is proportional to the angle θ of the rotating arm relative to the fixed support, the flow rate of the downward tilting proportional flow valve gradually increases as the angle θ changes from 180° to 0°, and the maximum flow rate decrease rate increases first and then decreases.

[0104] In combination with the above flow rate change curves, by changing the real-time flow rate Q of the proportional flow valve, the arm support can be safely and quickly brought to the target angular velocity ω specified by the corresponding control handle within the torque upper limit M borne by the arm support max under the premise that the maximum flow rate decrease rate does not exceed the torque upper limit M borne by the arm support. 目标

[0105] In summary, the driving control method of the arm support provided by the embodiments of the present disclosure dynamically and flexibly adjusts the driving mechanism (driving motor) of the arm support to achieve acceleration and deceleration control of the lifting mechanism (rotating arm), which can adapt to the force bearing situation of the arm support at different positions and angles, thereby dynamically adjusting the torque borne by the arm support at different positions, achieving dynamic and flexible start-stop and acceleration-deceleration motion control of the arm support, and effectively solving the problems of impact during start-stop, running stability, and running efficiency of the rotating lifting arm support in the prior art, making the rotating arm motion safer and more efficient.

[0106] The following describes the device embodiments of the present disclosure, which can be used to execute the driving control method of the arm support in the above-mentioned embodiments of the present disclosure. For details not disclosed in the device embodiments of the present disclosure, please refer to the above-mentioned embodiments of the driving control method of the arm support.

[0107] Figure 12 is a block diagram of an arm support driving control device according to an exemplary embodiment. Referring to​Figure 12 As shown, according to the driving control device 1200 of the arm support of one embodiment of the present disclosure, the device is located in an arm support driving control system comprising an arm support, 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, and a load carried at an end of the rotating arm away from the driving motor, the device comprises: an acquisition module 1210, an angular velocity determination module 1220, a transformation relationship determination module 1230, and a repeated execution module 1240. Wherein, the acquisition module 1210 is configured to acquire an angle of the rotating arm relative to the fixed support as a predetermined angle when acquiring target angular velocity required to be reached by the rotating arm and information of a flipping direction of the rotating arm; the angular velocity determination module 1220 is configured to determine an angular velocity of the rotating arm as a predetermined angular velocity according to the predetermined angle; the transformation relationship determination module 1230 is configured to determine a transformation relationship between the angle of the rotating arm relative to the fixed support and a maximum allowable angular acceleration of the rotating arm according to the predetermined angular velocity, the target angular velocity, and the flipping direction information; the repeated execution module 1240 is configured to repeatedly execute a dynamic adjustment step of the driving motor until the rotating arm reaches the target angular velocity; the dynamic adjustment step of the driving motor comprises: acquiring a current angle of the rotating arm relative to the fixed support; determining a current maximum angular acceleration of the rotating arm according to the transformation relationship, the current angle, a weight of the rotating arm carrying the load, and a length of the rotating arm and a maximum torque that the arm support can withstand obtained in advance; and controlling the driving motor according to the current maximum angular acceleration to drive the rotating 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 foregoing scheme, the transformation relationship determination module 1230 is further configured to: determine a target motion state of the rotating arm according to the predetermined angular velocity, the target angular velocity, and the flipping direction information; and determine a transformation relationship corresponding to the target motion state as 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 preset corresponding relationship information between motion states and transformation relationships.

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

[0110] In some embodiments of the present disclosure, based on the foregoing scheme, the arm support driving control system further comprises an upturn proportional flow valve and a downturn proportional flow valve, and the driving motor is a hydraulic motor; when the target motion state is upturn speed-up of the slewing arm or upturn speed-down of the slewing arm, the hydraulic motor is controlled by the flow of the upturn proportional flow valve; when the target motion state is downturn speed-up of the slewing arm or downturn speed-down of the slewing arm, the hydraulic motor is controlled by the flow of the downturn proportional flow valve.

[0111] In some embodiments of the present disclosure, based on the foregoing scheme, the repeatedly performing module 1240 is further configured to: take the current maximum angular acceleration as a target angular acceleration, and control the driving motor according to the target angular acceleration, so that the driving motor drives the slewing arm to rotate at the target angular acceleration.

[0112] In some embodiments of the present disclosure, based on the foregoing scheme, the repeatedly performing module 1240 is further configured to: obtain a predetermined proportional coefficient; determine a target angular acceleration according to the current maximum angular acceleration and the predetermined proportional coefficient, the target angular acceleration being smaller than the current maximum angular acceleration; and control the driving motor according to the target angular acceleration, so that the driving motor drives the slewing arm to rotate at the target angular acceleration.

[0113] In some embodiments of the present disclosure, based on the foregoing scheme, the estimated weight of the slewing arm carrying the load is the sum of the no-load weight of the slewing arm and the upper limit of the load weight that the slewing arm can carry.

[0114] In some embodiments of the present disclosure, based on the foregoing scheme, the estimated weight of the slewing arm carrying the load is the sum of the no-load weight of the slewing arm and the actual weight of the load.

[0115] According to a third 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 program instructions cause the computer to execute the method as described above.

[0116] According to another aspect of the present disclosure, an arm support driving control system is provided, comprising: an arm support comprising a fixed support, a driving motor fixed to one end of the fixed support, and a slewing arm driven to rotate by the driving motor; and a control unit configured to control the driving motor to implement the driving control method of the arm support as described above.

[0117] The control unit can be a programmable logic control, a single-chip microcomputer, a computer device, or various modules 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 indirectly controlling the drive motor.

[0119] While the disclosure has been described with reference to several exemplary embodiments, it is to be understood that the terminology used is for the purpose of describing and illustrating the disclosure and is not intended to be limiting. As is apparent from this disclosure, there is no intent to limit the disclosure to the disclosed embodiments. On the contrary, methods and materials similar or equivalent to those described herein can be used in the practice of the disclosure. Changes in form and detail can be made without departing from the spirit, and the disclosure encompasses a wide variety of modifications. Thus, the disclosed embodiments are to be considered in all respects as illustrative and not restrictive, and all changes coming within the meaning and equivalency range of the appended claims are intended to be embraced therein.

Claims

1. A boom drive control method, 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 an 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 support is obtained as the predetermined angle; determining an angular velocity of the rotating arm according to the predetermined angle as a predetermined angular velocity; determining a target motion state of the rotating arm according to the predetermined angular velocity, the target angular velocity, and the flipping direction information; Determining, based on preset correspondence information between motion states and transformation relationships, a transformation relationship corresponding to the target motion state as 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-obtained 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 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 greater 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 greater angular velocity, and decelerating the downward flip of the rotating arm is to make the rotating arm flip downward at a smaller angular velocity.

3. The boom drive control method according to claim 2, 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 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.

4. The boom drive control method according to any one of claims 1 to 3, characterized in that: The 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 includes: 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.

5. The boom drive control method according to any one of claims 1 to 3, characterized in that: The 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 includes: Obtaining a predetermined proportional coefficient; determining a target angular acceleration according to the current maximum angular acceleration and the predetermined proportional 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.

6. The boom drive control method according to any one of claims 1 to 3, characterized in that: The estimated weight of the rotating arm carrying the load is the sum of the no-load weight of the rotating arm and the upper limit of the load weight that the rotating arm can bear.

7. The boom drive control method according to any one of claims 1 to 3, characterized in that: The estimated weight of the rotating arm carrying the load is the sum of the unloaded weight of the rotating arm and the actual weight of the load.

8. A driving control device for an arm, characterized in that: The device 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 rotating arm driven to rotate by the drive motor, wherein an 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 about 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 the 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 based on the predetermined angular velocity, the target angular velocity, and the flipping direction information; the transformation relationship determination module is further configured to: determine a target motion state of the rotating arm based on the predetermined angular velocity, the target angular velocity, and the flipping direction information; and determine, based on preset correspondence relationship information between the motion state and the transformation relationship, a transformation relationship corresponding to the target motion state as 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; The 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-obtained 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.

9. 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 boom drive control method according to any one of claims 1 to 7.

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