Amplitude self-adaptive control system and control method for insulated boom truck

Abstract

The invention provides an amplitude self-adaptive control system and method for an insulated boom truck, and belongs to the technical field of engineering machinery. The technical problems that in the prior art, a supporting leg cannot achieve multi-point detection, the data size of main parameters is large, and programming and debugging are inconvenient are solved. According to the technical scheme, the device comprises a torque control system, a rotation angle measurement system and a supporting leg span detection system; the torque control system comprises a long angle sensor, a leveling oil cylinder, a variable-amplitude oil cylinder and an oil pressure sensor; the rotation angle measuring system comprises a rotation encoder; the supporting leg span detection system comprises a fixed supporting leg, a length sensor, a movable supporting leg and a horizontal oil cylinder. The amplitude self-adaptive control system has the beneficial effects that the load, the arm body angle and the elongation are fused and converted into a torque control system, and the amplitude self-adaptive function is achieved in cooperation with an arm body rotation angle measurement system and a supporting leg span detection system.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to an amplitude adaptive control system and a control method for an insulated boom truck. Background Art

[0002] Insulated boom trucks provide an insulated platform for live operations in power grids, substations, transmission lines, etc. in the power industry. Because it is necessary to operate on live lines of tens of thousands or even hundreds of thousands of volts on the platform, the operation stability of the vehicle must be stable and reliable. The stability problem is directly related to the operating load, arm amplitude, arm rotation angle and leg span. These parameters need to be measured and obtained by different sensors. The amount of data formed by the combination of the four parameters is extremely large, which is extremely unfriendly to programming and debugging, and the data volume needs to be simplified and decomposed.

[0003] Since the insulation boom truck has high insulation performance requirements, it is impossible to use cables to transmit signals and power. The existing insulation boom truck operation load data acquisition basically uses a built-in weighing mechanism in the operation bucket. Four cantilever beam sensors are installed on the bottom plate. The entire mechanism is placed at the bottom of the operation bucket and powered by batteries. Wireless signals are sent to the controller to realize the weighing function. In the live working environment, wireless interference often exists, causing signal transmission failures and affecting the weighing signal.

[0004] The arm amplitude and rotation angle are generally obtained through the long angle sensor and turntable encoder installed at the end of the arm. This sensor is connected to the steel structure of the vehicle and there is no problem of crossing the insulation section.

[0005] The outrigger span of conventional insulated boom trucks is generally detected only by travel switches or proximity switches, which can only detect the fully extended or fully retracted state, and cannot achieve multi-point detection. During operation, the outriggers cannot be unfolded when fully extended, and the amplitude is too small when the outriggers are fully retracted, which has certain operational limitations;

[0006] In addition, the above four main parameters can be further divided into many different situations, such as N1 type of load * N2 arm angle * N3 rotation angle * N4 leg span. The amount of data increases exponentially, which brings great inconvenience to programming and debugging.

[0007] Therefore, an insulated boom truck amplitude adaptive control system is urgently needed to solve the on-board technical problems. Summary of the invention

[0008] The purpose of the present invention is to overcome the problems in the background technology and provide an insulated bucket arm vehicle amplitude adaptive control system and control method. Different from the amplitude limitation function of the traditional insulated arm, the control system is more humane and can automatically limit the operating amplitude according to the operating load and the span of the outriggers.

[0009] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is specifically: an insulated boom truck amplitude adaptive control system, including a torque control system, a rotation angle measurement system, and an outrigger span detection system;

[0010] The torque control system includes a long angle sensor for measuring the amplitude change angle and extension amount of the telescopic arm, a leveling cylinder for controlling the level of the working bucket and the horizontal plane, a variable amplitude cylinder for controlling the amplitude change of the telescopic arm, and an oil pressure sensor, wherein the oil pressure sensor is used to measure the cylinder pressure of the large chamber and the small chamber of the leveling cylinder and the variable amplitude cylinder;

[0011] The rotation angle measurement system includes a rotary encoder, which is used to measure the rotation angle of the arm body to perform partition control;

[0012] The outrigger span detection system comprises a fixed outrigger, a length sensor, a movable outrigger and a horizontal oil cylinder.

[0013] Furthermore, the telescopic arm includes a first arm section, and the second arm section and the third arm section are sequentially sleeved inwardly of the first arm section, one end of the long angle sensor is fixed to the first arm section of the telescopic arm, and the other end is fixed to the second arm section of the telescopic arm; one end of the leveling cylinder is hinged to the telescopic arm, and the other end is hinged to the turntable; one end of the variable amplitude cylinder is hinged to the lower end of the first arm section of the telescopic arm, and the other end is hinged to the turntable, and four oil pressure sensors are arranged, which are respectively connected to the large cavity and small cavity of the leveling cylinder and the variable amplitude cylinder A3, and are used to measure the cylinder pressure of the corresponding oil cavity.

[0014] Furthermore, the fixed leg is integrally arranged with the frame, one end of the length sensor is fixed on the fixed leg, and the other end is fixed on the movable leg, one end of the horizontal cylinder is hinged to the fixed leg, and the other end is hinged to the movable leg, and the horizontal cylinder is used to drive the movable leg to extend laterally.

[0015] The present invention also provides an amplitude adaptive control method for an insulated boom truck, comprising the following steps:

[0016] S1: The extension of a single outrigger is divided into four levels: L1, L2, L3 and L4. Level L1 means the outrigger is fully extended, level L2 means the outrigger is extended by 2 / 3, level L3 means the outrigger is extended by 1 / 3, and level L4 means the outrigger is fully retracted.

[0017] S2: The amplitude angle and extension amount of the telescopic arm are measured by the long angle sensor. When the extension amounts of the four legs of the insulated boom truck are at the same gear, the maximum operating load is calculated respectively to determine the fixed amplitude values ​​I1, I2, I3 and I4;

[0018] S3: Through the pressure value feedback of the oil pressure sensor, the torque calibration is performed under I1, I2, I3 and I4 respectively to obtain four curves Q1, Q2, Q3 and Q4;

[0019] S4: From a bird's-eye view, the rotation angle of the telescopic arm is divided clockwise according to the vehicle head direction: 0° to X1° is θ1, X1° to X2° is θ2, X2° to 180° is θ3, 180° to X3° is θ4, X3° to X4° is θ5, and X4° to 360° is θ6;

[0020] S5: Divide the top-view area into two parts, left and right, confirm the extension states of the four outriggers, and determine the extension length of the left or right outrigger with the smallest extension of the left or right outrigger, thereby obtaining the torque limit curve Q. In any state, the limit curves of θ1, θ3, θ4 and θ6 are set to the same curve, that is, θ1 = θ3, θ4 = θ6. When the extension lengths of the left and right outriggers are equal, θ1 = θ3 = θ4 = θ6, and θ2 = θ5;

[0021] S6: Parameterize the outrigger extension length to achieve stepless grading of the outriggers and automatically control the working width.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. The present invention provides a new method for weighing the load of the working bucket through torque limitation, which concentrates all sensors at the rear end of the telescopic arm, solves the limitation that the upper system of the insulated bucket truck cannot realize conventional signal transmission due to the insulation requirements, reduces the energy consumption of the upper part of the working bucket, and delays the upper operation time.

[0024] 2. The outrigger area division method proposed in the present invention can first divide the outrigger span into fixed-size groups, and through parameterized processing, achieve stepless grading of the outriggers, which can greatly reduce the number of operation steps and has stronger adaptability.

[0025] 3. The torque curve division method proposed in the present invention sets the limit curves of θ1, θ3, θ4 and θ6 to the same curve, which can reduce the torque limit curves from 6144 types (6 types for each amplitude partition, 24 types for four gears; 4 types for each leg partition, 256 types for four legs) to 16 types (4 types for amplitude partition and 4 types for leg partition), greatly simplifying the difficulty of program compilation.

[0026] 4. The amplitude adaptive control system of this insulated boom truck integrates the load, boom angle and elongation, and converts them into a torque control system. It cooperates with the boom rotation angle measurement system and the outrigger span detection system to realize the amplitude adaptive function. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0028] Figure 1 It is a structural schematic diagram of the torque control system in the present invention.

[0029] Figure 2 It is a structural schematic diagram of the outrigger span detection system in the present invention.

[0030] Figure 3 It is a schematic diagram of the calculation of the reaction force of the outrigger in the present invention.

[0031] Figure 4 Schematic diagram of the overhead area division of the arm rotation angle.

[0032] Figure 5 This is a schematic diagram of the classification of some areas in the present invention.

[0033] in:

[0034] A, torque control system; A1, long angle sensor; A2, leveling cylinder; A3, luffing cylinder; A4, telescopic arm; A5, oil pressure sensor; A6, turntable;

[0035] B. Rotation angle measurement system; B1. Rotary encoder;

[0036] C. Outrigger span detection system; C1. Includes fixed outrigger; C2. Length sensor; C3. Movable outrigger; C4. Horizontal cylinder. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. Of course, the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0038] Example:

[0039] like Figure 1-Figure 2 As shown, this embodiment provides an insulated boom truck amplitude adaptive control system, especially a telescopic insulated boom truck product with an insulated crank arm, which can adapt the working load to the outrigger classification and realize the amplitude adaptive limitation function. The insulated boom truck amplitude adaptive control system consists of a torque control system A, a rotation angle measurement system B and an outrigger span detection system C.

[0040] The torque control system A includes a long angle sensor A1, a leveling cylinder A2, a variable amplitude cylinder A3, a telescopic arm A4, an oil pressure sensor A5 and a turntable A6; the long angle sensor A1 is fixed to the end of the telescopic arm A4, one end of which is fixed to the first arm section and the other end is fixed to the second arm section. The long angle sensor A1 is used to measure the variable amplitude angle and the elongation of the arm body of the telescopic arm A4; one end of the leveling cylinder A2 is hinged to the telescopic arm A4, and the other end is hinged to the turntable A6, which is used for real-time leveling of the working bucket; one end of the variable amplitude cylinder A3 is hinged to the telescopic arm A4, and the other end is hinged to the turntable A6, which is used for the variable amplitude of the telescopic arm A4 and drives the leveling cylinder A2 to move; A5 is four oil pressure sensors, which are respectively connected to the large cavity and small cavity of the leveling cylinder A2 and the variable amplitude cylinder A3, and are used to measure the cylinder pressure;

[0041] The rotation angle measurement system B only includes the rotary encoder B1, which is used to measure the rotation angle of the telescopic arm A4 for partition control;

[0042] The outrigger span detection system C includes a fixed outrigger C1, a length sensor C2, a movable outrigger C3 and a horizontal cylinder C4; the fixed outrigger C1 is a part of the vehicle frame, one end of the length sensor C2 is fixed to the fixed outrigger C1, and the other end is fixed to the movable outrigger C3, and is used to measure the outrigger length; one end of the horizontal cylinder C4 is hinged to the fixed outrigger C1, and the other end is hinged to the movable outrigger C3, and is used to drive the movable outrigger C3 to extend laterally.

[0043] The specific working principle of the insulated boom truck amplitude adaptive control system of the present invention is as follows:

[0044] First, the extension of a single outrigger is divided into four levels: L1, L1, L1 and L4, where L1 is the outrigger fully extended, L2 is the outrigger 2 / 3 extended, L3 is the outrigger 1 / 3 extended, and L4 is the outrigger fully retracted;

[0045] Then, the variable angle and extension amount of the telescopic arm A4 are measured by the long angle sensor A1. When the extension amounts of the four legs of the insulated boom truck are at the same gear, the maximum operating load is calculated respectively to determine the fixed amplitude values ​​I1, I2, I3 and I4;

[0046] The maximum operating load calculation process is as follows:

[0047] The force on the legs of the aerial work vehicle has a maximum value when the aerial work vehicle is at the maximum working range. Assuming that the aerial work vehicle is supported on four legs A, B, C, and D during operation, and the boom is located at an angle θ away from the longitudinal axis of the aerial work vehicle, that is, the x-axis. The current θ is the rotation angle value of the aerial work vehicle turntable, such as Figure 3As shown in the figure, if the gravity of the aerial work vehicle getting off is G2, its center of gravity O2 is at e2 away from the symmetry center of the outrigger, the symmetry center is the coordinate far point O, and the distance between the rotation center O1 and the symmetry center O of the outrigger is e1. Suppose the gravity of the aerial work vehicle getting on is G1, the working load P is the rated load value, and the tipping moment M acting in the boom plane takes the maximum value when the working amplitude is the largest. Therefore, G2, e2, e1, G1, P, and M are all fixed values, and the support reaction forces on the four outriggers are:

[0048]

[0049]

[0050] Then the corresponding pressure value is measured by the oil pressure sensor A5, and the torque calibration is performed at l1, l2, l3, and l4 respectively. Taking I1 as an example, the arm amplitude change angle is evenly divided into n gears, and the telescopic arm A4 is extended to I1 at each angle, and a curve is obtained, which is the torque limit curve; I2~I4 are also the same, and 4 curves Q1~Q4 are obtained cumulatively;

[0051] Then, from a bird's-eye view, the arm rotation angle is divided clockwise according to the vehicle head direction: 0° to X1° is θ1, X1° to X2° is θ2, X2° to 180° is θ3, 180° to X3° is θ4, X3° to X4° is θ5, and X4° to 360° is θ6. Figure 4 As shown;

[0052] Furthermore, the top-view area is divided into left and right parts, and the extension states of the four legs are confirmed. The leg with the smallest extension on the left or right side is determined as the extension length of the left or right leg, so as to obtain the torque limit curve Q: To simplify the leg combination, the limit curves of θ1 and θ3, θ4 and θ6 are set to the same curve in any state, that is, θ1 = θ3, θ4 = θ6. Furthermore, when the extension lengths of the left and right legs are equal, θ1 = θ3 = θ4 = θ6, θ2 = θ5, as shown in Figure 5 As shown;

[0053] Finally, by parameterizing the outrigger extension length, stepless grading of the outriggers can be achieved, and the operating range can be automatically controlled, thereby realizing the range adaptation function.

[0054] In summary, the present invention provides a new method for weighing the load of the working bucket by torque limitation, which concentrates all sensors at the rear end of the telescopic arm A4, solves the limitation that the upper system of the insulated bucket truck cannot realize conventional signal transmission due to the insulation requirements, reduces the energy consumption of the upper part of the working bucket, and delays the upper operation time;

[0055] The outrigger area division method proposed in the present invention can first divide the outrigger span into fixed grades, and realize stepless outrigger classification through parameterized processing, which can greatly reduce the operation steps and has stronger adaptability;

[0056] The torque curve division method proposed in the present invention sets the limiting curves of θ1, θ3, θ4 and θ6 to the same curve, which can reduce the traditional torque limiting curve from 6 types of each amplitude partition, 24 types in four gears, 4 types of each leg partition, 256 types in four legs and a total of 6144 types to 4 types of amplitude partition, 4 types of leg partition and a total of 16 types, which greatly simplifies the difficulty of program compilation;

[0057] The insulated boom truck's amplitude adaptive control system integrates the load, boom angle and elongation, converting them into a torque control system. It cooperates with the boom rotation angle measurement system and the outrigger span detection system to achieve the amplitude adaptive function.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An insulated boom truck amplitude adaptive control system, characterized in that: It includes a torque control system (A), a rotation angle measurement system (B) and an outrigger span detection system (C); The torque control system (A) comprises a long angle sensor (A1) for measuring the amplitude change angle and extension amount of the telescopic arm (A4), a leveling cylinder (A2) for controlling the level of the working bucket and the horizontal plane, a variable amplitude cylinder (A3) for controlling the amplitude change of the telescopic arm (A4), and an oil pressure sensor (A5), wherein the oil pressure sensor (A5) is used to measure the cylinder pressure of the large chamber and the small chamber of the leveling cylinder (A2) and the variable amplitude cylinder (A3); The rotation angle measurement system (B) comprises a rotary encoder, and the rotary encoder is used to measure the rotation angle of the telescopic arm (A4) to perform partition control; The outrigger span detection system (C) comprises a fixed outrigger (C1), a length sensor (C2), a movable outrigger (C3) and a horizontal oil cylinder (C4).

2. The insulated boom truck amplitude adaptive control system according to claim 1 is characterized in that: The telescopic arm (A4) comprises a first arm section, wherein the first arm section is sequentially sleeved with a second arm section and a third arm section. One end of the long angle sensor (A1) is fixed to the first arm section of the telescopic arm (A4), and the other end is fixed to the second arm section of the telescopic arm (A4). One end of the leveling cylinder (A2) is hinged to the telescopic arm (A4), and the other end is hinged to the turntable (A6). One end of the variable amplitude cylinder (A3) is hinged to the lower end of the first arm section of the telescopic arm (A4), and the other end is hinged to the turntable (A6). Four oil pressure sensors (A5) are provided, which are respectively connected to the large cavity and the small cavity of the leveling cylinder (A2) and the variable amplitude cylinder (A3) and are used to measure the cylinder pressure of the corresponding oil cavity.

3. The insulated boom truck amplitude adaptive control system according to claim 1 is characterized in that: The fixed leg (C1) is integrally arranged with the vehicle frame; one end of the length sensor (C2) is fixed to the fixed leg (C1) and the other end is fixed to the movable leg (C3); one end of the horizontal oil cylinder (C4) is hinged to the fixed leg (C1) and the other end is hinged to the movable leg (C3); the horizontal oil cylinder (C4) is used to drive the movable leg (C3) to extend laterally.

4. An insulated boom truck amplitude adaptive control method, the control method is based on an insulated boom truck amplitude adaptive control system according to any one of claims 1 to 3, characterized in that: The steps include: S1: The extension of a single outrigger is divided into four levels: L1, L2, L3 and L4. Level L1 means the outrigger is fully extended, level L2 means the outrigger is extended by 2 / 3, level L3 means the outrigger is extended by 1 / 3, and level L4 means the outrigger is fully retracted. S2: The amplitude change angle and extension amount of the telescopic arm (A4) are measured by the long angle sensor (A1). When the extension amounts of the four legs of the insulated boom truck are at the same gear, the maximum operating load is calculated respectively to determine the fixed amplitude values ​​I1, I2, I3 and I4; S3: Through the pressure value feedback of the oil pressure sensor (A5), torque calibration is performed at I1, I2, I3 and I4 respectively to obtain four curves Q1, Q2, Q3 and Q4; S4: From a bird's-eye view, the rotation angle of the telescopic arm (A4) is divided clockwise according to the vehicle head direction: 0° to X1° is θ1, X1° to X2° is θ2, X2° to 180° is θ3, 180° to X3° is θ4, X3° to X4° is θ5, and X4° to 360° is θ6; S5: Divide the top-view area into two parts, left and right, confirm the extension states of the four outriggers, and determine the extension length of the left or right outrigger with the smallest extension of the left or right outrigger, thereby obtaining the torque limit curve Q. In any state, the limit curves of θ1, θ3, θ4 and θ6 are set to the same curve, that is, θ1=θ3, θ4=θ6. When the extension lengths of the left and right outriggers are equal, θ1=θ, 3=θ4=θ6, θ2=θ5; S6: Parameterize the outrigger extension length to achieve stepless grading of the outriggers and automatically control the operating range.

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