Crane control methods, electronic equipment, cranes, and readable storage media

Abstract

The crane control method disclosed in the application comprises: acquiring dynamic data collected by multiple sensors arranged on a hydraulic mechanical arm of a crane; based on the dynamic data, calculating a first desired angle between a first luffing arm and a vertical direction, a second desired angle between the second luffing arm and the first luffing arm, and a desired telescopic length of the telescopic arm of the hydraulic mechanical arm through a constructed moment balance equation; introducing the first desired angle, the second desired angle, and the desired telescopic length into a control model comprising cascaded position PID and speed PID to obtain a desired target current required in real-time dynamic action of the hydraulic mechanical arm; the desired target current comprises a first desired current for controlling a slewing valve, a second desired current for controlling a first luffing cylinder, a third desired current for controlling a second luffing cylinder, and a fourth desired current for controlling a telescopic cylinder. In this way, the control response speed and control accuracy of the hydraulic mechanical arm can be improved, and the shaking can be reduced or eliminated.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a crane control method, electronic equipment, crane, and computer-readable storage medium. Background Technology

[0002] Existing truck-mounted crane products use a PI control model as the hydraulic control output. The current output state current is obtained by utilizing the output characteristics as the system input feedback, while the remote control handle serves as the overall system input. The operator uses the remote control handle to move the lever, which activates the valve, and stops the valve when the lever is stopped.

[0003] However, the aforementioned control method is nonlinear. The anticipatory nature of remote control operation and the inconsistent lag state of the valve under different motion postures result in uneven time required for the PI model to reach a constant state. The handle is a linear control input, while the valve is a nonlinear output. The combined output of the two needs to resist the static lag force of the critical state in its drive, leading to a slow dynamic response. At the same time, the system lacks an efficient response mechanism during acceleration and deceleration, and the high-speed stopping process is prone to shocks that cause shaking, thus reducing the overall control accuracy. Summary of the Invention

[0004] The purpose of this application is to provide a crane control method, electronic device, crane, and computer-readable storage medium that can effectively improve the control response speed and control accuracy of hydraulic robotic arms, reduce or eliminate vibration, and enhance the user experience.

[0005] To achieve the above objectives:

[0006] In a first aspect, embodiments of this application provide a crane control method, including:

[0007] Acquire dynamic data collected by multiple sensors mounted on the hydraulic robotic arm of the crane;

[0008] Based on the dynamic data, the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired extension length of the telescopic arm are calculated by constructing the torque balance equation.

[0009] The first desired included angle, the second desired included angle, and the desired extension length are imported into a control model that includes cascaded position PID and speed PID to obtain the desired target current required for the real-time dynamic movement of the hydraulic manipulator. The desired target current includes a first desired current for controlling the slewing valve of the crane, a second desired current for controlling the first luffing cylinder of the crane, a third desired current for controlling the second luffing cylinder of the crane, and a fourth desired current for controlling the extension cylinder of the crane.

[0010] Optionally, the dynamic data includes: a first angle between the first luffing arm and the vertical direction, a second angle between the second luffing arm and the first luffing arm, the current telescopic length of the telescopic arm, the load weight, and the slewing angular velocity;

[0011] Based on the dynamic data, the calculation of the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm, using the constructed torque balance equation, includes:

[0012] Based on the first included angle, the second included angle, the current extension length of the telescopic boom, the load weight, the rotational angular velocity, the third included angle between the crane's turntable and the vertical direction, the length of the turntable, the length of the first luffing boom, the length of the second luffing boom, the weight of the first rotary joint, and the weight of the second rotary joint, the desired first included angle between the first luffing boom and the vertical direction, the second desired angle between the second luffing boom and the first luffing boom, and the desired extension length of the telescopic boom are determined through a constructed torque balance equation. The torque balance equation includes the correlation between the position and velocity of the telescopic boom end and the angle between the first luffing boom and the vertical direction, the angle between the second luffing boom and the first luffing boom, and the extension length of the telescopic boom.

[0013] Optionally, the step of importing the first desired included angle, the second desired included angle, and the desired extension length into a control model including cascaded position PID and speed PID to obtain the desired target current required for the real-time dynamic movement of the hydraulic manipulator includes:

[0014] Obtain the current valve core position and current of the target device; the target device is any one of the following: the rotary valve, the first luffing cylinder, the second luffing cylinder, or the telescopic cylinder;

[0015] The desired valve core position of the target device is determined based on the first desired included angle, the second desired included angle, and the desired extension length;

[0016] Based on the desired valve core position, the current valve core position, and the current current, the desired current for controlling the target device is calculated using a control model that includes cascaded position PID and speed PID.

[0017] Optionally, the step of calculating the desired current for controlling the target device based on the desired valve core position, the current valve core position, and the current current, using a control model including cascaded position PID and speed PID, includes:

[0018] The desired valve core position and the current valve core position are input into the position PID in the control model to obtain the position compensation value calculated by the position PID.

[0019] The position compensation value is converted into a speed compensation value, and the speed compensation value and the current current are input into the speed PID in the control model to obtain the calculated desired current for controlling the target device.

[0020] Optionally, the step of inputting the desired valve core position and the current valve core position into the position PID in the control model to obtain the position compensation value calculated by the position PID includes:

[0021] The angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the three-dimensional vibration data of the outer side of the first luffing arm, the inner angular acceleration of the second luffing arm, and the three-dimensional vibration data of the outer side of the second luffing arm are obtained.

[0022] Based on the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the three-dimensional vibration data of the outer side of the first luffing arm, the inner angular acceleration of the second luffing arm, and the three-dimensional vibration data of the outer side of the second luffing arm, a preset compensation process is performed to obtain compensation information.

[0023] The desired valve core position, the current valve core position, and the compensation information are input into the position PID in the control model to obtain the position compensation value calculated by the position PID.

[0024] Optionally, the preset compensation processing includes at least one of the following: advance action adaptation compensation, lag output suppression compensation, and jitter variable gain.

[0025] Secondly, embodiments of this application provide an electronic device, including: a processor and a memory storing a computer program, wherein when the processor runs the computer program, the above-described crane control method is implemented.

[0026] Thirdly, embodiments of this application provide a crane, including a hydraulic robotic arm and electronic equipment as described in the second aspect for controlling the hydraulic robotic arm.

[0027] Optionally, the hydraulic robotic arm includes a first luffing arm, a second luffing arm connected to the first luffing arm, and a telescopic arm connected to the second luffing arm; the crane further includes:

[0028] The first tilt sensor, the first acceleration sensor, and the first attitude sensor installed on the first luffing arm are respectively used to collect the first angle between the first luffing arm and the vertical direction, the inner angular acceleration of the first luffing arm, and the outer three-dimensional vibration data of the first luffing arm.

[0029] The second tilt sensor and the second acceleration sensor, which are installed on the second luffing arm, are used to collect the second included angle between the second luffing arm and the first luffing arm, and the inner angular acceleration of the second luffing arm, respectively.

[0030] The long angle sensor and the second attitude sensor, which are set at the end of the telescopic arm, are used to collect the current telescopic length of the telescopic arm and the three-dimensional vibration data of the outer side of the second luffing arm, respectively.

[0031] A stress sensor located at the end of the telescopic arm is used to collect the current load weight.

[0032] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described crane control method.

[0033] The crane control method, electronic device, crane, and computer-readable storage medium provided in this application include: acquiring dynamic data collected by multiple sensors mounted on the hydraulic manipulator of the crane; calculating, based on the dynamic data, a first desired angle between the first luffing arm and the vertical direction, a second desired angle between the second luffing arm and the first luffing arm, and a desired extension length of the telescopic arm through a constructed torque balance equation; importing the first desired angle, the second desired angle, and the desired extension length into a control model including cascaded position PID and speed PID to obtain the desired target current required for the real-time dynamic action of the hydraulic manipulator; the desired target current includes a first desired current for controlling the rotary valve, a second desired current for controlling the first luffing cylinder, a third desired current for controlling the second luffing cylinder, and a fourth desired current for controlling the telescopic cylinder. Thus, by analyzing the torque balance, the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired extension length of the telescopic arm, and then combining the cascaded position PID and speed PID to calculate the desired current for controlling each cylinder of the hydraulic manipulator, the control response speed and control accuracy of the hydraulic manipulator can be effectively improved, vibration can be reduced or eliminated, and the user experience can be enhanced. Attached Figure Description

[0034] Figure 1 A schematic flowchart of a crane control method provided in an embodiment of the present invention;

[0035] Figure 2 This is a schematic diagram of the hydraulic robotic arm of the crane in an embodiment of the present invention;

[0036] Figure 3This is a schematic diagram of the cascaded PID controller in an embodiment of the present invention;

[0037] Figure 4 This is a schematic diagram of the adaptive fuzzy controller in an embodiment of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of a crane control system provided in an embodiment of the present invention;

[0039] Figure 6 This is a schematic diagram of the lead-lag compensation model in an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0041] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0042] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, components, features, and elements with the same names in different embodiments of this application may have the same meaning or different meanings, the specific meaning of which must be determined by its interpretation in that specific embodiment or further in conjunction with the context of that specific embodiment.

[0043] It should be understood that although the terms first, second, third, etc., may be used herein to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this document, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if," as used herein, can be interpreted as "when," "when," or "in response to determination." Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to also include the plural forms unless the context indicates otherwise. It should be further understood that the terms "comprising," "including," indicate the presence of the stated feature, step, operation, element, component, item, kind, and / or group, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" as used herein are to be interpreted as inclusive, or mean any one or any combination thereof. Therefore, "A, B, or C" or "A, B, and / or C" means "any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C". Exceptions to this definition will only occur if the combination of elements, functions, steps, or operations is inherently mutually exclusive in some way.

[0044] It should be understood that although the steps in the flowcharts of this application's embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0045] It should be noted that step designations such as S101 and S102 are used in this document for the purpose of more clearly and concisely describing the corresponding content, and do not constitute a substantial limitation on the order. In specific implementation, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the protection scope of this application.

[0046] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0047] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0048] See Figure 1 This application provides a crane control method, which can be executed by a crane control device provided in this application. The crane control device can be implemented using software and / or hardware, such as electronic devices like controllers or processors. In this embodiment, the controller in the crane is taken as the executing entity of the crane control method. The crane control method provided in this embodiment includes:

[0049] Step S101: Acquire dynamic data collected by multiple sensors installed on the hydraulic robotic arm of the crane.

[0050] The hydraulic robotic arm includes a first luffing arm, a second luffing arm connected to the first luffing arm, and a telescopic arm connected to the second luffing arm. Dynamic data may include a first angle between the first luffing arm and the vertical direction, a second angle between the second luffing arm and the first luffing arm, the current extension length of the telescopic arm, the load weight, and the rotational angular velocity. The first angle, the second angle, the current extension length of the telescopic arm, and the current load weight can be obtained by installing corresponding sensors on the hydraulic robotic arm, by analyzing images captured by the hydraulic robotic arm using an image acquisition device, or by manual input by the user.

[0051] Step S102: Based on dynamic data, calculate the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired extension length of the telescopic arm through the constructed torque balance equation.

[0052] In one embodiment, based on dynamic data, the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm are calculated using a constructed torque balance equation. This includes:

[0053] Based on the first included angle, the second included angle, the current extension length of the telescopic boom, the load weight, the rotational angular velocity, the third included angle between the crane's turntable and the vertical direction, the length of the turntable, the length of the first luffing boom, the length of the second luffing boom, the weight of the first rotary joint, and the weight of the second rotary joint, the desired first included angle between the first luffing boom and the vertical direction, the second desired included angle between the second luffing boom and the first luffing boom, and the desired extension length of the telescopic boom are determined through the constructed torque balance equation. The torque balance equation includes the correlation between the position and velocity of the telescopic boom end and the angle between the first luffing boom and the vertical direction, the angle between the second luffing boom and the first luffing boom, and the extension length of the telescopic boom.

[0054] In this design, the third angle between the crane's turntable and the first luffing cylinder, the weight of the first rotary joint, the weight of the second rotary joint, the length of the turntable, and the length of the first luffing boom are all known fixed values. It is understandable that mismatches may exist between the first angle between the first luffing boom and the vertical direction, the second angle between the second luffing boom and the first luffing boom, and the current extension length of the telescopic boom, potentially causing vibration in the hydraulic manipulator. To reduce or eliminate vibration and improve control accuracy, the first desired angle between the first luffing boom and the vertical direction, the second desired angle between the second luffing boom and the first luffing boom, and the desired extension length of the telescopic boom can be determined based on torque balance. It should be noted that the current extension length of the telescopic boom refers to the sum of the length of the second luffing boom and the already extended length of the telescopic boom; the length of the second luffing boom is a fixed value.

[0055] The following example illustrates how data acquisition can be achieved by installing sensors on a hydraulic robotic arm. (See attached document.) Figure 2The hydraulic boom of the crane includes a slewing mechanism 1, a turntable 2, a first rotary joint 3, a first luffing boom 4, a second rotary joint 5, a second luffing boom 6, a telescopic boom 7, a first luffing cylinder 8, a second luffing cylinder 9, and a telescopic cylinder 10. One end of the turntable 2 is connected to the slewing mechanism 1, and the other end is connected to the first luffing boom 4 via the first rotary joint 3. One end of the first luffing boom 4 is connected to the first rotary joint 3, and the other end is connected to the second luffing boom 6 via the second rotary joint 5. One end of the second luffing boom 6 is connected to the second rotary joint 5, and the other end is connected to the telescopic boom 7. One end of the first luffing cylinder 8 is connected to the turntable 2, and the other end is connected to the first luffing boom 4. One end of the second luffing cylinder 9 is connected to the first luffing boom 4, and the other end is connected to the second luffing boom 6. The telescopic cylinder 10 is mounted on the second luffing boom 6 and connected to the telescopic boom 7. The turntable 2 has a length of l1, the angle between the turntable 2 and the first luffing cylinder is θ1, the length of the first luffing arm is l2, and θ0 is the angle between the slewing mechanism 1 and the horizontal direction. It should be noted that the telescopic arm 7 is movably connected inside the second luffing arm 6. In use, the telescopic arm 7 can extend from inside the second luffing arm 6, and when not in use, the telescopic arm 7 can be retracted into the second luffing arm 6.

[0056] A first tilt sensor 11 is installed on the first luffing arm 4 to acquire the first angle θ2 between the first luffing arm 4 and the vertical direction. Specifically, the first tilt sensor 11 dynamically detects the current angle between the first luffing arm 4 and the vertical direction. The spatial range of the first luffing arm 4 is limited by the length of the rod inside the cylinder, which can detect the consistency of parameters between system actions and target angle changes. Furthermore, based on the angle change state machine, the end effector linear velocity of the first luffing arm 4 can be obtained using the spatial arm length and the target position. Here, the first angle is less than 90 degrees.

[0057] A second tilt sensor 12 is installed on the second luffing arm 6 to collect the second angle θ3 between the second luffing arm 6 and the first luffing arm 4. Specifically, the second tilt sensor 12 dynamically detects the current tilt angle of the second luffing arm 6. The tilt angle of the second luffing arm 6 is affected by the movement of the second luffing cylinder 9. Changes in spatial position angle need to be filtered out from other movements to avoid tilt angle vibration and drift.

[0058] A length angle sensor 13 is installed at the end of the telescopic boom 7 to collect the current telescopic length of the boom 7. Specifically, the length angle sensor 13 measures the current telescopic length of the boom 7, and the end spatial position can be calculated based on the length and angle of the boom 7. Here, the sum of the telescopic length of the boom 7 and the length of the second luffing boom 6 is denoted as l3. Simultaneously, a stress sensor 14 is also installed at the end of the telescopic boom 7 to collect the current load weight M. Specifically, the stress sensor 14 detects the current load weight under hoisting, and uses the position of the center of gravity to perform a balance calculation of the overall kinetic and potential energy, providing a data source for the kinetic and potential energy conversion dynamic equations.

[0059] The encoder 15, installed on the rotary mechanism 1, is used to acquire the current angular position information of the turntable to accurately locate the real-time position of the turntable, and can detect within a 360-degree range. By tracking the historical position changes of the turntable and combining them with time parameters, the current angular velocity and angular acceleration of the turntable are obtained.

[0060] The first acceleration sensor 16, installed on the first luffing arm 4, is used to acquire the angle change of the first luffing arm 4 within the cylinder's variable stroke, as well as buffer data for critical and hysteresis data, i.e., to acquire the inner angular acceleration of the first luffing arm 4. During the internal operation process, the hydraulic oil inside the lower and upper chambers is in a state of adhesion and separation from the inner wall. During the critical processes of starting, pressure buildup, and stopping, the system experiences a certain degree of self-vibration excitation. The inner angular acceleration obtained by the first acceleration sensor 15 acquires the vibration and swaying characteristic curve of the first luffing arm 4 under the impact torque balance, and then converts it into the inner vibration frequency of the first luffing arm 4.

[0061] The first attitude sensor 17, mounted on the first amplitude arm 4, is used to acquire vibration information such as the three-dimensional vibration velocity, vibration acceleration, vibration displacement, vibration angle, and vibration frequency of the end of the first amplitude arm 4. Specifically, it acquires the three-dimensional vibration data of the outer side of the first amplitude arm 4 and determines the current vibration intensity and magnitude of the first amplitude arm 4, serving as a parameter source for end-effector jitter compensation. Here, combined with the inner vibration frequency of the first amplitude arm 4, the jitter range of the first amplitude arm 4 can be calculated, and jitter compensation processing can then be performed based on this jitter range.

[0062] The second acceleration sensor 18, installed on the second luffing arm 6, is used to acquire the angular change of the second luffing arm 6 in the cylinder's variable stroke space, as well as buffer data for starting critical and hysteresis data, i.e., to acquire the inner angular acceleration of the second luffing arm 6. During the internal operation process, the hydraulic oil inside the lower and upper chambers is in a state of adhesion and separation from the inner wall. During the critical processes of starting, pressure buildup, and stopping, the system experiences a certain degree of self-vibration excitation. The inner angular acceleration obtained by the second acceleration sensor 18 acquires the vibration and swaying characteristic curve of the second luffing arm 6 under the impact torque balance, and performs secondary separation under rigid load conditions to obtain the inner vibration frequency of the second luffing arm 6.

[0063] The second attitude sensor 19, located at the end of the telescopic boom 7, is used to detect three-dimensional vibration information such as vibration velocity, vibration acceleration, vibration displacement, and vibration angle at the end of the second amplitude boom 6. Specifically, it acquires the three-dimensional vibration data of the outer side of the second amplitude boom 6 and determines the current vibration intensity and magnitude of the second amplitude boom 6, serving as a parameter source for end-effector jitter compensation. Here, combined with the inner vibration frequency of the second amplitude boom 6, the jitter range of the second amplitude boom 6 can be calculated, and jitter compensation processing can then be performed based on the jitter range of the second amplitude boom 6.

[0064] The second accelerometer 20, mounted on the rotary mechanism 1, is used to collect the acceleration of the turntable. Due to the rotational inertia, there are brief lead and lag signals during acceleration and deceleration. Therefore, after secondary extraction and conversion of the acceleration information collected by the second accelerometer 20, the impact intensity and time delay information can be obtained. Simultaneously, the back-and-forth impact signal of the acceleration exhibits certain resonance characteristics; by extracting its data, it can be converted into a pulse sequence.

[0065] The first luffing cylinder 8 is also connected to the first luffing actuator (not shown in the figure) in the hydraulic robotic arm. The first luffing actuator is used to drive the valve core in the first luffing cylinder 8 to output movement and to detect the current drive current and target movement position information. The second luffing cylinder 9 is also connected to the second luffing actuator (not shown in the figure) in the hydraulic robotic arm. The second luffing actuator is used to drive the valve core in the second luffing cylinder 9 to output movement and to detect the current drive current and target movement valve core position information. The telescopic cylinder 10 is also connected to the telescopic actuator (not shown in the figure) in the hydraulic robotic arm. The telescopic actuator is used to drive the valve core in the telescopic cylinder 10 to output movement and to detect the current drive current and target movement valve core position information. The turntable 2 is also connected to the rotary actuator (not shown in the figure) in the hydraulic robotic arm, used to drive the valve core movement, provide reducer output, and detect the current drive current and target turntable position information. It should be noted that... Figure 2 Each identifier in the diagram indicates only the location of the corresponding sensor or hydraulic cylinder.

[0066] Understandably, to reduce or avoid vibration in the hydraulic manipulator, it is essential to ensure that the system kinetic energy and overall potential energy of the crane's hydraulic manipulator are kept in torque balance as much as possible. Therefore, by performing torque balance analysis on the current system kinetic energy and current overall potential energy of the hydraulic manipulator, the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired extension length of the telescopic arm are determined. It should be noted that since the movement of the load hoisted at the end of the telescopic arm will cause vibration in the hydraulic manipulator, it is necessary to control the position and speed of the telescopic arm end to reduce or avoid vibration. The control of the position and speed of the telescopic arm end needs to be achieved by controlling the angle between the first luffing arm and the vertical direction, the angle between the second luffing arm and the first luffing arm, and the extension length of the telescopic arm.

[0067] The following is combined Figure 2 A brief explanation of the principle by which the hydraulic robotic arm of a crane achieves torque balance:

[0068] The relationship between the vibration displacement S, velocity v, and acceleration a of the hydraulic robotic arm of the crane during its movement is shown in the following formula:

[0069]

[0070] Where f' represents differentiation. Dynamic analysis of the hydraulic manipulator is performed, and based on the preprocessing and transformation of the collected sensor data, the target position p at the end of the telescopic arm can be obtained in real time. e :

[0071]

[0072] Where l1, l2, and l3 represent the lengths of the turntable of the hydraulic robotic arm, the length of the first luffing arm, and the sum of the lengths of the second luffing arm and the telescopic arm, respectively, and parameter V 12...i =cos(θ1+θ2+θ3), D 12...i = sin(θ1+θ2+θ3).

[0073] Based on parameter conversion, the kinetic energy T of the hydraulic robotic arm system of the crane is:

[0074]

[0075] Where T represents the kinetic energy of the system, which is the sum of the rotational and linear kinetic energies of each part; j0 is the inertial impact of the system, which is related to the axis of rotation or mass distribution; S represents the rotational inertial kinetic energy of the first joint (or part of the system); S2 is the sine component, and c3 is the corotation component; S 23 S is the distance from the second component of the connecting rod to the third joint. 22This is the distance from the second component of the connecting rod to the second joint.

[0076] The total potential energy V of the hydraulic robotic arm is:

[0077]

[0078] Where m2 is the weight of the first rotary joint, m3 is the weight of the second rotary joint, M is the load weight, l1 is the length of the turntable, l2 is the length of the first luffing arm, l3 is the sum of the lengths of the second luffing arm and the telescopic arm, θ0 is the angle between the slewing mechanism and the horizontal direction, θ1 is the angle between the turntable and the first luffing cylinder (i.e., the third angle between the turntable and the vertical direction), θ2 is the first angle, and θ3 is the second angle. ρ i The distributed mass density is typically the linear density of the corresponding link, where ρ1 is the distributed mass density of the turntable, ρ2 is the distributed mass density of the first luffing arm, and ρ3 is the distributed mass density of the second luffing arm. g is a constant, i.e., 9.8 N / kg, c2 is the cosine component, and c... 23 is a coefficient that characterizes the inertial coupling relationship.

[0079] The friction force model during the dynamic movement of a hydraulic robotic arm is as follows:

[0080]

[0081] The dynamic equation of the system is:

[0082]

[0083] The equations in the first row are the classic dynamic equations of the robotic arm, including inertia, Coriolis force, gravity, and nonlinear disturbance terms; the equations in the second row represent the overall equilibrium inertia of the system, taking into account joint torque, hydraulic drive, and disturbance terms. θ The inertia matrix is ​​usually related to the joint angle θ and reflects the inertial characteristics of the system. Let θ be the second derivative of the joint angle θ. The matrix of Coriolis force and centrifugal force depends on the joint angle θ and angular velocity. The system describes the inertial effect caused by motion speed; G(θ) is the gravity matrix, related to the joint angle θ, reflecting the influence of gravity on the robotic arm; ψ1(θ,t) is a function of external disturbances or nonlinear terms, dependent on the joint angle θ and time t; τ is the joint torque, representing the driving force applied by the robotic arm at the joint; A and B are matrix parameters in the system, used to describe the characteristics of the hydraulic drive part; ψ2(θ,t) is an external disturbance or compensation term related to the joint angle θ and time t; CI is the control input, which is the desired value of the system.

[0084] By using the above set of equations to obtain the dynamic position and velocity relationship at the end of the telescopic arm, and converting it to the action of a single moving arm, the first desired angle between the first amplitude arm and the vertical direction, the second desired angle between the second amplitude arm and the first amplitude arm, and the desired telescopic length of the telescopic arm can be determined.

[0085] Step S103: Import the first desired included angle, the second desired included angle, and the desired extension length into a control model that includes cascaded position PID and speed PID to obtain the desired target current required for the real-time dynamic action of the hydraulic manipulator; the desired target current includes the first desired current for controlling the slewing valve of the crane, the second desired current for controlling the first luffing cylinder of the crane, the third desired current for controlling the second luffing cylinder of the crane, and the fourth desired current for controlling the extension cylinder of the crane.

[0086] Based on the first desired included angle, the second desired included angle, and the desired extension length, the first desired current for controlling the slewing valve of the crane, the second desired current for controlling the first luffing cylinder of the crane, the third desired current for controlling the second luffing cylinder of the crane, and the fourth desired current for controlling the extension cylinder of the crane can be calculated using a control model that includes cascaded position PID and speed PID, and the corresponding control operations can be performed on the hydraulic robotic arm.

[0087] In one embodiment, the first desired included angle, the second desired included angle, and the desired extension length are imported into a control model including cascaded position PID and speed PID to obtain the desired target current required for the real-time dynamic movement of the hydraulic manipulator, including:

[0088] Obtain the current valve core position and current of the target device; the target device can be any of the following: rotary valve, first luffing cylinder, second luffing cylinder, telescopic cylinder;

[0089] The desired valve core position of the target device is determined based on the first desired included angle, the second desired included angle, and the desired extension length.

[0090] Based on the desired valve spool position, the current valve spool position, and the current current, the desired current for controlling the target device is calculated using a control model that includes cascaded position PID and speed PID.

[0091] Specifically, each of the following devices—the rotary valve, the first luffing cylinder, the second luffing cylinder, and the telescopic cylinder—is designated as the target device. Then, based on the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired telescopic length of the telescopic arm, the desired valve core position of the target device is determined. Next, based on the desired valve core position, the current valve core position, and the current current, a control model including cascaded position PID and speed PID is used to calculate the desired current for controlling the target device. The correspondence between different first desired angles, second desired angles, and desired telescopic lengths and the desired valve core positions of the target devices can be pre-set, thus allowing the desired valve core position of the target device to be determined based on these parameters.

[0092] like Figure 3 As shown, this embodiment employs a cascaded PID controller, with a position PID in the outer loop and a velocity PID in the inner loop. The two controllers operate in series, and interference is transmitted to the inner loop for suppression, enhancing the overall anti-interference capability. Simultaneously, the presence of the inner loop alters the original object characteristics, shortening the equivalent time of the inner loop and making the system's response time more timely. Furthermore, due to the time lag between the velocity and position in the outer loop, the cascaded combination can suppress interference in the inner loop caused by lead control, reducing the oscillation period and enhancing the system's robustness and strength.

[0093] In one embodiment, based on the desired valve spool position, the current valve spool position, and the current current, a desired current for controlling the target device is calculated using a control model that includes cascaded position PID and speed PID, including:

[0094] Input the desired valve core position and the current valve core position into the position PID in the control model to obtain the position compensation value calculated by the position PID;

[0095] The position compensation value is converted into a speed compensation value, and the speed compensation value and the current current are input into the speed PID in the control model to obtain the calculated desired current for controlling the target device.

[0096] Here, the desired position (i.e., the desired valve core position) and the current valve core position (i.e., the actual position of the valve core in the cylinder obtained from the actuator) are input into the position PID to obtain the position compensation value. The position compensation value is then converted into a speed compensation value and input into the speed PID. This allows the speed PID to determine the input current (i.e., the desired current) of the valve core in the cylinder based on the speed compensation value and the output current of the valve core in the cylinder, so that the valve core can be driven to move by the current.

[0097] The inner loop acquires system process samples and error signals in real time, directly driving the output, and its changes are adaptive to external disturbances. By comparing the difference between the estimated and actual values, an error metric is obtained. The error metric function is used to adjust the parameters of each PID stage, allowing the system to better adapt to nonlinear characteristics and output properties, thus constructing an adaptive fuzzy PID controller. Figure 4 As shown.

[0098] The system input signal is u in (K), the output speed is v out The overall structure is determined by the following formula:

[0099]

[0100] Where k' p k i '、k' d These are the initial values ​​for the proportional, integral, and differential equations, respectively, Δk. p Δk i Δk d These are the increments determined by fuzzy control.

[0101] Based on the system's output characteristics, a fuzzy-PID controller is used as the feedback controller, and a three-pulse OSI controller is used for the feedforward. Since a large part of the system error originates from the dead-zone control range, the output error of the dead-zone control is fuzzified using a triangular membership function. From the set fuzzy control rule table, the fuzzy control quantity is obtained using the max-min fuzzy control inference. Finally, the weighted average method is used to defuzzify the system and obtain the theoretical output state quantity, thus achieving fuzzy adaptive precise control.

[0102] In one embodiment, the desired valve spool position and the current valve spool position are input into the position PID in the control model to obtain the position compensation value calculated by the position PID, including:

[0103] Acquire the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the three-dimensional vibration data of the outer side of the first luffing arm, the inner angular acceleration of the second luffing arm, and the three-dimensional vibration data of the outer side of the second luffing arm.

[0104] Based on the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the three-dimensional vibration data of the outer side of the first luffing arm, the inner angular acceleration of the second luffing arm, and the three-dimensional vibration data of the outer side of the second luffing arm, preset compensation processing is performed to obtain compensation information.

[0105] Input the desired valve core position, the current valve core position, and the compensation information into the position PID in the control model to obtain the position compensation value calculated by the position PID.

[0106] The preset compensation processing includes at least one of the following: anticipatory motion adaptation compensation, lag output suppression compensation, and jitter variable gain. It is understood that the jitter of the hydraulic manipulator affects its precise control; therefore, compensation information can be introduced into the position PID controller to remove interference. Here, by performing spectral analysis on the angular acceleration of the turntable, the inner angular acceleration of the first luffing arm, the outer three-dimensional vibration data of the first luffing arm, the inner angular acceleration of the second luffing arm, and the outer three-dimensional vibration data of the second luffing arm, the resonant oscillation frequencies of the turntable, the first luffing arm, and the second luffing arm can be determined, respectively. Then, based on the length and inner angular acceleration of the first luffing arm, the end position frequency of the first luffing arm can be determined; and based on the length and inner angular acceleration of the second luffing arm, the end position frequency of the second luffing arm can be determined. Next, the resonant oscillation frequency of the first luffing arm is superimposed with the end position frequency of the first luffing arm to obtain the data oscillation frequency of the first luffing arm; the resonant oscillation frequency of the second luffing arm is superimposed with the end position frequency of the second luffing arm to obtain the data oscillation frequency of the second luffing arm; and the resonant oscillation frequency of the turntable is converted to obtain the data oscillation frequency of the turntable. Then, the data oscillation frequencies of the first luffing arm, the second luffing arm, and the turntable are used as the sources of the data to be compensated, and preset compensation processing is performed on the data to be compensated to obtain compensation information. The compensation information may include valve core position compensation values, etc.

[0107] In this embodiment, a feedback correction method is used to provide compensation and correction for the data. Specifically, by extracting acceleration data and data collected by attitude sensors, the current jitter situation is obtained. This allows for the automatic identification of current jitter parameters during the boom's motion detection process, and the provision of adaptive compensation for leading motion, lag suppression compensation, and jitter variable gain methods to the target source. The structure of the crane control system is as follows: Figure 5 As shown.

[0108] Here, the arm's trajectory and the current jitter signal are superimposed to adjust the gain of the target trajectory travel. The compensation method is explained in detail below:

[0109] 1) To address the time interval error between the actual jitter pulse signal jump point and the ideal signal jump point, the time delay of the data is canceled using the differential prior equation.

[0110] 2) For some random fluctuations that conform to a Gaussian distribution, the error is corrected, compensated and converted using the 3σ criterion based on the standard deviation σ of the probability density function.

[0111] 3) Implement proactive compensation for the dead zone of valve operation, and build a system such as... Figure 6The shown lead-lag compensation model optimizes and pre-processes the dead zone disturbance range to reduce the hysteresis and whistling caused by the dead travel.

[0112] Among them, X(S) is the input quantity of the joystick control, T(s) is the output of the joystick control, D(S) is the measurable disturbance, G2(S) is the position control object, and G1(S) is the disturbance channel. The control idea is to increase the disturbance compensation G(S) to offset the influence of the disturbance on the position:

[0113] D(S)*G(S)*G2(S) = D(S)*G1(S)

[0114] Simplifying it to a first-order lag gives: By obtaining the time constant and the input parameters of the transfer function from the input and output relationship curve. The lead-lag compensation does not have a delay process, and the compensation addition time is the delay l1 - l2. In the scenario of l1 < l2, the disturbance compensation is given in advance.

[0115] 4) Use optimal shaping design to cancel the residual vibration of the input signal. The input shaping pulse sequence and the desired target position are convolved. According to the vibration frequency and damping ratio pulse sequence detected by the attitude sensor, the vibration frequency w n of the second-order transfer function and the damping ratio of the pulse sequence are combined to construct the system residual amplitude function:

[0116]

[0117] The expression for the optimal input shaper with the minimum vibration is obtained as:

[0118]

[0119] Use the residual function for sensitivity curve analysis to ensure that the input shaping reaches zero vibration at 1 / 2 of the vibration period.

[0120] Here, corresponding attitude data, jitter parameters, and position data are acquired through sensors and converted and compensated to enable robust and adaptive control. Furthermore, the cascaded PID combination makes the displacement control more precise. Combining the above control strategies, at the moment of telescopic start-up, the velocity is acquired by the accelerometer and encoder, and the algorithm compensates for the gravitational and inertial impacts of the system. Simultaneously, a variable gain combined with fuzzy compensation transitions the dead zone to the critical zone. During the rapid deceleration of the telescopic arm, the end jitter data transmitted to the turntable is compensated for by perturbation optimization to offset inertia and hook end sway. When the telescopic arm returns to the neutral stop state, optimal shaping reverse impedance compensation eliminates or offsets valve core vibration in the hydraulic output. The fuzzy evolution strategy generated by triangular membership suppresses high-frequency interference, ensuring robustness and responsiveness.

[0121] In summary, the crane control method provided in the above embodiments, by analyzing the first desired angle between the first luffing arm and the vertical direction, the second desired angle between the second luffing arm and the first luffing arm, and the desired extension length of the telescopic arm, and then combining cascaded position PID and speed PID to calculate the desired current for controlling each cylinder of the hydraulic manipulator, can effectively improve the control response speed and control accuracy of the hydraulic manipulator, reduce or eliminate jitter, and improve the user experience.

[0122] Based on the same inventive concept as the foregoing embodiments, this invention provides an electronic device, such as... Figure 7 As shown, the electronic device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 7 The processor 310 shown in the diagram does not indicate that there is only one processor 310, but only indicates the positional relationship of the processor 310 relative to other devices. In practical applications, there can be one or more processors 310; similarly, Figure 7 The memory 311 shown in the diagram has the same meaning, that is, it is only used to indicate the positional relationship of memory 311 relative to other devices. In practical applications, there can be one or more memories 311. When the processor 310 runs the computer program, the crane control method described above is implemented.

[0123] The electronic device may also include at least one network interface 312. The various components of the electronic device are coupled together via a bus system 313. It is understood that the bus system 313 is used to implement communication between these components. In addition to a data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 7 The general designated all buses as Bus System 313.

[0124] The memory 311 can be volatile memory or non-volatile memory, or both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); the magnetic surface memory can be disk storage or magnetic tape storage. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 311 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0125] The memory 311 in this embodiment of the invention is used to store various types of data to support the operation of the electronic device. Examples of this data include: any computer programs used to operate on the electronic device, such as operating systems and applications; contact data; phonebook data; messages; pictures; videos, etc. The operating system includes various system programs, such as the framework layer, core library layer, driver layer, etc., used to implement various basic services and handle hardware-based tasks. Applications can include various applications, such as media players, browsers, etc., used to implement various application services. Here, the program implementing the method of this embodiment of the invention can be included in the application.

[0126] Based on the same inventive concept as the foregoing embodiments, the present invention provides a crane, including a hydraulic robotic arm and electronic equipment as described in the foregoing embodiments for controlling the hydraulic robotic arm.

[0127] In one embodiment, the hydraulic robotic arm includes a first luffing arm, a second luffing arm connected to the first luffing arm, and a telescopic boom connected to the second luffing arm; the crane also includes:

[0128] The first tilt sensor, the first acceleration sensor, and the first attitude sensor installed on the first luffing arm are respectively used to collect the first angle between the first luffing arm and the vertical direction, the inner angular acceleration of the first luffing arm, and the three-dimensional vibration data of the outer side of the first luffing arm.

[0129] The second tilt sensor and the second acceleration sensor installed on the second luffing arm are used to collect the second included angle between the second luffing arm and the first luffing arm, and the inner angular acceleration of the second luffing arm, respectively.

[0130] The long angle sensor and the second attitude sensor, which are set at the end of the telescopic boom, are used to collect the current telescopic length of the telescopic boom and the three-dimensional vibration data of the outer side of the second luffing boom, respectively.

[0131] A stress sensor located at the end of the telescopic boom is used to collect the current load weight.

[0132] In one embodiment, the hydraulic robotic arm further includes:

[0133] An encoder mounted on the rotary mechanism is used to obtain the current angular position information of the turntable;

[0134] The second acceleration sensor, installed on the rotary mechanism, is used to collect the acceleration of the turntable.

[0135] Based on the same inventive concept as the foregoing embodiments, this embodiment also provides a computer storage medium storing a computer program. The computer storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.; it can also be various devices including one or any combination of the above-mentioned memories, such as mobile phones, computers, tablet devices, personal digital assistants, etc. When the computer program stored in the computer storage medium is executed by a processor, it implements the crane control method described above. For the specific steps implemented when the computer program is executed by the processor, please refer to [link to relevant documentation]. Figure 1 The description of the illustrated embodiments will not be repeated here.

[0136] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0137] In this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, which includes not only the elements listed but also other elements not expressly listed.

[0138] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A crane control method, characterized by, The method comprises: acquiring dynamic data collected by a plurality of sensors arranged on a hydraulic mechanical arm of the crane; based on the dynamic data, calculating a first desired angle between the hydraulic mechanical arm and the vertical direction, a second desired angle between the second luffing arm and the first luffing arm, and a desired telescopic length of the telescopic arm through a constructed moment balance equation; introducing the first desired angle, the second desired angle and the desired telescopic length into a control model comprising cascaded position PID and speed PID to obtain a desired target current required in real-time dynamic action of the hydraulic mechanical arm; the desired target current comprises a first desired current for controlling a slewing valve of the crane, a second desired current for controlling a first luffing cylinder of the crane, a third desired current for controlling a second luffing cylinder of the crane, and a fourth desired current for controlling a telescopic cylinder of the crane; wherein the introducing the first desired angle, the second desired angle and the desired telescopic length into the control model comprising cascaded position PID and speed PID to obtain the desired target current required in real-time dynamic action of the hydraulic mechanical arm comprises: acquiring a current spool position and a current current of a target device; the target device is any one of the following: the slewing valve, the first luffing cylinder, the second luffing cylinder, and the telescopic cylinder; determining a desired spool position of the target device according to the first desired angle, the second desired angle and the desired telescopic length; inputting the desired spool position and the current spool position into a position PID in the control model to obtain a position compensation value calculated by the position PID; converting the position compensation value into a speed compensation value, and inputting the speed compensation value and the current current into a speed PID in the control model to obtain a desired current calculated for controlling the target device; wherein the inputting the desired spool position and the current spool position into the position PID in the control model to obtain the position compensation value calculated by the position PID comprises: acquiring angular acceleration of a turntable, inner side angular acceleration of the first luffing arm, outer side three-dimensional vibration data of the first luffing arm, inner side angular acceleration of the second luffing arm, and outer side three-dimensional vibration data of the second luffing arm; performing preset compensation processing on the angular acceleration of the turntable, the inner side angular acceleration of the first luffing arm, the outer side three-dimensional vibration data of the first luffing arm, the inner side angular acceleration of the second luffing arm, and the outer side three-dimensional vibration data of the second luffing arm to obtain compensation information; inputting the desired spool position, the current spool position and the compensation information into the position PID in the control model to obtain the position compensation value calculated by the position PID.

2. The method of claim 1, wherein, The dynamic data comprises a first angle between the first luffing arm and the vertical direction, a second angle between the second luffing arm and the first luffing arm, a current telescopic length of the telescopic arm, load weight, and slewing angular velocity. The first expected angle between the first luffing arm and the vertical direction, the second expected angle between the second luffing arm and the first luffing arm, and the expected telescopic length of the telescopic arm are calculated by a torque balance equation constructed based on the dynamic data, including: The first expected angle between the first luffing arm and the vertical direction, the second expected angle between the second luffing arm and the first luffing arm, and the expected telescopic length of the telescopic arm are determined by a torque balance equation constructed based on the first angle, the second angle, the current telescopic length of the telescopic arm, the load weight, the slewing angular velocity, the third angle between the tumbler of the crane and the vertical direction, the length of the tumbler, the length of the first luffing arm, the length of the second luffing arm, the weight of the first rotary joint, and the weight of the second rotary joint.

3. The method of claim 1, wherein, The preset compensation processing includes at least one of the following: advance action adaptive compensation, lag output suppression compensation, and jitter variable gain.

4. An electronic device, comprising: The crane control method of any one of claims 1-3 is implemented when a processor executes a computer program stored in a memory. The electronic device of claim 4 is used to control the hydraulic mechanical arm.

5. A crane, characterized in that The hydraulic mechanical arm includes a first luffing arm, a second luffing arm connected to the first luffing arm, and a telescopic arm connected to the second luffing arm.

6. The crane of claim 5, wherein, A first inclination sensor, a first acceleration sensor, and a first attitude sensor are arranged on the first luffing arm to correspondingly collect a first angle between the first luffing arm and the vertical direction, an inside angular acceleration of the first luffing arm, and outside three-dimensional vibration data of the first luffing arm. A second inclination sensor and a second acceleration sensor are arranged on the second luffing arm to correspondingly collect a second angle between the second luffing arm and the first luffing arm, and an inside angular acceleration of the second luffing arm. A long angle sensor and a second attitude sensor are arranged at the end of the telescopic arm to correspondingly collect a current telescopic length of the telescopic arm and outside three-dimensional vibration data of the second luffing arm. A stress sensor is arranged at the end of the telescopic arm to collect a current load weight. The computer program is executed by a processor to implement the crane control method of any one of claims 1-3.

7. A computer readable storage medium characterized in that, ​

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