Automobile crane operation control method based on amplitude

Abstract

The invention discloses an amplitude-based automobile crane operation control method, which comprises the following steps of: firstly, calculating the no-load amplitude of a suspension arm at a final suspension point, and when the required amplitude of the final suspension point is smaller than the no-load amplitude, allowing suspension load; calculating the maximum safe lifting weight of the lifting arm under the required amplitude of the final lifting point according to the current arm length of the lifting arm and the required amplitude of the final lifting point; then calculating the maximum hoisting amplitude of the hoisting arm at the hoisting point under the conditions of the current arm length and the maximum safe hoisting weight and the maximum rotation amplitude of the rotation of the rotary table within the range of 0-360 degrees; and finally, the lifting arm lifts the heavy object at the lifting point at the amplitude not larger than the maximum lifting amplitude, rotates and lifts the heavy object from the lifting point to the final lifting point at the amplitude not larger than the maximum rotation amplitude, and finally places the heavy object at the target position of the final lifting point at the required amplitude of the final lifting point. On the premise of ensuring that the required amplitude is met, the hoisting load is maximized, meanwhile, the amplitude of a hoisting point is maximized, and the hoisting performance is fully exerted.

Description

Technical Field

[0001] This invention relates to the field of truck crane control technology, specifically a method for controlling the operation of a truck crane based on amplitude. Background Technology

[0002] The current calculation principle for the operational performance of truck cranes is as follows: with the outriggers fully extended, the minimum lifting capacity of the turntable rotating within the 0°-360° range is calculated based on the current boom length and boom elevation angle. This calculated minimum lifting capacity is then used as the safe lifting capacity of the turntable at the current boom length and boom elevation angle. The drawbacks of this method are that it cannot fully utilize the operational performance of the truck crane, resulting in performance redundancy. Selecting a crane based solely on the lifting capacity specified in the performance tables provided by existing truck crane manufacturers may lead to resource waste.

[0003] The calculation process for lifting weight in existing technology is as follows:

[0004] (1) Divide the crane turntable working area into four zones within the range of 0°-360°. See Figure 3 With the front of the vehicle as the forward direction, the projection points of the four outriggers of the truck crane are defined as points A, B, C, and D. The horizontal line symmetrically aligned with the chassis passing through the rotation center P is defined as r1. The lines connecting points A, B, C, and D sequentially form a closed turntable rotation area. The lines AC and BD passing through the turntable's rotation center P divide the turntable rotation area into four sub-regions: region A, region B, region C, and region D. The overturning line differs depending on the region the turntable is in: when the turntable rotates the boom into region D, the overturning line is line AD; when the boom rotates into region A, the overturning line is line AB. Figure 3As shown; when the boom rotates to area B, the overturning line is the line connecting BC; when the boom rotates to area C, the overturning line is the line connecting CD. When the boom is in area D and the turntable rotation angle is 0°, the horizontal projection of the boom axis is perpendicular to the overturning line AD, at which point the overturning moment is maximum and the lifting weight is minimum; when the boom is in area A and the turntable rotation angle is 90°, the horizontal projection of the boom axis is perpendicular to the overturning line AB, at which point the overturning moment is maximum and the lifting weight is minimum; when the boom is in area B and the turntable rotation angle is 180°, the horizontal projection of the boom axis is perpendicular to the overturning line BC, at which point the overturning moment is maximum and the lifting weight is minimum; when the boom is in area C and the turntable rotation angle is 270°, the horizontal projection of the boom axis is perpendicular to the overturning line CD, at which point the overturning moment is maximum and the lifting weight is minimum. Since the weight of the crane chassis is almost symmetrical from left to right, and the center of gravity of the chassis is located on the left-right symmetry line r1, the overturning moment is the same when the turntable rotates 90° and 270°. The lifting weight is calculated when the turntable rotation angle is 0°, 90°, 180°, and 270°, and the minimum of the four lifting weights is taken as the safe lifting weight under the current boom length and current boom elevation angle.

[0005] (2) When the turntable rotation angle is 0°, the overturning line is AD. Relative to the overturning line AD, we can obtain the following formula (01):

[0006]

[0007] In equation (01), M db M represents the moment of the boom's own weight; dz M represents the moment of lifting the weight itself; zt M represents the torque due to the self-weight of the turntable and counterweight; dp G represents the chassis self-weight moment; G1 represents the boom self-weight; L2 represents the distance from the boom center of gravity to the boom rear hinge point; α represents the boom elevation angle; J represents the horizontal distance from the boom rear hinge point to the slewing center; β represents the turntable rotation angle; N represents the distance from the slewing center to the horizontal vertical line AD; G 2-0 L1 represents the self-weight of the crane when the slewing angle is 0°; G3 represents the self-weight of the turntable and counterweight; E represents the horizontal distance between the center of gravity of the turntable and counterweight and the center of rotation; G4 represents the self-weight of the chassis; K represents the horizontal distance between the center of gravity of the chassis and the center of rotation.

[0008] In equation (01), the overturning moment is M. db and M dz The stabilizing torque is M zt and M dp The conditions for safe operation of a crane are M zt +M db ≥M db +M dz At this point, β = 0°;

[0009] Then obtain the minimum lifting capacity (G) of the boom within region D. 2-0 ) min , see the following formula (02) for details:

[0010]

[0011] (3) As above, when the turntable rotation angle is 90°, the overturning line is AB. The minimum lifting weight (G) of the boom in area A relative to the overturning line AB is... 2-90 ) min , see the following formula (03) for details:

[0012]

[0013] In equation (3), H represents the horizontal vertical distance from the center of rotation to AB;

[0014] (4) As above, when the turntable rotation angle is 180°, the overturning line is BC. The minimum lifting weight (G) of the boom in area B relative to the overturning line BC is... 2-180 ) min , see the following formula (04) for details:

[0015]

[0016] In equation (04), M represents the horizontal vertical distance from the center of rotation to BC;

[0017] When the turntable rotates at an angle of 270°, the overturning line is DC. At this time, the minimum lifting weight in region C is the same as the minimum lifting weight in region A.

[0018] (5) Take (G) 2-0 ) min 、(G 2-90 ) min and (G) 2-180 ) min The minimum value in the calculation is the minimum lifting capacity of the turntable within the four segmented regions when the boom length is L1 and the boom elevation angle is α. This minimum lifting capacity is the safe lifting capacity of the boom within the 0-360° range. However, this calculation method only considers the influence of boom length and boom elevation angle on the lifting capacity, ignoring the influence of the rotation angle on the lifting capacity, resulting in design redundancy in certain regions. Summary of the Invention

[0019] The technical problem to be solved by the present invention is to provide an amplitude-based operation control method for truck cranes, which maximizes the lifting capacity and the amplitude of the lifting point while ensuring that the required amplitude is met, so as to give full play to the lifting performance.

[0020] The technical solution of this invention is as follows:

[0021] An amplitude-based operation control method for a truck crane specifically includes the following steps:

[0022] (1) Calculate the unloaded radius of the boom at the final lifting point, compare the unloaded radius of the final lifting point with the required radius. If the required radius of the final lifting point is not less than the unloaded radius, lifting is not allowed. If the required radius of the final lifting point is less than the unloaded radius, lifting is allowed, and the next step of operation control can be carried out.

[0023] (2) Calculate the maximum safe lifting capacity of the boom at the required range at the final lifting point based on the current boom length and the required range at the final lifting point;

[0024] (3) Calculate the maximum lifting radius of the boom when it is lifting at the lifting point with the current boom length and the maximum safe lifting weight;

[0025] (4) Calculate the maximum rotation amplitude of the turntable within the range of 0°-360° under the current boom length and maximum safe lifting weight;

[0026] (5) The crane lifts the heavy object at the lifting point with a lifting radius not exceeding the maximum lifting radius, and rotates the heavy object from the lifting point to the final lifting point with a slewing radius not exceeding the maximum slewing radius. Finally, the heavy object is placed at the target position of the final lifting point with the required radius.

[0027] Before the operation control of the truck crane, the projection points of the four outriggers of the truck crane are first defined as points A, B, C, and D. The horizontal line symmetrical to the left and right of the chassis passing through the rotation center P is r1, and the horizontal line passing through the rotation center P and perpendicular to r1 is r2. The sequential connection of points A, B, C, and D forms a closed turntable rotation area. Then, the turntable rotation area is divided into four sub-regions by the mutually perpendicular horizontal lines r1 and r2. The diagonal line connecting points A and P is region A', the diagonal line connecting points B and P is region B', the diagonal line connecting points C and P is region C', and the diagonal line connecting points D and P is region D'.

[0028] The specific steps for calculating the unloaded radius of the boom at the final lifting point are as follows:

[0029] S11. When the final lifting point is located in region B', the boom may overturn relative to the overturning line AB or BC. Therefore, first calculate the no-load amplitude F relative to the overturning line AB at the final lifting point when the current boom length and maximum safe lifting weight are zero. AB , see the following formula (1) for details:

[0030]

[0031] In formula (1), L1 represents the distance from the boom head to the rear hinge point of the boom, i.e., the current boom length; G3 represents the self-weight of the turntable and counterweight; E represents the horizontal distance between the center of gravity of the turntable and counterweight and the center of rotation; β2 represents the rotation angle of the turntable at the final lifting point; H represents the horizontal vertical distance from the center of rotation to AB; G4 represents the self-weight of the chassis; J represents the horizontal distance from the rear hinge point of the boom to the center of rotation; G1 represents the self-weight of the boom; L2 represents the distance from the center of gravity of the boom to the rear hinge point of the boom.

[0032] S12. Calculate the unloaded amplitude F relative to the overturning line BC when the current boom length and maximum safe lifting weight are zero at the final lifting point. BC , see the following formula (2) for details:

[0033]

[0034] In equation (2), M represents the horizontal vertical distance from the center of rotation to BC; K represents the horizontal distance from the center of gravity of the chassis to the center of rotation.

[0035] S13, take F AB and F BC The smaller value in the equation is taken as the no-load amplitude F0 of the final lifting point when the final lifting point is located in region B'.

[0036] S14. When the final lifting point is located in region A', if the boom overturns relative to the overturning line AB or relative to the overturning line AD, then calculate F. AB and F AD The smaller value in the equation is taken as the unloaded amplitude F0 at the final lifting point; when the final lifting point is located in region C', if the boom overturns relative to the overturning line BC or relative to the overturning line CD, then calculate F. BC and F CD The smaller value in the equation is taken as the unloaded amplitude F0 at the final lifting point; when the final lifting point is located in region D', if the boom overturns relative to the overturning line CD or AD, then F is calculated. CD and F AD The smaller value in the equation is taken as the unloaded amplitude F0 at the final lifting point; the F... CD equals F AB It is calculated from equation (1);

[0037] The F mentioned AD The calculation formula is shown in equation (3) below:

[0038]

[0039] In equation (3), N represents the horizontal vertical distance from the center of rotation to AD;

[0040] The specific steps for calculating the maximum safe lifting capacity of the boom at the required lifting point based on the current boom length and the required lifting point radius are as follows:

[0041] S21. When the final lifting point is located in region B', and the boom overturns relative to the overturning line AB or BC, first calculate the maximum safe lifting weight G relative to the overturning line AB at the final lifting point location, given the current boom length and the required radius at the final lifting point. AB , see the following formula (4) for details:

[0042]

[0043] In equation (4), α2 represents the boom elevation angle at the final lifting point. F represents the required range of the final lifting point, and L1 represents the current boom length.

[0044] S22. Calculate the maximum safe lifting weight G relative to the overturning line BC at the end-lifting point, given the current boom length and the required radius of the end-lifting point. BC , see the following formula (5) for details:

[0045]

[0046] S23, Take G AB and G BC The smaller value in the two values ​​is taken as the maximum safe lifting capacity G of the boom at the required amplitude at the final lifting point when the final lifting point is located in region B'. max ;

[0047] S24. When the final lifting point is located in region A', and the boom overturns relative to the overturning line AB or AD, calculate G. AB and G AD The smaller value in the two values ​​is taken as the maximum safe lifting weight G of the boom at the required radius at the final lifting point. max When the final lifting point is located in region C', and the boom overturns relative to either the overturning line BC or the overturning line CD, then calculate G. BC and G CD The smaller value in the two values ​​is taken as the maximum safe lifting weight G of the boom at the required radius at the final lifting point. max When the final lifting point is located in region D', and the boom overturns relative to either the overturning line AD or the overturning line CD, then calculate G. AD and G CD The smaller value in the two values ​​is taken as the maximum safe lifting weight G of the boom at the required radius at the final lifting point. max ;

[0048] The G mentioned CD equals G AB It is calculated from equation (4);

[0049] The G mentioned AD The calculation formula is shown in the following formula (6):

[0050]

[0051] The specific steps for calculating the maximum lifting radius of the boom at the lifting point with the current boom length and maximum safe lifting weight are as follows:

[0052] S31. When the lifting point is located in area A', if the boom overturns relative to the overturning line AB or AD, first calculate the maximum lifting radius relative to the overturning line AB at the lifting point location, with the current boom length and maximum safe lifting weight. See the following formula (7) for details:

[0053]

[0054] In equation (7), β1 represents the rotation angle of the turntable at the lifting point;

[0055] S32. Calculate the maximum lifting radius relative to the overturning line AD at the lifting point, given the current boom length and maximum safe lifting weight. See the following formula (8) for details:

[0056]

[0057] S33, Take The smaller value in the values ​​represents the maximum lifting radius F of the boom when the lifting point is located in region A', with the current boom length and maximum safe lifting weight. max ;

[0058] S34. When the lifting point is located in area B', if the boom overturns relative to the overturning line AB or relative to the overturning line BC, then calculate... and The smaller value in the equation represents the maximum lifting radius F of the boom when the lifting point is located in region B'. max When the lifting point is located in area C', if the boom overturns relative to the overturning line BC or relative to the overturning line CD, then calculate... and The smaller value in the equation represents the maximum lifting radius F of the boom when the lifting point is located in region C'. max When the lifting point is located in area D', if the boom overturns relative to the overturning line CD or AD, then calculate... and The smaller value in the equation represents the maximum lifting radius F of the boom when the lifting point is located in region D'. max ;

[0059] The aforementioned equal Calculated by equation (7);

[0060] The aforementioned The calculation formula is shown in the following formula (9):

[0061]

[0062] The specific steps for calculating the maximum rotation amplitude of the turntable within the 0°-360° range under the current boom length and maximum safe lifting weight are as follows:

[0063] S41. Calculate the maximum slewing amplitude of the boom relative to the overturning line AB under the current boom length and maximum safe lifting weight. See the following formula (10) for details:

[0064]

[0065] In equation (10), β represents the angle of rotation of the turntable, with 0° being the front of the vehicle and the value range being 0°-360°.

[0066] S42. Calculate the maximum slewing amplitude of the boom relative to the overturning line AD under the current boom length and maximum safe lifting weight. See the following formula (11) for details:

[0067]

[0068] S43. Calculate the maximum slewing amplitude of the boom relative to the overturning line BC under the current boom length and maximum safe lifting weight. See the following formula (11) for details:

[0069]

[0070] S44, due to equal Calculated from equation (10); take and The minimum value is taken as the maximum slewing radius of the turntable within the range of 0°-360° under the current boom length and maximum safe lifting weight.

[0071] Advantages of this invention:

[0072] This invention calculates the maximum safe lifting capacity of the boom at the target lifting position based on the required range of the turntable's final lifting point and the current boom length. After determining the maximum safe lifting capacity at the target position, the boom lifts the load at the starting point using this maximum safe lifting capacity. When the turntable needs to rotate from the starting point to the target lifting point, the maximum rotation range of the turntable within 0°-360° is calculated under the current boom length and the maximum lifting capacity at the target position. The rotation is performed with a smaller range than this maximum. Once the turntable has rotated to the target position, the load can be placed at the target position using the required range. The maximum safe lifting capacity corresponding to the required range calculated by this invention is greater than the minimum lifting capacity calculated by existing technologies, maximizing the lifting capacity of the truck crane and avoiding design redundancy. Attached Figure Description

[0073] Figure 1 This is a flowchart of the present invention.

[0074] Figure 2 This is a schematic diagram showing the division of the rotary area of ​​the turntable in this invention.

[0075] Figure 3 This is a schematic diagram of the division of the rotary area of ​​a turntable in existing technology. Detailed Implementation

[0076] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0077] See Figure 2 Before controlling the operation of the truck crane, the projection points of the four outriggers of the truck crane are first defined as points A, B, C, and D. The horizontal line symmetrical to the left and right of the chassis passing through the rotation center P is r1, and the horizontal line passing through the rotation center P and perpendicular to r1 is r2. The sequential connection of points A, B, C, and D forms a closed turntable rotation area. Then, the turntable rotation area is divided into four sub-areas by the mutually perpendicular horizontal lines r1 and r2. The diagonal line connecting points A and P is area A', the diagonal line connecting points B and P is area B', the diagonal line connecting points C and P is area C', and the diagonal line connecting points D and P is area D'.

[0078] See Figure 1 An amplitude-based operation control method for truck cranes specifically includes the following steps:

[0079] (1) The lifting point is in area A' and the final lifting point is in area B'. First, calculate the unloaded radius of the boom at the final lifting point, compare the unloaded radius of the final lifting point with the required radius. If the required radius of the final lifting point is not less than the unloaded radius, lifting is not allowed. If the required radius of the final lifting point is less than the unloaded radius, lifting is allowed, and the next step of operation control can be carried out.

[0080] The specific steps for calculating the unloaded radius of the boom at the final lifting point are as follows:

[0081] S11. The final lifting point is located in region B'. The boom overturns relative to the overturning line AB or BC. Therefore, first calculate the no-load amplitude F relative to the overturning line AB at the final lifting point, when the current boom length and maximum safe lifting weight are zero. AB , see the following formula (1) for details:

[0082]

[0083] In formula (1), L1 represents the distance from the boom head to the rear hinge point of the boom, i.e., the current boom length; G3 represents the self-weight of the turntable and counterweight; E represents the horizontal distance between the center of gravity of the turntable and counterweight and the center of rotation; β2 represents the rotation angle of the turntable at the final lifting point; H represents the horizontal vertical distance from the center of rotation to AB; G4 represents the self-weight of the chassis; J represents the horizontal distance from the rear hinge point of the boom to the center of rotation; G1 represents the self-weight of the boom; L2 represents the distance from the center of gravity of the boom to the rear hinge point of the boom.

[0084] S12. Calculate the unloaded amplitude F relative to the overturning line BC when the current boom length and maximum safe lifting weight are zero at the final lifting point. BC , see the following formula (2) for details:

[0085]

[0086] In equation (2), M represents the horizontal vertical distance from the center of rotation to BC; K represents the horizontal distance from the center of gravity of the chassis to the center of rotation.

[0087] S13, take F AB and F BC The smaller value in the equation is taken as the no-load amplitude F0 of the final lifting point when the final lifting point is located in region B'.

[0088] (2) Calculate the maximum safe lifting capacity of the boom at the required lifting point based on the current boom length and the required lifting radius at the final lifting point. The specific steps are as follows:

[0089] S21. When the final lifting point is located in region B', and the boom overturns relative to the overturning line AB or BC, first calculate the maximum safe lifting weight G relative to the overturning line AB at the final lifting point location, given the current boom length and the required radius at the final lifting point.AB , see the following formula (4) for details:

[0090]

[0091] In equation (4), α2 represents the boom elevation angle at the final lifting point. F represents the required range of the final lifting point, and L1 represents the current boom length.

[0092] S22. Calculate the maximum safe lifting weight G relative to the overturning line BC at the end-lifting point, given the current boom length and the required radius of the end-lifting point. BC , see the following formula (5) for details:

[0093]

[0094] S23, Take G AB and G BC The smaller value in the two values ​​is taken as the maximum safe lifting capacity G of the boom at the required amplitude at the final lifting point when the final lifting point is located in region B'. max ;

[0095] (3) Calculate the maximum lifting radius of the boom at the lifting point when lifting with the current boom length and the maximum safe lifting weight. The specific steps are as follows:

[0096] S31. When the lifting point is located in area A', if the boom overturns relative to the overturning line AB or AD, first calculate the maximum lifting radius relative to the overturning line AB at the lifting point location, with the current boom length and maximum safe lifting weight. See the following formula (7) for details:

[0097]

[0098] In equation (7), β1 represents the rotation angle of the turntable at the lifting point;

[0099] S32. Calculate the maximum lifting radius relative to the overturning line AD at the lifting point, given the current boom length and maximum safe lifting weight. See the following formula (8) for details:

[0100]

[0101] S33, Take The smaller value in the values ​​represents the maximum lifting radius F of the boom when the lifting point is located in region A', with the current boom length and maximum safe lifting weight. max ;

[0102] (4) Calculate the maximum rotation amplitude of the turntable within the range of 0°-360° under the current boom length and maximum safe lifting weight. The specific steps are as follows:

[0103] S41. Calculate the maximum slewing amplitude of the boom relative to the overturning line AB under the current boom length and maximum safe lifting weight. See the following formula (10) for details:

[0104]

[0105] In equation (10), β represents the angle of rotation of the turntable, with 0° being the front of the vehicle and the value range being 0°-360°.

[0106] S42. Calculate the maximum slewing amplitude of the boom relative to the overturning line AD under the current boom length and maximum safe lifting weight. See the following formula (11) for details:

[0107]

[0108] S43. Calculate the maximum slewing amplitude of the boom relative to the overturning line BC under the current boom length and maximum safe lifting weight. See the following formula (11) for details:

[0109]

[0110] S44, due to equal Calculated from equation (10); take and The minimum value is taken as the maximum slewing radius of the turntable within the range of 0°-360° under the current boom length and maximum safe lifting weight.

[0111] (5) The boom at the lifting point shall be at a lifting radius not exceeding the maximum lifting radius F. max Lifting heavy objects with a swing radius not exceeding the maximum slewing radius. The heavy object is rotated from the lifting point to the final lifting point, and finally placed at the target position of the final lifting point according to the required range.

[0112] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A method for controlling the operation of a truck crane based on amplitude, characterized in that: Specifically, it includes the following steps: (1) Calculate the unloaded radius of the boom at the final lifting point, compare the unloaded radius of the final lifting point with the required radius. If the required radius of the final lifting point is not less than the unloaded radius, lifting is not allowed. If the required radius of the final lifting point is less than the unloaded radius, lifting is allowed, and the next step of operation control can be carried out. (2) Calculate the maximum safe lifting capacity of the boom at the required range at the final lifting point based on the current boom length and the required range at the final lifting point; (3) Calculate the maximum lifting radius of the boom when it is lifting at the lifting point with the current boom length and the maximum safe lifting weight; (4) Calculate the maximum rotation amplitude of the turntable within the range of 0°-360° under the current boom length and maximum safe lifting weight; (5) The crane lifts the heavy object at the lifting point with a lifting radius not exceeding the maximum lifting radius, and rotates the heavy object from the lifting point to the final lifting point with a slewing radius not exceeding the maximum slewing radius. Finally, the heavy object is placed at the target position of the final lifting point with the required radius.

2. The method for controlling the operation of a truck crane based on amplitude according to claim 1, characterized in that: Before the operation control of the truck crane, the projection points of the four outriggers of the truck crane are first defined as points A, B, C, and D. The horizontal line symmetrical to the left and right of the chassis passing through the rotation center P is r1, and the horizontal line passing through the rotation center P and perpendicular to r1 is r2. The sequential connection of points A, B, C, and D forms a closed turntable rotation area. Then, the turntable rotation area is divided into four sub-regions by the mutually perpendicular horizontal lines r1 and r2. The diagonal line connecting points A and P is region A', the diagonal line connecting points B and P is region B', the diagonal line connecting points C and P is region C', and the diagonal line connecting points D and P is region D'.

3. The method for controlling the operation of a truck crane based on amplitude according to claim 2, characterized in that: The specific steps for calculating the unloaded radius of the boom at the final lifting point are as follows: S11. When the final lifting point is located in region B', the boom may overturn relative to the overturning line AB or BC. Therefore, first calculate the no-load amplitude F relative to the overturning line AB at the final lifting point when the current boom length and maximum safe lifting weight are zero. AB , see the following formula (1) for details: In formula (1), L1 represents the distance from the boom head to the rear hinge point of the boom, i.e., the current boom length; G3 represents the self-weight of the turntable and counterweight; E represents the horizontal distance between the center of gravity of the turntable and counterweight and the center of rotation; β2 represents the rotation angle of the turntable at the final lifting point; H represents the horizontal vertical distance from the center of rotation to AB; G4 represents the self-weight of the chassis; J represents the horizontal distance from the rear hinge point of the boom to the center of rotation; G1 represents the self-weight of the boom; L2 represents the distance from the center of gravity of the boom to the rear hinge point of the boom. S12. Calculate the unloaded amplitude F relative to the overturning line BC when the current boom length and maximum safe lifting weight are zero at the final lifting point. BC , see the following formula (2) for details: In equation (2), M represents the horizontal vertical distance from the center of rotation to BC; K represents the horizontal distance from the center of gravity of the chassis to the center of rotation. S13, take F AB and F BC The smaller value in the equation is taken as the no-load amplitude F0 of the final lifting point when the final lifting point is located in region B'. S14. When the final lifting point is located in region A', if the boom overturns relative to the overturning line AB or relative to the overturning line AD, then calculate F. AB and F AD The smaller value in the equation is taken as the unloaded amplitude F0 at the final lifting point; when the final lifting point is located in region C', if the boom overturns relative to the overturning line BC or relative to the overturning line CD, then calculate F. BC and F CD The smaller value in the equation is taken as the unloaded amplitude F0 at the final lifting point; when the final lifting point is located in region D', if the boom overturns relative to the overturning line CD or AD, then F is calculated. CD and F AD The smaller value in the equation is taken as the unloaded amplitude F0 at the final lifting point; the F... CD equals F AB It is calculated from equation (1); The F mentioned AD The calculation formula is shown in equation (3) below: In equation (3), N represents the horizontal vertical distance from the center of rotation to AD.

4. The amplitude-based operation control method for a truck crane according to claim 3, characterized in that: The specific steps for calculating the maximum safe lifting capacity of the boom at the required lifting point based on the current boom length and the required lifting point radius are as follows: S21. When the final lifting point is located in region B', and the boom overturns relative to the overturning line AB or BC, first calculate the maximum safe lifting weight G relative to the overturning line AB at the final lifting point location, given the current boom length and the required radius at the final lifting point. AB , see the following formula (4) for details: In equation (4), α2 represents the boom elevation angle at the final lifting point. F represents the required range of the final lifting point, and L1 represents the current boom length. S22. Calculate the maximum safe lifting weight G relative to the overturning line BC at the end-lifting point, given the current boom length and the required radius of the end-lifting point. BC , see the following formula (5) for details: S23, Take G AB and G BC The smaller value in the two values ​​is taken as the maximum safe lifting capacity G of the boom at the required amplitude at the final lifting point when the final lifting point is located in region B'. max ; S24. When the final lifting point is located in region A', and the boom overturns relative to the overturning line AB or AD, calculate G. AB and G AD The smaller value in the two values ​​is taken as the maximum safe lifting weight G of the boom at the required radius at the final lifting point. max When the final lifting point is located in region C', and the boom overturns relative to either the overturning line BC or the overturning line CD, then calculate G. BC and G CD The smaller value in the two values ​​is taken as the maximum safe lifting weight G of the boom at the required radius at the final lifting point. max When the final lifting point is located in region D', and the boom overturns relative to either the overturning line AD or the overturning line CD, then calculate G. AD and G CD The smaller value in the two values ​​is taken as the maximum safe lifting weight G of the boom at the required radius at the final lifting point. max ; The G mentioned CD equals G AB It is calculated from equation (4); The G mentioned AD The calculation formula is shown in the following formula (6):

5. The amplitude-based operation control method for a truck crane according to claim 4, characterized in that: The specific steps for calculating the maximum lifting radius of the boom at the lifting point with the current boom length and maximum safe lifting weight are as follows: S31. When the lifting point is located in area A', if the boom overturns relative to the overturning line AB or AD, first calculate the maximum lifting radius relative to the overturning line AB at the lifting point location, with the current boom length and maximum safe lifting weight. See the following formula (7) for details: In equation (7), β1 represents the rotation angle of the turntable at the lifting point; S32. Calculate the maximum lifting radius relative to the overturning line AD at the lifting point, given the current boom length and maximum safe lifting weight. See the following formula (8) for details: S33, Take The smaller value in the values ​​represents the maximum lifting radius F of the boom when the lifting point is located in region A', with the current boom length and maximum safe lifting weight. max ; S34. When the lifting point is located in area B', if the boom overturns relative to the overturning line AB or relative to the overturning line BC, then calculate... and The smaller value in the equation represents the maximum lifting radius F of the boom when the lifting point is located in region B'. max When the lifting point is located in area C', if the boom overturns relative to the overturning line BC or relative to the overturning line CD, then calculate... and The smaller value in the equation represents the maximum lifting radius F of the boom when the lifting point is located in region C'. max When the lifting point is located in area D', if the boom overturns relative to the overturning line CD or AD, then calculate... and The smaller value in the equation represents the maximum lifting radius F of the boom when the lifting point is located in region D'. max ; The aforementioned equal Calculated by equation (7); The aforementioned The calculation formula is shown in the following formula (9):

6. The amplitude-based operation control method for a truck crane according to claim 5, characterized in that: The specific steps for calculating the maximum rotation amplitude of the turntable within the 0°-360° range under the current boom length and maximum safe lifting weight are as follows: S41. Calculate the maximum slewing amplitude of the boom relative to the overturning line AB under the current boom length and maximum safe lifting weight. See the following formula (10) for details: In equation (10), β represents the angle of rotation of the turntable, with 0° being the front of the vehicle and the value range being 0°-360°. S42. Calculate the maximum slewing amplitude of the boom relative to the overturning line AD under the current boom length and maximum safe lifting weight. See the following formula (11) for details: S43. Calculate the maximum slewing amplitude of the boom relative to the overturning line BC under the current boom length and maximum safe lifting weight. See the following formula (11) for details: S44, due to equal Calculated from equation (10); take and The minimum value is taken as the maximum slewing radius of the turntable within the range of 0°-360° under the current boom length and maximum safe lifting weight.

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