Method and device for determining deflection of crane jib and storage medium

Abstract

The embodiment of the invention provides a method for determining the deflection of a crane jib, and belongs to the technical field of engineering machinery. The method comprises the following steps: acquiring an arm head hanging load transverse force borne by an arm head of a suspension arm of the crane and an arm head torque corresponding to the arm head; according to the arm head hanging load transverse force, the arm head torque, a pre-obtained arm head elastic stiffness matrix of the hanging arm and a pre-obtained arm head geometric stiffness matrix of the hanging arm, the arm head deflection of the arm head and the arm head rotation angle of the arm head are determined; according to the total length of the suspension arm, the deflection of the arm head, the rotation angle of the arm head and the hinge point distance between the hinge point of the arm root and the hinge point of the support of the variable-amplitude oil cylinder, the axial position-deflection relation of the suspension arm corresponding to the suspension arm is determined, and the axial position-deflection relation of the suspension arm represents the relation between the axial position of the suspension arm and the deflection corresponding to the axial position of the suspension arm; and according to the axial position-deflection relation of the suspension arm, the target deflection corresponding to the target suspension arm axial position of the suspension arm is determined. The deflection of the suspension arm can be determined, and the method is suitable for a low-computing-power platform.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and specifically to a method, apparatus and storage medium for determining the deflection of a crane boom. Background Technology

[0002] The calculation of crane boom deflection is of paramount importance. Currently, the common method for calculating crane boom deflection is the nonlinear finite element method. However, the traditional nonlinear finite element method is complex, requiring high computational power and thus unsuitable for low-computing-power platforms. Therefore, existing technologies suffer from poor applicability to different computing power platforms. Summary of the Invention

[0003] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section.

[0004] The purpose of this application is to provide a method, apparatus, storage medium, and computer program product for determining the deflection of a crane boom, in order to solve the problem of poor applicability to different computing platforms in the prior art.

[0005] To achieve the above objectives, a first aspect of this application provides a method for determining the deflection of a crane boom, the method comprising: Obtain the lateral force of the lifting load on the boom head and the corresponding boom head moment of the crane boom; Based on the lateral force of the boom head lifting load, the boom head moment, the pre-acquired boom head elastic stiffness matrix, and the pre-acquired boom head geometric stiffness matrix, determine the boom head deflection and boom head rotation angle. Based on the total length of the boom, the boom head deflection, the boom head rotation angle, and the hinge distance between the boom root hinge point and the support hinge point of the luffing cylinder, the axial position-deflection relationship of the boom is determined. The axial position-deflection relationship represents the relationship between the axial position of the boom and the deflection corresponding to the axial position of the boom. Based on the boom axial position-deflection relationship, determine the target deflection corresponding to the target boom axial position.

[0006] In this embodiment of the application, obtaining the lateral force of the boom head lifting load includes: obtaining the boom elevation angle, the lifting weight, and the boom root stiffness of the boom; determining the lateral force of the hook lifting load based on the boom elevation angle and the lifting weight; and determining the lateral force of the boom head lifting load based on the boom root stiffness and the hook lifting lateral force.

[0007] In this embodiment of the application, determining the lateral force of the hook load based on the boom elevation angle and the load weight includes determining the lateral force of the hook load according to the following formula:

[0008] in, F 1 represents the load weight, and θ represents the boom elevation angle. q 1 represents the lateral force of the hook lifting load.

[0009] In this embodiment of the application, the crane includes a boom head, an upper head pulley located at the top of the boom head, a lower head pulley located at the bottom of the boom head, and a hoisting wire rope. Obtaining the boom head torque includes: Obtain the boom elevation angle, the load weight, the wire rope tension, the first distance between the head pulley and the center line of the boom head, the second distance between the head pulley and the center line of the boom head, and the boom root stiffness. Determine the moment along the centerline of the boom head based on the load weight, boom elevation angle, first spacing, wire rope tension, and second spacing; The boom head moment is determined based on the boom head centerline moment and the boom root stiffness.

[0010] In this embodiment of the application, the determination of the boom centerline moment based on the lifting load, boom elevation angle, first spacing, wire rope tension, and second spacing includes:

[0011] in, F 1 represents the load weight, and θ represents the boom elevation angle. d 1 represents the first spacing. F2 For the tension of the steel wire rope, d 2 represents the second spacing. rm 1 represents the moment along the centerline of the boom head.

[0012] In this embodiment of the application, the boom head deflection and boom head rotation angle are determined based on the boom head lateral force, boom head moment, pre-acquired boom head elastic stiffness matrix, and pre-acquired boom head geometric stiffness matrix, including the following formulas:

[0013] in, Here is the elastic stiffness matrix of the arm head. Here is the geometric stiffness matrix of the arm head. wn For arm head deflection, zn For the arm head corner, q For the lateral force of the boom head lifting load, rm This is the moment at the head of the arm.

[0014] In this embodiment, the axial position-deflection relationship of the boom is determined by the following formula based on the total length of the boom, the boom head deflection, the boom head rotation angle, and the hinge point distance between the boom root hinge point and the support hinge point of the luffing cylinder: v (x ) =ax³ + bx² + cx

[0015]

[0016]

[0017] in, x This refers to the axial position of the boom. This represents the deflection corresponding to the axial position x of the boom. lp The distance between the hinge points. l This is the total length of the boom. wn For arm head deflection, rm This is the moment at the head of the arm.

[0018] A second aspect of this application provides an apparatus for determining crane deflection, comprising: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the method described above for determining crane boom deflection. A third aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform the aforementioned method for determining the deflection of a crane boom.

[0019] A fourth aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method for determining the deflection of a crane boom.

[0020] The above technical solution obtains the lateral force and corresponding moment of the boom head on the crane's boom, providing input data for subsequent deflection calculations and ensuring the reliability of subsequent analysis. Based on the lateral force, moment, pre-acquired elastic stiffness matrix, and pre-acquired geometric stiffness matrix of the boom head, the boom head deflection and rotation angle are determined. Combining the elastic and geometric stiffness matrices makes the calculations of boom head deflection and rotation angle more closely reflect actual working conditions, directly outputting the boom head deflection and rotation angle, clarifying the deformation state of the boom's foremost edge, and providing crucial starting point data for subsequent overall deflection analysis. Based on the total boom length, boom head deflection, boom head rotation angle, and the distance between the boom root hinge point and the luffing cylinder support hinge point, the axial position-deflection relationship of the boom is determined. Therefore, this application introduces structural parameters such as the distance between the boom root hinge point and the luffing cylinder support hinge point, extending the local deformation of the boom head to the entire axial range of the boom, allowing users to understand the deflection distribution at any axial position of the boom (rather than just knowing a single point at the boom head). Furthermore, this application can determine the target deflection corresponding to the target axial position of the boom based on the corresponding axial position-deflection relationship. Therefore, this application first obtains the lateral force of the lifting load on the boom head and the corresponding boom head moment of the crane boom. Based on the lateral force of the lifting load on the boom head, the corresponding boom head moment, and the inherent parameters of the boom, the axial position-deflection relationship of the boom is determined, thereby obtaining the deflection at different positions of the boom. This deflection calculation process is simple and applicable to different computing platforms, balancing calculation efficiency and accuracy. Furthermore, when the method of this application for determining the crane boom deflection is applied to different computing platforms, it has the advantages of strong versatility and rapid real-time response. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 The illustration shows a schematic diagram of a method for determining the deflection of a crane boom according to an embodiment of this application.

[0022] Figure 2 A schematic diagram of a boom mechanics model according to an embodiment of this application is shown. Figure 3 A schematic diagram illustrating the bending configuration of a boom according to an embodiment of this application is shown. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0024] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0025] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0026] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0027] Figure 1 The illustration schematically shows a flowchart of a method for determining crane boom deflection according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a method for determining the deflection of a crane boom. Taking the application of this method to a processor as an example, the method may include the following steps: Step S101: Obtain the lateral force of the boom head and the corresponding boom head moment on the boom head of the crane. Step S102: Determine the boom head deflection and boom head rotation angle based on the boom head lateral force, boom head moment, pre-acquired boom head elastic stiffness matrix and pre-acquired boom head geometric stiffness matrix. Step S103: Based on the total length of the boom, the boom head deflection, the boom head rotation angle, and the hinge point distance between the boom root hinge point and the support hinge point of the luffing cylinder, determine the boom axial position-deflection relationship corresponding to the boom. The boom axial position-deflection relationship represents the relationship between the boom axial position and the deflection corresponding to the boom axial position. Step S104: Determine the target deflection corresponding to the target axial position of the boom based on the boom axial position-deflection relationship.

[0028] It can be understood that the lateral force of the boom head lifting load is the load force perpendicular to the boom axis that the boom head experiences during lifting operations. The boom head moment is the moment generated around the boom axis at the boom head position. The boom head elastic stiffness matrix is ​​the matrix showing the relationship between force and deformation within the elastic deformation range of the boom head. The boom head geometric stiffness matrix describes the additional stiffness of the boom head due to geometric deformation (such as deflection changes caused by axial force). The boom head deflection is the amount of bending deformation at the boom head position along the direction perpendicular to the boom axis. The boom head rotation angle is the rotation angle of the boom head position around the boom axis. The total boom length is the total length of the boom. The hinge point distance is the distance between the boom root hinge point and the luffing cylinder support hinge point. The boom axial position-deflection relationship is the correspondence between different axial positions of the boom (i.e., different points along the boom length direction) and the corresponding deflection. The target deflection is the deflection corresponding to the target axial position of the boom.

[0029] Specifically, the processor acquires the lateral force and corresponding moment of the boom head on the boom head of the crane. Based on the lateral force, moment, pre-acquired elastic stiffness matrix, and pre-acquired geometric stiffness matrix of the boom, the processor determines the boom head deflection and boom head rotation angle. Based on the total boom length, boom head deflection, boom head rotation angle, and the hinge distance between the boom root hinge point and the luffing cylinder support hinge point, the processor determines the boom axial position-deflection relationship, enabling the processor to determine the target deflection corresponding to the target boom axial position based on the boom axial position-deflection relationship.

[0030] The above technical solution obtains the lateral force and corresponding moment of the boom head on the crane's boom, providing input data for subsequent deflection calculations and ensuring the reliability of subsequent analysis. Based on the lateral force, moment, pre-acquired elastic stiffness matrix, and pre-acquired geometric stiffness matrix of the boom head, the boom head deflection and rotation angle are determined. Combining the elastic and geometric stiffness matrices makes the calculations of boom head deflection and rotation angle more closely reflect actual working conditions, directly outputting the boom head deflection and rotation angle, clarifying the deformation state of the boom's foremost edge, and providing crucial starting point data for subsequent overall deflection analysis. Based on the total boom length, boom head deflection, boom head rotation angle, and the distance between the boom root hinge point and the luffing cylinder support hinge point, the axial position-deflection relationship of the boom is determined. Therefore, this application introduces structural parameters such as the distance between the boom root hinge point and the luffing cylinder support hinge point, extending the local deformation of the boom head to the entire axial range of the boom, allowing users to understand the deflection distribution at any axial position of the boom (rather than just knowing a single point at the boom head). Furthermore, this application can determine the target deflection corresponding to the target axial position of the boom based on the corresponding axial position-deflection relationship. Therefore, this application first obtains the lateral force of the lifting load on the boom head and the corresponding boom head moment of the crane boom. Based on the lateral force of the lifting load on the boom head, the corresponding boom head moment, and the inherent parameters of the boom, the axial position-deflection relationship of the boom is determined, thereby obtaining the deflection at different positions of the boom. This deflection calculation process is simple and applicable to different computing platforms, balancing calculation efficiency and accuracy. Furthermore, when the method of this application for determining the crane boom deflection is applied to different computing platforms, it has the advantages of strong versatility and rapid real-time response.

[0031] In one embodiment, obtaining the lateral force of the boom head lifting load includes: obtaining the boom elevation angle, the lifting weight, and the boom root stiffness; determining the lateral force of the hook lifting load based on the boom elevation angle and the lifting weight; and determining the lateral force of the boom head lifting load based on the boom root stiffness and the hook lifting lateral force.

[0032] It can be understood that the boom elevation angle is the angle between the boom axis and the horizontal plane (i.e., the angle at which the boom is raised). The load weight is the weight of the object being lifted. The hook lateral force is the load force acting on the hook perpendicular to the boom axis. The boom root stiffness is the mechanical stiffness at the boom root.

[0033] Specifically, the processor can determine the lateral force of the hook load based on the boom elevation angle and the load weight. Furthermore, based on the trigonometric decomposition method, the lateral force of the boom head load can be determined according to the boom root stiffness and the hook load lateral force. The processor simplifies the process of determining the lateral force of the boom head load by using the boom elevation angle and the load weight.

[0034] In this embodiment of the application, determining the lateral force of the hook load based on the boom elevation angle and the load weight includes determining the lateral force of the hook load according to the following formula:

[0035] in, F 1 represents the load weight, and θ represents the boom elevation angle. q 1 represents the lateral force of the hook lifting load.

[0036] Specifically, this application can determine the lateral force of the hook load based on the boom elevation angle and the load weight. Furthermore, based on the trigonometric decomposition method, the lateral force of the boom head load can be determined according to the boom root stiffness and the hook load lateral force. As mentioned above, this application utilizes two existing operational parameters—boom elevation angle and load weight—to derive the boom head load lateral force, eliminating the cost of deploying additional lateral force detection hardware and significantly simplifying the process of determining the load lateral force, thus balancing economy and operational efficiency.

[0037] In one embodiment, the crane includes a boom head, an upper head pulley located at the top of the boom head, a lower head pulley located at the bottom of the boom head, and a hoisting wire rope. Obtaining the boom head moment includes: obtaining the boom elevation angle, the load weight, the wire rope tension, the first distance between the upper head pulley and the centerline of the boom head, the second distance between the lower head pulley and the centerline of the boom head, and the boom root stiffness; determining the boom head centerline moment based on the load weight, boom elevation angle, first distance, wire rope tension, and second distance; and determining the boom head moment based on the boom head centerline moment and the boom root stiffness.

[0038] It can be understood that the wire rope tension is the tensile force borne by the wire rope during crane hoisting operations. The first gap is the distance between the upper pulley at the head and the centerline of the boom head. The second gap is the distance between the lower pulley at the head and the centerline of the boom head. The boom head centerline moment is the moment acting on the centerline of the boom head structure. The boom root stiffness is the mechanical stiffness at the boom root.

[0039] Specifically, the processor can acquire the boom elevation angle, the load weight, the wire rope tension, the first distance between the upper pulley at the boom head and the centerline of the boom head, and the second distance between the lower pulley at the boom head and the centerline of the boom head. Based on the load weight, boom elevation angle, first distance, wire rope tension, and second distance, the boom head centerline moment is determined. Furthermore, based on the boom head centerline moment and the boom root stiffness, the boom head moment is determined. This application utilizes operational data such as boom elevation angle, load weight, and wire rope tension, combined with structural stress information such as the first and second distances, and boom root stiffness to derive the boom head moment. This achieves coupled analysis of multi-dimensional parameters, making the boom head moment result more closely match the actual stress conditions of the boom head, while balancing the lightweight design and computational reliability.

[0040] In one embodiment, determining the moment along the boom centerline based on the load weight, boom elevation angle, first spacing, wire rope tension, and second spacing includes:

[0041] in, F 1 represents the load weight, and θ represents the boom elevation angle. d 1 represents the first spacing. F2 For the tension of the steel wire rope, d 2 represents the second spacing. rm 1 represents the moment along the centerline of the boom head.

[0042] Specifically, the processor determines the moment along the boom head centerline based on the load weight, wire rope tension, first spacing, second spacing, and boom elevation angle using the formula shown above.

[0043] In one embodiment, the boom head deflection and boom head rotation angle are determined based on the boom head lateral force, boom head moment, pre-acquired boom head elastic stiffness matrix, and pre-acquired boom head geometric stiffness matrix, using the following formulas:

[0044] in, Here is the elastic stiffness matrix of the arm head. Here, is the arm head geometric stiffness matrix, and wn is the arm head deflection. zn For the arm head corner, q For the lateral force of the boom head lifting load, rm This is the moment at the head of the arm.

[0045] Specifically, the processor determines the boom head deflection and boom head rotation angle based on the boom head lateral force, boom head moment, pre-acquired boom head elastic stiffness matrix, and pre-acquired boom head geometric stiffness matrix, using the formulas described above. This application combines the elastic stiffness matrix and the geometric stiffness matrix to make the calculation of boom head deflection and boom head rotation angle more closely match the actual working conditions, simplifying the solution of boom head deformation parameters and providing reliable basic data for subsequent full boom deflection analysis.

[0046] In one embodiment, the axial position-deflection relationship of the boom is determined based on the total boom length, boom head deflection, boom head rotation angle, and the hinge point distance between the boom root hinge point and the luffing cylinder support hinge point. This is achieved using the following formula: v ( x ) =ax³ + bx² + cx

[0047]

[0048]

[0049] in, x This refers to the axial position of the boom. This represents the deflection corresponding to the axial position x of the boom. lp The distance between the hinge points. l This is the total length of the boom. wn For arm head deflection, rm This is the moment at the head of the arm.

[0050] Specifically, the processor can determine the axial position-deflection relationship of the boom based on the total boom length, boom head deflection, boom head rotation angle, and the hinge point distance between the boom root hinge point and the luffing cylinder support hinge point. A cubic polynomial can be fitted based on the following boundary conditions:

[0051] in, x This refers to the axial position of the boom. This represents the deflection corresponding to the axial position x of the boom. lp The distance between the hinge points. l This is the total length of the boom. wn For arm head deflection, rm For the arm head torque, This is the first derivative of the deflection corresponding to the axial position of the boom.

[0052] In this embodiment, by introducing structural parameters such as the total length of the boom and the distance between hinge points, and combining the boom head deflection and boom head rotation angle, a cubic polynomial formula is used to construct the relationship between the axial position and deflection of the boom, thereby realizing the accurate calculation of the deflection at any position of the entire boom.

[0053] A specific embodiment of this application provides a method for determining the deflection of a crane boom, the details of which are as follows: Establish a complete mechanical model for calculating boom deformation, such as Figure 2 As shown, based on the force characteristics of the boom, the entire boom can be considered equivalent to a simply supported overhanging beam. F 1 represents the load weight, and θ represents the boom elevation angle. d 1 represents the first spacing. F2 For the tension of the steel wire rope, d 2 represents the second spacing, and G represents the weight of the boom itself. lp The distance between the hinge points. l Let be the total length of the boom. Given the boom's material properties and dimensional parameters, a set of differential equilibrium equations can be established based on nonlinear finite element beam theory. However, the number of equations and unknowns is large, making it unsolvable on low-computing-power platforms.

[0054] The solution method used for the linear algebraic equation system is the trigonometric decomposition method. Starting from the algebraic equations, the principle is to eliminate variables sequentially until only the nodal equilibrium equations of the arm head remain, i.e., a system of two linear equations in two variables. Finally, solving the following equations yields the displacement of the arm head.

[0055]

[0056] in, Let be the elastic stiffness matrix. The geometric stiffness matrix is... wn The arm head deflection, zn The arm head rotation angle, q The lateral force of the boom head lifting load, rm The torque at the arm head is described.

[0057] Based on the deflection and rotation angle of the boom head, the deflection of other nodes of the boom is obtained through cubic polynomial fitting. The deflection equation for a simply supported overhanging boom is assumed to be: v ( x ) =ax³ + bx² + cx The boundary conditions are:

[0058] We can obtain:

[0059]

[0060]

[0061] in, x The axial position of the boom. This represents the deflection corresponding to the axial position x of the boom. lp The distance between the hinge points. l The total length of the boom is... wn The arm head deflection, rm The torque at the arm head is described.

[0062] like Figure 3 As shown, to facilitate the application of the boom deflection curve equation, the curve coordinates in the local xoy coordinate system are transformed to the global XOY coordinate system. The transformation relationship is the initial coordinates of the boom in the global coordinate system before deformation, plus the deformation amount. The deformation amount can be obtained through the axial position-deflection relationship, thus obtaining the coordinates after deformation in the global coordinate system. Figure 3 The X-axis represents the horizontal direction of the boom's spatial position, and the Y-axis represents the vertical direction. The origin O is the base of the boom (the position where it connects to the base). The blue line represents the undeformed curve, the initial shape of the boom without load (usually a straight line, representing the boom in its original straight state). The orange line represents the partially deformed curve, the shape of the boom after being subjected to load (such as lifting heavy objects or its own weight), resulting in geometric deformation.

[0063] Specifically, the software application solution for hoisting methods includes: To encapsulate the above numerical algorithms into DLL and SO libraries, the following steps are required: First, write header files to declare functions, then write source files to implement the functionality. After marking exported functions with the `__declspec(dllexport)` keyword, compile them into .dll files using the `gcc-shared` command of the GCC compiler. .so files can be compiled directly using the `gcc-fPIC-shared` command of the GCC compiler. When using the libraries, load the library via the API interfaces `LoadLibrary / dlopen`, obtain function pointers via `GetProcAddress / dlsym`, and finally release the library. This method compiles the code into binary files that can be dynamically loaded by other programs, enabling code reuse and modular development, reducing repetitive compilation, and facilitating updates and maintenance.

[0064] Method for integrating the hoisting method software: Embed the DLL or SO library as a sub-function module within the software. To ensure the deformation effect of the boom's 3D model, a coordinate point is set every 0.5 meters. After calling the DLL or SO library, the coordinates of the boom after deformation can be output. Through real-time 3D model display technology, the real-time deformation calculation function of the boom can be realized.

[0065] Vehicle-mounted application solutions for actual operation: 4) Encapsulate the above numerical algorithms into a PLC or ST library and port them to a separate controller.

[0066] 5) The crane model parameters are stored in the deflection PLC controller. The crane operating parameters are sent through the display or the action PLC controller (such as load weight, main boom elevation angle, telescopic combination, ratio, etc.). The results are displayed on the vehicle-mounted force limiter interface, showing the deflection deformation, lateral bending, and amplitude results.

[0067] As can be seen from the above application scheme, this application overcomes the problem that the traditional nonlinear finite element method has a complex calculation process, resulting in high computing power requirements and inability to be applied to low-computing-power platforms. This application is applicable to different computing power platforms, balancing computational efficiency and accuracy. The rapid deformation lifting method and operation application scheme of the boom proposed in this application has the advantages of strong versatility and rapid real-time response.

[0068] In one embodiment, this application provides an apparatus for determining crane deflection, characterized in that it includes: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the above-described method for determining crane boom deflection. In one embodiment, this application provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method for determining crane boom deflection.

[0069] In one embodiment, this application provides a computer program product including a computer program that, when executed by a processor, implements the above-described method for determining the deflection of a crane boom.

[0070] It should also be noted that 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 process, method, article, or apparatus. Unless otherwise specified, 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.

[0071] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for determining the deflection of a crane boom, characterized in that, The crane includes a luffing cylinder, and the method includes: Obtain the lateral force of the lifting load on the boom head of the crane and the corresponding boom head moment; Based on the lateral force of the boom head lifting load, the boom head moment, the pre-acquired boom head elastic stiffness matrix, and the pre-acquired boom head geometric stiffness matrix, determine the boom head deflection and the boom head rotation angle. Based on the total length of the boom, the boom head deflection, the boom head rotation angle, and the hinge point distance between the boom root hinge point and the support hinge point of the luffing cylinder, the axial position-deflection relationship of the boom is determined, wherein the axial position-deflection relationship of the boom represents the relationship between the axial position of the boom and the deflection corresponding to the axial position of the boom. Based on the boom axial position-deflection relationship, determine the target deflection corresponding to the target boom axial position.

2. The method according to claim 1, characterized in that, Obtaining the lateral force of the boom head lifting includes: Obtain the boom elevation angle, the load weight, and the boom root stiffness of the boom; The lateral force of the hook load is determined based on the boom elevation angle and the load weight. The lateral force of the boom head is determined based on the boom root stiffness and the lateral force of the hook lifting load.

3. The method according to claim 2, characterized in that, The determination of the lateral force of the hook load based on the boom elevation angle and the load weight includes determining the lateral force of the hook load according to the following formula: in, F 1 represents the load weight, and θ represents the boom elevation angle. q 1 represents the lateral force of the hook.

4. The method according to claim 1, characterized in that, The crane includes a boom head, an upper head pulley located at the top of the boom head, a lower head pulley located at the bottom of the boom head, and a hoisting wire rope. The boom head torque is obtained by: The boom elevation angle, the load weight, the wire rope tension of the hoisting wire rope, the first distance between the upper pulley at the head and the center line of the boom head, the second distance between the lower pulley at the head and the center line of the boom head, and the boom root stiffness are obtained. The moment along the centerline of the boom head is determined based on the load weight, the boom elevation angle, the first spacing, the wire rope tension, and the second spacing. The boom head moment is determined based on the boom head centerline moment and the boom root stiffness.

5. The method according to claim 4, characterized in that, The step of determining the moment along the boom centerline based on the load weight, the boom elevation angle, the first spacing, the wire rope tension, the second spacing, includes: in, F 1 represents the load weight, and θ represents the boom elevation angle. d 1 represents the first spacing. F2 The tension of the wire rope, d 2 represents the second spacing. rm 1 represents the moment along the centerline of the arm head.

6. The method according to claim 1, characterized in that, The determination of the boom head deflection and boom head rotation angle based on the boom head lateral force, boom head moment, pre-acquired boom head elastic stiffness matrix, and pre-acquired boom head geometric stiffness matrix includes the following formulas: in, Here is the elastic stiffness matrix of the arm head. The arm head geometric stiffness matrix is... wn The arm head deflection, zn The arm head rotation angle, q The lateral force of the boom head lifting load, rm The torque at the arm head is described.

7. The method according to claim 1, characterized in that, The determination of the axial position-deflection relationship of the boom based on the total length of the boom, the boom head deflection, the boom head rotation angle, and the hinge point distance between the boom root hinge point and the support hinge point of the luffing cylinder includes the following formula: v ( x ) =ax³ + bx² + cx in, x The axial position of the boom. This represents the deflection corresponding to the axial position x of the boom. lp The distance between the hinge points. l The total length of the boom is... wn The arm head deflection, rm The torque at the arm head is described.

8. A device for determining the deflection of a crane, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for determining crane boom deflection according to any one of claims 1 to 7.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method for determining crane boom deflection according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the method for determining the deflection of a crane boom according to any one of claims 1 to 7.

Images