Optimization method for flow control of crane compound action switching to single action

Abstract

The embodiment of the application provides an optimization method for flow control of crane composite action switching to single action, and belongs to the field of composite action control of engineering machinery. The optimization method comprises the following steps: determining a first speed corresponding to single action when performing composite action and a second speed corresponding to single action when composite action switches to single action only based on a pre-constructed crane simulation model, wherein the composite action comprises single action; in the case that the second speed is not equal to the first speed, adjusting the second speed to the first speed, and determining a current control signal corresponding to the adjusted second speed; determining the current control signal as a target current control signal corresponding to single action when single action is performed only, and the target current control signal is used for flow control corresponding to single action. The application can improve the efficiency of flow control when composite action switches to single action.

Description

Technical Field

[0001] This invention relates to the field of composite motion control technology for construction machinery, and more specifically to an optimized method for flow control when switching composite motions of a crane to single motions. Background Technology

[0002] Switching from compound actions to single actions is very common in actual crane operations. During this process, the instantaneous increase in flow rate corresponding to the single action causes severe vibration in that single action. In existing technologies, a fixed orifice or an adjustable flow valve is typically installed on the main valve connection (e.g., the main valve winch connection) corresponding to the single action to limit the flow. However, existing technologies have limited flow control capabilities for switching from compound actions to single actions, resulting in low flow control efficiency. Therefore, existing technologies suffer from low flow control efficiency during this process. Summary of the Invention

[0003] The purpose of this application is to provide an optimized method for flow control when switching from compound actions to single actions of a crane, and a control method for a crane, in order to solve the problem of low flow control efficiency when switching from compound actions to single actions in the prior art.

[0004] To achieve the above objectives, a first aspect of this application provides an optimization method for flow control when switching a crane's compound action to a single action. The optimization method includes: Based on a pre-built crane simulation model, the first speed corresponding to a single action when performing a compound action and the second speed corresponding to a single action when switching from a compound action to a single action only are determined, wherein the compound action includes the single action; If the second speed is not equal to the first speed, adjust the second speed to the first speed and determine the current control signal corresponding to the adjusted second speed; The current control signal is determined as the target current control signal corresponding to a single action when only a single action is performed. The target current control signal is used for the flow control corresponding to the single action.

[0005] In this embodiment of the application, determining the first speed includes: based on a crane simulation model, obtaining the hydraulic pilot signal corresponding to each individual action in the compound action according to the preset initial current control signal corresponding to each individual action, wherein the hydraulic pilot signal includes the main valve pilot signal and the balance valve pilot signal; performing the compound action according to the hydraulic pilot signal corresponding to each individual action to obtain the first speed.

[0006] In this embodiment of the application, determining the second speed includes: after performing a compound action based on the hydraulic pilot signal corresponding to each single action to obtain the first speed, determining the second speed corresponding to the single action when the crane simulation model switches from the compound action to the single action.

[0007] In this embodiment of the application, adjusting the second speed to the first speed includes: reducing the current control signal corresponding to a single action until the first speed and the second speed are equal.

[0008] In this embodiment, the pre-construction of the crane simulation model includes: obtaining the component parameters of each component in the crane to be simulated, wherein the component parameters include electrical component parameters, hydraulic component parameters, and mechanical component parameters; constructing an electro-hydraulic system model based on the electrical component parameters and hydraulic component parameters, and benchmarking the electro-hydraulic system model to obtain a first benchmarking result; constructing a mechanical structure model based on the mechanical component parameters, and benchmarking the mechanical structure model to obtain a second benchmarking result; and, if the first benchmarking result and the second benchmarking result simultaneously satisfy the corresponding preset accuracy conditions, constructing the crane simulation model based on the electro-hydraulic system model and the mechanical structure model using a preset co-simulation interface.

[0009] In this embodiment of the application, after constructing a crane simulation model based on the electro-hydraulic system model and the mechanical structure model according to the preset joint simulation interface, the method further includes: calibrating the crane simulation model to obtain a calibrated crane simulation model, provided that the first and second calibration results simultaneously meet the corresponding preset accuracy conditions.

[0010] A second aspect of this application provides a control method for a crane, comprising: obtaining a control strategy using the above-described optimization method for flow control when switching a crane from a compound action to a single action; the control strategy including a mapping relationship between a first speed corresponding to a single action when the crane performs a compound action and the current value of a current control signal corresponding to a single action when the compound action is switched to a single action only; and adjusting the flow rate corresponding to the single action according to the control strategy when the crane switches from a compound action to a single action only.

[0011] A second aspect of this application provides a processing apparatus, including: 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 control method for a crane.

[0012] A third aspect of this application provides a crane including the processing apparatus described above.

[0013] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to execute the above-described optimization method for flow control switching from compound actions to single actions of a crane, or according to the above-described control method for a crane.

[0014] The above technical solution, based on a pre-built crane simulation model, determines the first speed corresponding to a single action during compound actions and the second speed corresponding to a single action when switching from compound actions to single actions only. When the second speed is not equal to the first speed, it is adjusted to the first speed. This avoids jerking, vibration, or speed jumps in the actuator due to operating condition switching by calibrating the second speed when switching back to single actions during compound actions to the first speed, thus improving the smoothness of crane movements and operational comfort. The current control signal corresponding to the adjusted second speed is determined as the target current control signal corresponding to a single action when only single actions are performed, to control the flow rate corresponding to the single action. This allows the application to rely on the crane simulation model for simulation, reducing the cost of actual machine debugging. Simultaneously, the crane simulation model of this application can accurately simulate the compound actions of the crane, considering the influence of overall vehicle coupling factors on flow distribution. This solves the problem of low flow control efficiency when only debugging a specific component (such as the handle control unit, multi-way valve, etc.) is performed during the control of flow distribution during compound actions. It ensures high efficiency and uniform flow distribution in the hydraulic system before and after switching from compound actions to single actions, maintaining a near-constant speed for single actions.

[0015] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0016] 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 flowchart of an optimization method for switching a crane's compound motion to a single motion, according to an embodiment of this application. Figure 2 The schematic diagram illustrates the process of establishing a crane simulation model according to an embodiment of this application; Figure 3 A schematic diagram illustrating signal transmission in a crane simulation model according to an embodiment of this application is shown. Figure 4 A schematic diagram of the motion control flow according to an embodiment of this application is shown. Detailed Implementation

[0017] 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.

[0018] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with the relevant provisions of national 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.

[0019] 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.

[0020] 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.

[0021] Figure 1 The illustration schematically shows a flowchart of an optimization method for flow control in switching a crane's compound motion to a single motion, according to an embodiment of this application. For example... Figure 1 As shown in the figure, this application provides an optimization method for flow control when switching from a compound action to a single action of a crane. Taking the application of this method to a processor as an example, the method may include the following steps: Step S101: Based on the pre-built crane simulation model, determine the first speed corresponding to the single action when performing compound actions and the second speed corresponding to the single action when switching from compound actions to single actions only, wherein compound actions include single actions; Step S102: If the second speed is not equal to the first speed, adjust the second speed to the first speed and determine the current control signal corresponding to the adjusted second speed. Step S103: The current control signal is determined as the target current control signal corresponding to the single action when only a single action is performed. The target current control signal is used for the flow control corresponding to the single action.

[0022] It can be understood that a compound motion refers to performing two or more crane actions simultaneously, such as simultaneously performing hoisting and luffing actions. A single motion refers to performing only one crane action. The first speed is the speed corresponding to the single motion that will be retained in the compound motion. The second speed is the speed corresponding to the single motion when only a single motion is performed.

[0023] Specifically, based on a pre-built crane simulation model, the processor determines the first speed corresponding to a single action when performing a compound action and the second speed corresponding to a single action when switching from a compound action to a single action only. If the second speed is not equal to the first speed, the processor adjusts the second speed to the first speed and determines the current control signal corresponding to the adjusted second speed as the target current control signal corresponding to the single action when performing a single action only, so as to control the flow rate corresponding to the single action.

[0024] The above technical solution, based on a pre-built crane simulation model, determines the first speed corresponding to a single action during compound actions and the second speed corresponding to a single action when switching from compound actions to single actions only. When the second speed is not equal to the first speed, it is adjusted to the first speed. This avoids jerking, vibration, or speed jumps in the actuator due to operating condition switching by calibrating the second speed when switching back to single actions during compound actions to the first speed, thus improving the smoothness of crane movements and operational comfort. The current control signal corresponding to the adjusted second speed is determined as the target current control signal corresponding to a single action when only single actions are performed, to control the flow rate corresponding to the single action. This allows the application to rely on the crane simulation model for simulation, reducing the cost of actual machine debugging. Simultaneously, the crane simulation model of this application can accurately simulate the compound actions of the crane, considering the influence of overall vehicle coupling factors on flow distribution. This solves the problem of low flow control efficiency when only debugging a specific component (such as the handle control unit, multi-way valve, etc.) is performed during the control of flow distribution during compound actions. It ensures high efficiency and uniform flow distribution in the hydraulic system before and after switching from compound actions to single actions, maintaining a near-constant speed for single actions.

[0025] In one embodiment, determining the first speed includes: based on a crane simulation model, obtaining hydraulic pilot signals corresponding to each individual action in the compound action according to preset initial current control signals, wherein the hydraulic pilot signals include main valve pilot signals and balance valve pilot signals; performing compound actions according to the hydraulic pilot signals corresponding to each individual action to obtain the first speed.

[0026] It is understandable that the preset initial current control signal is a pre-set current signal used to control the flow rate of a single action.

[0027] Specifically, the processor sets the current control signal in the crane simulation model to a preset initial current control signal, so as to derive the hydraulic pilot signal based on the preset initial current signal in the simulation environment. The processor then performs a composite action based on the hydraulic pilot signal corresponding to each single action to obtain the first speed. The speed corresponding to each single action can be determined in the crane simulation model, reducing the speed detection cost.

[0028] In one embodiment, determining the second speed includes: after performing a compound action based on the hydraulic pilot signal corresponding to each single action to obtain the first speed, determining the second speed corresponding to the single action when the crane simulation model switches from the compound action to the single action.

[0029] Specifically, based on the first speed, the processor determines the second speed corresponding to the single action when the crane simulation model switches from a compound action to a single action. This allows for a comparison of the speeds of the single actions before and after the switch from a compound action to a single action. In the event of a difference in the comparison results, the processor can trigger an adjustment of the current control signal corresponding to the single action in the crane simulation model, thereby controlling the flow rate corresponding to the single action before and after the switch from a compound action to a single action.

[0030] In one embodiment, adjusting the second speed to the first speed includes: reducing the current control signal corresponding to a single action until the first speed and the second speed are equal.

[0031] Specifically, by limiting the adjustment of the current control signal corresponding to a single action to a reduction method, the crane simulation model is prevented from blindly and ineffectively adjusting the current control signal corresponding to a single action, thereby improving the efficiency of adjusting the second speed to the same technical target as the first speed.

[0032] In one embodiment, the pre-construction of the crane simulation model includes: obtaining the component parameters of each component in the crane to be simulated, wherein the component parameters include electrical component parameters, hydraulic component parameters, and mechanical component parameters; constructing an electro-hydraulic system model based on the electrical component parameters and hydraulic component parameters, and benchmarking the electro-hydraulic system model to obtain a first benchmarking result; constructing a mechanical structure model based on the mechanical component parameters, and benchmarking the mechanical structure model to obtain a second benchmarking result; and, provided that the first benchmarking result and the second benchmarking result simultaneously meet the corresponding preset accuracy conditions, constructing the crane simulation model based on the electro-hydraulic system model and the mechanical structure model using a preset co-simulation interface.

[0033] It can be understood that the electrical component parameters are the parameters of the smallest unit of the crane's electrical system. The hydraulic component parameters are the parameters of the smallest unit of the crane's hydraulic system. The mechanical component parameters are the parameters of the smallest unit of the crane's structural system. The electro-hydraulic system model is used to simulate the crane's electrical and hydraulic systems. The mechanical structure model is used to simulate the crane's structural system. The first benchmarking result is the benchmarking result obtained by benchmarking the electro-hydraulic system model. The second benchmarking result is the benchmarking result obtained by benchmarking the mechanical structure model. The preset accuracy conditions are the pre-set accuracy conditions.

[0034] Specifically, the processor aligns the simulation model with the actual vehicle's parameters by benchmarking the electro-hydraulic system model and the mechanical structure model separately. This avoids simulation distortion caused by missing parameters or rough benchmarking. The benchmarking of the crane simulation model in this application covers the entire electro-hydraulic dimension. Only after the electro-hydraulic system model and the mechanical structure model have passed the benchmarking is the crane simulation model constructed based on the preset co-simulation interface and the electro-hydraulic system model and the mechanical structure model. This can improve the benchmarking accuracy and efficiency of the crane simulation model. With the subsystem accuracy as a prerequisite, it ensures that the electro-hydraulic system model and the mechanical structure model are highly close to the actual vehicle, thereby ensuring that the model can reflect the real physical coupling relationship.

[0035] In one embodiment, after constructing a crane simulation model based on the electro-hydraulic system model and the mechanical structure model according to the preset joint simulation interface, the method further includes: benchmarking the crane simulation model to obtain a calibrated crane simulation model, provided that the first and second benchmarking results simultaneously meet the corresponding preset accuracy conditions.

[0036] Specifically, when the first and second benchmarking results simultaneously meet the corresponding preset accuracy conditions, the processor benchmarks the crane simulation model to obtain a calibrated crane simulation model. This provides a third layer of accuracy assurance for the construction of the crane simulation model. By taking the entire crane simulation model as the object for benchmarking, the accuracy of the constructed crane simulation model is further ensured, thereby providing a foundation for the precise control of the flow of a single crane action.

[0037] In one embodiment, this application provides a control method for a crane, comprising: obtaining a control strategy using the above-described optimization method for flow control when switching a crane from a compound action to a single action; the control strategy comprising a mapping relationship between a first speed corresponding to a single action when the crane performs a compound action and the current value of a current control signal corresponding to a single action when the compound action is switched to a single action only; and adjusting the flow rate corresponding to the single action according to the control strategy when the crane switches from a compound action to a single action only.

[0038] It can be understood that the control strategy is a strategy used to control the flow corresponding to a single action.

[0039] Specifically, the processor uses the aforementioned optimized method for flow control when switching from compound actions to single actions of a crane to obtain a control strategy. When the crane switches from compound actions to single actions only, the flow rate corresponding to the single action is adjusted according to the control strategy, which can realize predictive control. At the moment of switching, the current is actively adjusted according to the pre-determined control strategy to offset the flow rate increase caused by the concentration of oil in advance, thus avoiding sudden speed changes at the source, rather than passively correcting after speed fluctuations. At the same time, this application improves control accuracy and versatility. Based on the mapping relationship corresponding to the control strategy, it can be adapted to various real vehicle operation scenarios, and the control effect is stable and reliable.

[0040] Adjustments to crane control strategies are often based on test data, which is time-consuming and costly. Using electromechanical-hydraulic co-simulation, optimized control strategies can be proposed more quickly based on simulation results, reducing time and manpower costs. Currently, the application of electromechanical-hydraulic co-simulation technology in the crane industry is relatively limited.

[0041] At the strategy level, the control optimization methods for crane composite actions mostly focus on the settings of control modules or control handles, without fully considering the influence of coupling factors of the whole vehicle system, and the debugging and configuration are relatively difficult. There is also a lack of effective debugging methods for the flow control of composite actions switching to single actions. This may lead to the crane not being able to fully meet the user's needs in terms of lifting stability.

[0042] A specific embodiment of this application provides an optimization method for flow control when switching from compound actions to single actions of a crane, and a control method for a crane. The specific steps are as follows: 1. Establishment of a combined electromechanical-hydraulic simulation model like Figure 2 As shown, this application identifies a typical wheeled crane model; performs modeling and benchmarking of the electrical and hydraulic systems of this crane model from the component level to the system level, where the output of the electrical system is directly replaced by current control signals; simultaneously imports the whole vehicle structural model, determines the structural parameters, and completes the relevant benchmarking work at the structural system level; establishes a joint simulation interface between the hydraulic system and the structural system, thereby building a whole vehicle electromechanical-hydraulic joint simulation model; subsequently, it is necessary to complete the accuracy benchmarking work of the whole vehicle joint simulation model based on the whole vehicle test data under normal working conditions; finally, a whole vehicle electromechanical-hydraulic joint simulation model with satisfactory accuracy and high universality is obtained.

[0043] 2. Establishment of composite action model like Figure 3 As shown, this application is based on the vehicle joint simulation model established above. Taking the winch + luffing composite action as an example, it is first necessary to input the winch and luffing pilot current control signals determined by the electrical system. The current signals are converted into hydraulic pilot signals of the hydraulic system through the conversion function. These pilot signals include the main valve pilot signals acting on the main valve of the luffing and winch linkage, as well as the balance valve pilot signals acting on the luffing balance valve and the winch balance valve. Then, through the luffing cylinder and the winch motor, the cylinder thrust and hydraulic force are output to the structural system to drive the upper structure system of the crane to perform the composite action.

[0044] 3. Optimization of flow distribution control for switching from compound actions to single actions like Figure 4 As stated in this application, when the crane switches from a combined "luffing + hoisting" action to a single "hoisting" action, the main valve luffing linkage stops supplying oil at the moment of switching. This causes oil to concentrate in the main valve hoisting linkage, resulting in increased flow in the hoisting path. Consequently, the hoisting action speed increases compared to before the switch, leading to a higher lifting speed and reduced controllability. Based on user needs, it is essential to ensure that the lifting of the load remains relatively stable before and after the switching action. This requires maintaining a relatively constant flow in the hoisting path.

[0045] By using interpolation, the electrical signal output by the electrical system is adjusted from the source. At the moment of switching from compound action to single action, the current control signal of the main valve hoist is suppressed and its value is reduced. When the value of the hoist current control signal is reduced to a certain range, it will be obvious that the hoist flow rate is maintained at a value that is approximately equal to that before the action switch. Thus, the flow distribution optimization of compound action to single action is achieved at the control strategy level.

[0046] In summary, this application has at least the following technical effects.

[0047] 1. Compared to adjusting control strategies based on real vehicle tests, adjusting control strategies through a vehicle electromechanical-hydraulic joint simulation model can reduce manpower and time costs to a greater extent.

[0048] 2. Compared to establishing control strategies or designing control devices for specific components, adjusting control strategies based on the vehicle's electromechanical-hydraulic joint simulation covers more coupling factors that may affect the flow distribution of composite actions. The proposed optimization strategy is closer to the actual situation and can achieve the expected results faster in real vehicles.

[0049] 3. For specific action scenarios, such as the combination of "starting luffing + starting hoisting" and the single action of "starting hoisting", the flow distribution control optimization strategy established based on the whole vehicle electromechanical-hydraulic joint simulation can achieve stable flow distribution of hoisting action before and after switching actions, and the hoisting action speed remains basically unchanged. This greatly improves the smoothness of the hoisting process and breaks through to meet the user's functional requirements for the product at the control level.

[0050] In one embodiment, this application provides a processing apparatus, including: 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 control method for a crane.

[0051] In one embodiment, this application provides a crane that includes the processing device described above.

[0052] In one embodiment, this application provides a machine-readable storage medium storing instructions for causing a machine to execute the above-described optimization method for flow control switching from compound actions to single actions of a crane, or according to the above-described control method for a crane.

[0053] 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.

[0054] 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. An optimized method for flow control when switching from compound actions to single actions in a crane, characterized in that, The optimization method includes: Based on a pre-built crane simulation model, the first speed corresponding to the single action when performing a compound action and the second speed corresponding to the single action when the compound action is switched to a single action only are determined, wherein the compound action includes the single action; If the second speed is not equal to the first speed, the second speed is adjusted to the first speed, and the current control signal corresponding to the adjusted second speed is determined. The current control signal is determined as the target current control signal corresponding to the single action when only a single action is performed, and the target current control signal is used for the flow control corresponding to the single action.

2. The method according to claim 1, characterized in that, Determining the first speed includes: Based on the crane simulation model, according to the preset initial current control signal corresponding to each single action in the compound action, the hydraulic pilot signal corresponding to each single action is obtained, wherein the hydraulic pilot signal includes the main valve pilot signal and the balance valve pilot signal; The composite action is performed based on the hydraulic pilot signal corresponding to each of the individual actions to obtain the first speed.

3. The method according to claim 2, characterized in that, Determining the second speed includes: After performing the composite action according to the hydraulic pilot signal corresponding to each of the single actions to obtain the first speed, the second speed corresponding to the single action of the crane simulation model is determined when the composite action switches to the single action.

4. The method according to claim 1, characterized in that, The step of adjusting the second speed to the first speed includes: Reduce the current control signal corresponding to the single action until the first speed and the second speed are equal.

5. The method according to claim 1, characterized in that, The pre-construction of the crane simulation model includes: Obtain the component parameters of each component in the crane to be simulated, wherein the component parameters include electrical component parameters, hydraulic component parameters, and mechanical component parameters; Based on the electrical component parameters and the hydraulic component parameters, an electro-hydraulic system model is constructed, and the electro-hydraulic system model is benchmarked to obtain a first benchmarking result; Based on the parameters of the mechanical components, a mechanical structure model is constructed, and the mechanical structure model is benchmarked to obtain a second benchmarking result; When the first benchmarking result and the second benchmarking result simultaneously meet the corresponding preset accuracy conditions, the crane simulation model is constructed based on the preset joint simulation interface, according to the electro-hydraulic system model and the mechanical structure model.

6. The method according to claim 5, characterized in that, When both the first benchmarking result and the second benchmarking result simultaneously meet the corresponding preset accuracy conditions, after constructing the crane simulation model based on the preset co-simulation interface and according to the electro-hydraulic system model and the mechanical structure model, the method further includes: The crane simulation model is benchmarked to obtain the calibrated crane simulation model.

7. A control method for a crane, characterized in that, include: The control strategy is obtained by using the flow control optimization method for switching a crane from compound action to single action according to claims 1 to 6. The control strategy includes a mapping relationship between the first speed corresponding to the single action when the crane performs compound action and the current value of the current control signal corresponding to the single action when the compound action is switched to single action only. When the crane switches from a compound action to a single action only, the flow rate corresponding to the single action is adjusted according to the control strategy.

8. A processing apparatus, 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 control method for a crane according to claim 7.

9. A crane, characterized in that, Includes the processing apparatus as described in claim 8.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to execute the optimized method for flow control of switching a crane's compound action to a single action according to any one of claims 1 to 6, or the control method for a crane according to claim 7.

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