Control method and control system for super-lift mast, and controller

Abstract

A control method and control system for a super-lift mast, and a controller (610). The control method comprises: acquiring a linear velocity relationship between a main luffing winch wire rope and a super-lift luffing winch wire rope (101); on the basis of the linear velocity relationship, determining an initial main luffing winch control current and an initial super-lift luffing winch control current (102); controlling the movement of a main luffing winch on the basis of the initial main luffing winch control current, and controlling the movement of a super-lift luffing winch on the basis of the initial super-lift luffing winch control current (103); during the movement of the super-lift luffing winch, acquiring the tension of a super-lift mast in real time (104); and on the basis of the tension of the super-lift mast, adjusting a main luffing winch control current and a super-lift luffing winch control current until the super-lift mast moves to a target position (105). Controlling the movement of a main luffing winch and a super-lift luffing winch by means of a main luffing winch control current and a super-lift luffing winch control current reduces operational difficulties during the processes of erecting and lowering a super-lift mast, thus improving the operation precision and efficiency.

Description

Control method, control system and controller of superlift mast

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Chinese patent application 202311752680.8 filed on December 19, 2023, the contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of engineering machinery, and in particular to a control method, a control system and a controller for a superlift mast. Background Art

[0004] When disassembling and assembling a crawler crane equipped with a superlift device, the superlift mast needs to be disassembled and assembled. The superlift mast is controlled by the main luffing winch and its wire rope. During the movement of the superlift mast, the superlift luffing winch needs to be controlled simultaneously to keep the superlift luffing wire rope at an appropriate length. If the superlift luffing winch wire rope is paid out too long, the superlift luffing wire rope and the main boom pull plate will fall to the ground, causing damage. If the superlift luffing wire rope is paid out too short, the main boom will be pulled up, resulting in excessive pull plate force and damage to the components. When raising or lowering the crawler crane's superlift mast, the operator needs to manually control the movement speed of the luffing winch and superlift luffing winch according to the stress state of the mast, superlift mast, and related pull plates, so that the superlift mast moves from the lowered state to the raised state, or from the raised state to the lowered state. Operational efficiency is significantly affected by human intervention. The movement states of various mechanisms are manually identified, and when these mechanisms move out of sync, problems can arise, such as tangled luffing wire ropes and excessive stress on components. Raising and lowering a superlift mast requires simultaneous operation of multiple handles while simultaneously monitoring the status of each mechanism. This creates a high workload and is prone to operational errors, resulting in unpredictable outcomes. Consequently, conventional technical solutions present challenges with high operational difficulty, low precision, and low efficiency during the raising and lowering of the superlift mast.

[0005] Summary of the Invention

[0006] The purpose of the embodiments of the present application is to provide a control method, control system and controller for a superlift mast, so as to solve the problems in the prior art of high difficulty, low precision and low efficiency in the raising and lowering process of the superlift mast.

[0007] In order to achieve the above-mentioned object, the present application provides a first aspect of a control method for a superlift mast, characterized in that the control method is applied to a controller and includes:

[0008] Obtain the linear velocity relationship between the main luffing winch wire rope and the superlift luffing winch wire rope;

[0009] Determine the initial main luffing winch control current and the initial super-lifting luffing winch control current according to the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope;

[0010] Controlling the movement of the main luffing winch according to the initial main luffing winch control current, and controlling the movement of the super-lifting luffing winch according to the initial super-lifting luffing winch control current;

[0011] Obtain the superlift mast tension in real time during the superlift luffing winch movement;

[0012] Adjust the main luffing winch control current and the superlift luffing winch control current according to the superlift mast pulling force until the superlift mast moves to the target position.

[0013] In the embodiment of the present application, determining the initial main luffing winch control current and the initial super-lifting luffing winch control current according to the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope includes:

[0014] The corresponding relationship between the displacement of the main luffing winch wire rope and the superlifting luffing winch wire rope is determined according to the linear velocity relationship between the main luffing winch wire rope and the superlifting luffing winch wire rope;

[0015] The initial main luffing winch control current and the initial superlift luffing winch control current are determined according to the corresponding relationship between the displacement of the main luffing pump group and the displacement of the superlifting pump group.

[0016] In the implementation of this application, the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope satisfies formula (1):

[0017] Among them, Vw is the linear velocity of the superlifting and luffing winch wire rope, Ve is the linear velocity of the main luffing winch wire rope, r2 is the superlifting and luffing pulley group ratio, Lw is the superlifting mast length, β is the angle between the main luffing winch wire rope and the main luffing mast, r1 is the main luffing pulley group ratio, Lm is the main luffing mast length, and γ is the angle between the superlifting pulley group and the tangent line of the superlifting mast trajectory circle.

[0018] In the implementation of this application, the corresponding relationship between the displacement of the main variable-luffing pump group and the displacement of the superlift pump group satisfies formula (2):

[0019] Among them, V gw is the displacement of the superlift pump group, V ge where r2 is the displacement of the main luffing pump group, Lw is the length of the superlift mast, β is the angle between the main luffing winch wire rope and the main luffing mast, r1 is the ratio of the main luffing pulley group, Lm is the length of the main luffing mast, γ is the angle between the superlift pulley group and the tangent of the superlift mast trajectory, d is the wire rope diameter, and n is the number of wire rope layers.

[0020] In the implementation of this application, adjusting the main luffing winch control current and the superlift luffing winch control current according to the superlift mast tension until the superlift mast moves to the target position includes:

[0021] Determine whether the superlift mast tension meets the preset value;

[0022] When the superlift mast pulling force does not meet the preset value, the initial main luffing winch control current and the initial superlift luffing winch control current are updated according to the superlift mast pulling force, the superlift mast pulling force target value and the superlift mast motion state;

[0023] When the tension of the superlift mast meets the preset value, the superlift mast is controlled to move to the target position.

[0024] In the implementation of this application, when the superlift mast tension does not meet the preset value, updating the luffing winch control current and the superlift luffing winch control current according to the superlift mast tension, the superlift mast tension target value and the superlift mast motion state includes:

[0025] Determine the difference between the superlift mast pull force and the superlift mast pull force target value;

[0026] When the superlift mast is in a cocked state and the difference is greater than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current;

[0027] When the motion state of the superlift mast is the cocking state and the difference is less than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current;

[0028] When the superlift mast is in a lowered state and the difference is greater than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current;

[0029] When the motion state of the superlift mast is the lowering state and the difference is less than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current.

[0030] In the implementation of this application, the controller communicates with the tension acquisition device, and the real-time acquisition of the superlift mast tension during the superlift luffing winch movement includes:

[0031] Receive the superlift mast tension sent by the tension collection device.

[0032] A second aspect of the present application provides a controller, comprising:

[0033] a memory configured to store instructions; and

[0034] The processor is configured to call instructions from the memory and implement the control method of the superlift mast when executing the instructions.

[0035] A third aspect of the present application provides a control system for a superlift mast, comprising:

[0036] According to the controller above;

[0037] The tension acquisition device is in communication with the controller and is configured to acquire the tension of the superlift mast.

[0038] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the control method of the superlift mast described above.

[0039] Through the above technical solution, the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope is obtained to determine the initial main luffing winch control current and the initial super-lifting luffing winch control current; the main luffing winch movement is controlled according to the initial main luffing winch control current, and the super-lifting luffing winch movement is controlled according to the initial super-lifting luffing winch control current; the super-lifting mast tension is obtained in real time during the super-lifting luffing winch movement; the main luffing winch control current and the super-lifting luffing winch control current are adjusted according to the super-lifting mast tension until the super-lifting mast moves to the target position, which can automatically control the mechanism action, reduce the difficulty of operating the super-lifting mast raising and lowering process, and improve the operation accuracy and efficiency.

[0040] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0042] FIG1 schematically shows a flow chart of a method for controlling a superlift mast according to an embodiment of the present application;

[0043] FIG2 schematically shows a schematic diagram of calculating the amplitude angular velocity according to a specific embodiment of the present application;

[0044] FIG3 schematically shows a schematic diagram of γ angle calculation according to a specific embodiment of the present application;

[0045] FIG4 schematically shows a flow chart of a method for controlling a superlift mast according to a specific embodiment of the present application;

[0046] FIG5 schematically shows a structural block diagram of a controller according to an embodiment of the present application;

[0047] FIG6 schematically shows a structural diagram of a control system of a superlift mast according to an embodiment of the present application;

[0048] FIG7 schematically shows a structural diagram of tension control when the superlift mast angle is less than 86° according to a specific embodiment of the present application;

[0049] FIG8 schematically shows a structural diagram of tension control when the superlift mast angle is greater than 86° and less than 94° according to a specific embodiment of the present application;

[0050] FIG9 schematically shows a structural diagram of tension control when the superlift mast angle is greater than 94° according to a specific embodiment of the present application.

[0051] In the figure: 610, controller; 620, tension collection device. DETAILED DESCRIPTION

[0052] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0053] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0054] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0055] FIG1 schematically shows a flow chart of a method for controlling a superlift mast according to an embodiment of the present application. As shown in FIG1 , an embodiment of the present application provides a method for controlling a superlift mast, which may include the following steps:

[0056] Step 101: obtaining the linear velocity relationship between the main luffing winch wire rope and the superlift luffing winch wire rope;

[0057] Step 102: determining an initial main luffing winch control current and an initial super-lifting luffing winch control current according to a linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope;

[0058] Step 103: controlling the movement of the main luffing winch according to the initial main luffing winch control current, and controlling the movement of the super-lifting luffing winch according to the initial super-lifting luffing winch control current;

[0059] Step 104: obtaining the superlift mast tension in real time during the movement of the superlift luffing winch;

[0060] Step 105: adjusting the main luffing winch control current and the superlift luffing winch control current according to the superlift mast pulling force until the superlift mast moves to the target position.

[0061] In the embodiments of the present application, the movement of the superlift mast is controlled by the main luffing winch and its wire rope. During the movement of the superlift mast, the movement of the superlifting winch must be simultaneously controlled to maintain the appropriate length of the superlifting wire rope. If the superlifting winch wire rope is paid out too long, the superlifting wire rope and the main boom pull plate will fall to the ground, causing damage. If the superlifting wire rope is paid out too short, the main boom will be pulled up, resulting in excessive pull plate force and damage to the components. Therefore, controlling the movement of the superlift mast requires applying an appropriate pulling force to the superlift mast.

[0062] During the superlift mast's motion, the main and superlift luffing winch wire ropes move synchronously. The main and superlift luffing winch control currents affect their speeds, which in turn affect the mast's tension. Therefore, when controlling the superlift mast, the linear velocity relationship between the main and superlift luffing winch wire ropes is first determined. Based on this linear velocity relationship, the initial main and superlift luffing winch control currents can be determined, respectively. The initial main luffing winch control current and the initial superlift luffing winch control current refer to the basic current obtained through calculation. The main luffing mast and the superlifting mast can move according to the initial main luffing winch control current and the initial superlifting luffing winch control current, and during the movement, the current is controlled according to force feedback and the superlifting mast tension is obtained.

[0063] After obtaining the initial main luffing winch control current and the initial superlift luffing winch control current, they are respectively input into the control system. The main luffing winch movement is controlled based on the initial main luffing winch control current, and the superlift luffing winch movement is controlled based on the initial superlift luffing winch control current. During the movement of the superlift luffing winch, the superlift mast tension can be obtained in real time. The main luffing winch control current and the superlift luffing winch control current are then adjusted in real time based on the obtained superlift mast tension until the superlift mast reaches the target position.

[0064] Through the above technical solution, the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope is obtained to determine the initial main luffing winch control current and the initial super-lifting luffing winch control current; the main luffing winch movement is controlled according to the initial main luffing winch control current, and the super-lifting luffing winch movement is controlled according to the initial super-lifting luffing winch control current; the super-lifting mast tension is obtained in real time during the super-lifting luffing winch movement; the main luffing winch control current and the super-lifting luffing winch control current are adjusted according to the super-lifting mast tension until the super-lifting mast moves to the target position, which can automatically control the mechanism action, reduce the difficulty of operating the super-lifting mast raising and lowering process, and improve the operation accuracy and efficiency.

[0065] In the embodiment of the present application, determining the initial main luffing winch control current and the initial super-lifting luffing winch control current according to the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope may include:

[0066] The corresponding relationship between the displacement of the main luffing winch wire rope and the superlifting luffing winch wire rope is determined according to the linear velocity relationship between the main luffing winch wire rope and the superlifting luffing winch wire rope;

[0067] The initial main luffing winch control current and the initial superlift luffing winch control current are determined according to the corresponding relationship between the displacement of the main luffing pump group and the displacement of the superlifting pump group.

[0068] Specifically, the initial main luffing winch control current and the initial superlifting luffing winch control current can be determined based on the linear velocity relationship between the main luffing winch wire rope and the superlifting luffing winch wire rope. The corresponding relationship between the main luffing pump group displacement and the superlifting pump group displacement can be determined based on the linear velocity relationship between the main luffing winch wire rope and the superlifting luffing winch wire rope. When the linear velocity is known, the main luffing pump group displacement and the superlifting pump group displacement can be determined based on the engine speed, transfer case reduction ratio, current pump group displacement, current motor displacement, reducer reduction ratio, pump volumetric efficiency, and motor volumetric efficiency. The initial main luffing winch control current and the initial superlifting luffing winch control current are then determined based on the corresponding relationship between the main luffing pump group displacement and the superlifting pump group displacement. The corresponding relationship between pump group displacement and current is a fixed property of the crane. By determining the initial main luffing winch control current and the initial superlifting luffing winch control current according to the linear velocity relationship between the main luffing winch wire rope and the superlifting luffing winch wire rope, the superlifting mast can be controlled to move to obtain the superlifting mast pulling force.

[0069] In the implementation of this application, the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope can satisfy formula (1):

[0070] Among them, Vw is the linear velocity of the superlifting and luffing winch wire rope, Ve is the linear velocity of the main luffing winch wire rope, r2 is the superlifting and luffing pulley group ratio, Lw is the superlifting mast length, β is the angle between the main luffing winch wire rope and the main luffing mast, r1 is the main luffing pulley group ratio, Lm is the main luffing mast length, and γ is the angle between the superlifting pulley group and the tangent line of the superlifting mast trajectory circle.

[0071] Specifically, the linear velocity relationship between the main luffing winch wire rope and the superlift luffing winch wire rope satisfies the formula Wherein, Vw is the linear velocity of the super-lifting variable-length winch wire rope, and Ve is the linear velocity of the main variable-length winch wire rope. Figure 2 schematically shows a schematic diagram of the calculation of the variable-length angular velocity according to a specific embodiment of the present application. As shown in Figure 2, the embodiment of the present application provides a method for calculating the variable-length angular velocity. During the calculation process, a coordinate system can be established with the center of rotation, and the coordinates of the hinge point of the variable-length pulley group (Ax, Ay) and the coordinates of the hinge point of the mast bottom (Cx, Cy) can be obtained respectively. The coordinates of the mast vertex hinge point (Bx, By) can be calculated based on the mast angle and the mast length. Knowing the coordinates of the three points of the triangle, the angle β between the variable-length wire rope and the mast can be determined, and then the mast angular velocity ω can be determined. That is, ω=(Ve×sinβ)÷Lm÷r1. Wherein, Lm is the mast length, r1 is the ratio of the variable-length pulley group, and the angular velocity of the super-lifting mast is consistent with the angular velocity of the mast, which is also ω. The mast angular velocity is used to calculate the superlift mast head linear velocity Vt and the superlift luffing wire rope velocity Vw: Vt = ω × Lw, and Vw = (Vt ÷ cosγ) × r². γ is the angle between the superlift pulley block and the tangent line of the superlift mast trajectory, and r² is the superlift luffing pulley block ratio.

[0072] In the embodiments of the present application, data can be collected using sensors. For example, angle sensors can be installed on the mast and the derrick mast to detect the angles of the mast and the derrick mast. A tension sensor can also be installed between the derrick mast and the pull plate of the main boom to detect tension.

[0073] FIG3 schematically shows a schematic diagram of γ angle calculation according to a specific embodiment of the present application. As shown in FIG3 , the embodiment of the present application provides a method for calculating the γ angle, and the superlift mast vertex coordinates (Dx, Dy) can be calculated by the superlift mast length and the superlift mast angle. The main arm pull plate vertex coordinates (Ex, Ey) are known parameters, and the superlift mast angle θ1 can be measured by an angle sensor. The angle θ2 between the superlift variable length wire rope and the horizontal direction can be calculated based on (Dx, Dy) and (Ex, Ey), Then we can get the angle between the superlift pulley block and the tangent line of the superlift mast trajectory circle: Finally, the relationship between the luffing winch linear speed and the superlifting luffing linear speed based on the mast angle can be obtained:

[0074] In the implementation of this application, the corresponding relationship between the displacement of the main variable-luffing pump group and the displacement of the superlift pump group can satisfy formula (2):

[0075] Among them, V gw is the displacement of the superlift pump group, V gewhere r2 is the displacement of the main luffing pump group, Lw is the length of the superlift mast, β is the angle between the main luffing winch wire rope and the main luffing mast, r1 is the ratio of the main luffing pulley group, Lm is the length of the main luffing mast, γ is the angle between the superlift pulley group and the tangent of the superlift mast trajectory, d is the wire rope diameter, and n is the number of wire rope layers.

[0076] Specifically, the corresponding relationship between the displacement of the main variable-luffing pump group and the displacement of the superlift pump group satisfies the formula Among them, V gw is the displacement of the superlift pump group, V ge The displacement of the main luffing pump unit. The winch line speed is equal to the main luffing winch rope radius multiplied by the angular velocity. Among them, r0 is the bottom diameter of the drum, d is the diameter of the wire rope, and n is the number of wire rope layers. Then the winch speed V can be determined as (((s / η1×V g泵 ) / V g马达 ) / η2)×η3×η4×2π. Where s is the engine speed, η1 is the transfer case reduction ratio, V g泵 is the current pump unit displacement, V g马达 is the current motor displacement, η2 is the speed reducer ratio, η3 is the pump volumetric efficiency, and η4 is the motor volumetric efficiency. Finally, the corresponding relationship between the displacement of the main variable-luffing pump group and the displacement of the superlift pump group can be obtained.

[0077] In the implementation of the present application, adjusting the main luffing winch control current and the superlifting luffing winch control current according to the superlifting mast pulling force until the superlifting mast moves to the target position may include:

[0078] Determine whether the superlift mast tension meets the preset value;

[0079] When the superlift mast pulling force does not meet the preset value, the initial main luffing winch control current and the initial superlift luffing winch control current are updated according to the superlift mast pulling force, the superlift mast pulling force target value and the superlift mast motion state;

[0080] When the tension of the superlift mast meets the preset value, the superlift mast is controlled to move to the target position.

[0081] Specifically, after obtaining the initial main boom winch control current and the initial super-lifting boom winch control current, the main boom winch movement can be controlled according to the initial main boom winch control current, and the super-lifting boom winch movement can be controlled according to the initial super-lifting boom winch control current. During the movement of the super-lifting boom winch, the super-lifting mast tension can be obtained in real time. And it is judged whether the super-lifting mast tension meets the preset value. The preset value is a pre-set tension value that can make the super-lifting mast move normally. In the case that the super-lifting mast tension does not meet the preset value, the initial main boom winch control current and the initial super-lifting boom winch control current are updated respectively according to the super-lifting mast tension, the super-lifting mast tension target value and the super-lifting mast movement state. In the case that the super-lifting mast tension meets the preset value, the super-lifting mast is controlled to move to the target position.

[0082] In the implementation of the present application, when the superlift mast pulling force does not meet the preset value, updating the luffing winch control current and the superlift luffing winch control current according to the superlift mast pulling force, the superlift mast pulling force target value and the superlift mast motion state may include:

[0083] Determine the difference between the superlift mast pull force and the superlift mast pull force target value;

[0084] When the superlift mast is in a cocked state and the difference is greater than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current;

[0085] When the motion state of the superlift mast is the cocking state and the difference is less than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current;

[0086] When the superlift mast is in a lowered state and the difference is greater than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current;

[0087] When the motion state of the superlift mast is the lowering state and the difference is less than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current.

[0088] Specifically, when the superlift mast tension does not meet the preset value, the luffing winch control current and the superlift luffing winch control current are updated according to the superlift mast tension, the superlift mast tension target value and the superlift mast motion state. The superlift mast movement may include raising the superlift mast and lowering the superlift mast. When the superlift mast is at 90 degrees, the tension of the tension plate in the tension state F2 is defined as F 2min When the arm is raised at 0°, the F2 tension is F 2max . F 2min and F 2max All of them are parameters related to the weight of the main arm pull plate and can be obtained through testing. The F2 tension value control target is divided into stages according to the super lift mast angle and set according to the range. When the super lift mast is at an angle of less than 86° to the front, the maximum F2 tension is controlled to be less than F when the super lift mast is raised or lowered. 2min When the mast is turned over the vertical state (i.e. the angle between the mast and the front is between 86° and 94°), when the mast is raised, the mast and the main arm pull plate must be kept tight to prevent the mast from falling freely when it turns over 90°. In this case, the minimum tension of F2 should be controlled to be greater than F 2min , which is less than the maximum pulling force F when pulling up the main arm 2max When the super mast is lowered, the main arm is pulled by the super mast to control F2 to be equal to F 2min When the angle between the mast and the front is greater than 94°, the maximum tension of F2 should be controlled to be greater than F when the mast is raised or lowered. 2min and less than F 2max .

[0089] Through the above calculation, we can get F 2目标值 , F 2实际值 Measured by tension sensor. 2目标值 and F 2实际值 By taking the difference, we can get ΔF. The control strategies for current in different situations are shown in Table 1:

[0090] Table 1

[0091] Among them, I is the control current of the pump group displacement, and its size is affected by the parameters of the transmission device. I_PID is based on F 2目标值 With F 2实际值The difference is calculated by the PID control model to obtain the adjustment current. When the motion state of the superlift mast is the raised state and the difference is greater than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current; When the motion state of the superlift mast is the raised state and the difference is less than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current; When the movement state of the superlift mast is the lowering state and the difference is greater than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current; when the movement state of the superlift mast is the lowering state and the difference is less than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current.

[0092] In the implementation of the present application, the controller communicates with the tension acquisition device, and obtaining the superlift mast tension in real time during the superlift luffing winch movement may include:

[0093] Receive the superlift mast tension sent by the tension collection device.

[0094] Specifically, the controller may communicate with a tension collection device, which may include but is not limited to a tension sensor, etc., for collecting the tension of the superlift mast and sending the tension to the controller.

[0095] Through the above technical solution, the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope is obtained to determine the initial main luffing winch control current and the initial super-lifting luffing winch control current; the main luffing winch movement is controlled according to the initial main luffing winch control current, and the super-lifting luffing winch movement is controlled according to the initial super-lifting luffing winch control current; the super-lifting mast tension is obtained in real time during the super-lifting luffing winch movement; the main luffing winch control current and the super-lifting luffing winch control current are adjusted according to the super-lifting mast tension until the super-lifting mast moves to the target position, which can automatically control the mechanism action, reduce the difficulty of operating the super-lifting mast raising and lowering process, and improve the operation accuracy and efficiency.

[0096] FIG4 schematically shows a flow chart of a method for controlling a superlift mast according to a specific embodiment of the present application. As shown in FIG4 , in an embodiment of the present application, a method for controlling a superlift mast is provided, which may include the following steps:

[0097] S401: Start;

[0098] S402: Calculating the relationship between the luffing winch line speed and the superlift luffing winch line speed;

[0099] S403: Calculating the relationship between the control current of the luffing winch and the super hoisting winch;

[0100] S404: The controller executes output;

[0101] S405: luffing winch action, super lifting luffing winch action;

[0102] S406: Tension detection. If the tension needs to be adjusted, the process returns to S404. If the tension is normal, the process proceeds to S407.

[0103] S407: Move to the target position and the super lift mast is raised and lowered.

[0104] In an embodiment of the present application, the relationship between the luffing winch linear speed (i.e., the main luffing winch wire rope linear speed in this application) and the superlifting luffing winch linear speed (i.e., the superlifting luffing winch wire rope linear speed in this application) is calculated. Based on the relationship between the luffing winch linear speed and the superlifting luffing winch linear speed, the relationship between the luffing winch (i.e., the initial main luffing winch control current in this application) and the superlifting winch control current (i.e., the initial superlifting luffing winch control current in this application) is then calculated. The luffing winch and superlifting winch control currents are then input into a controller, which controls the luffing winch and superlifting luffing winch operations. During the luffing winch and superlifting luffing winch operations, the superlifting mast tension is tested in real time to determine whether the superlifting mast tension meets a preset value. If the superlifting mast tension needs to be adjusted, feedback is provided to adjust the superlifting luffing and main luffing speeds. If the superlifting mast tension is normal, the superlifting mast is controlled to move to the target position, completing the raising and lowering of the superlifting mast.

[0105] FIG5 schematically shows a block diagram of a controller according to an embodiment of the present application. As shown in FIG5 , the present application provides a controller, which may include:

[0106] Memory 510 configured to store instructions; and

[0107] The processor 520 is configured to call instructions from the memory 510 and implement the above-mentioned superlift mast control method when executing the instructions.

[0108] Specifically, in the embodiment of the present application, the processor 520 may be configured to:

[0109] Obtain the linear velocity relationship between the main luffing winch wire rope and the superlift luffing winch wire rope;

[0110] Determine the initial main luffing winch control current and the initial super-lifting luffing winch control current according to the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope;

[0111] Controlling the movement of the main luffing winch according to the initial main luffing winch control current, and controlling the movement of the super-lifting luffing winch according to the initial super-lifting luffing winch control current;

[0112] Obtain the superlift mast tension in real time during the superlift luffing winch movement;

[0113] Adjust the main luffing winch control current and the superlift luffing winch control current according to the superlift mast pulling force until the superlift mast moves to the target position.

[0114] Furthermore, the processor 520 may be further configured to:

[0115] The initial main luffing winch control current and the initial super-lifting luffing winch control current are determined based on the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope.

[0116] The corresponding relationship between the displacement of the main luffing winch wire rope and the superlifting luffing winch wire rope is determined according to the linear velocity relationship between the main luffing winch wire rope and the superlifting luffing winch wire rope;

[0117] The initial main luffing winch control current and the initial superlift luffing winch control current are determined according to the corresponding relationship between the displacement of the main luffing pump group and the displacement of the superlifting pump group.

[0118] Furthermore, the processor 520 may be further configured to:

[0119] The linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope satisfies formula (1):

[0120] Among them, Vw is the linear velocity of the superlifting and luffing winch wire rope, Ve is the linear velocity of the main luffing winch wire rope, r2 is the superlifting and luffing pulley group ratio, Lw is the superlifting mast length, β is the angle between the main luffing winch wire rope and the main luffing mast, r1 is the main luffing pulley group ratio, Lm is the main luffing mast length, and γ is the angle between the superlifting pulley group and the tangent line of the superlifting mast trajectory circle.

[0121] Furthermore, the processor 520 may be further configured to:

[0122] The corresponding relationship between the displacement of the main variable-luffing pump group and the displacement of the superlift pump group satisfies formula (2):

[0123] Among them, V gw is the displacement of the superlift pump group, V gewhere r2 is the displacement of the main luffing pump group, Lw is the length of the superlift mast, β is the angle between the main luffing winch wire rope and the main luffing mast, r1 is the ratio of the main luffing pulley group, Lm is the length of the main luffing mast, γ is the angle between the superlift pulley group and the tangent of the superlift mast trajectory, d is the wire rope diameter, and n is the number of wire rope layers.

[0124] Furthermore, the processor 520 may be further configured to:

[0125] Adjusting the main luffing winch control current and the superlift luffing winch control current according to the superlift mast tension until the superlift mast moves to the target position includes:

[0126] Determine whether the superlift mast tension meets the preset value;

[0127] When the superlift mast pulling force does not meet the preset value, the initial main luffing winch control current and the initial superlift luffing winch control current are updated according to the superlift mast pulling force, the superlift mast pulling force target value and the superlift mast motion state;

[0128] When the tension of the superlift mast meets the preset value, the superlift mast is controlled to move to the target position.

[0129] Furthermore, the processor 520 may be further configured to:

[0130] When the superlift mast tension does not meet the preset value, updating the luffing winch control current and the superlift luffing winch control current according to the superlift mast tension, the superlift mast tension target value and the superlift mast motion state includes:

[0131] Determine the difference between the superlift mast pull force and the superlift mast pull force target value;

[0132] When the superlift mast is in a cocked state and the difference is greater than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current;

[0133] When the motion state of the superlift mast is the cocking state and the difference is less than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current;

[0134] When the superlift mast is in a lowered state and the difference is greater than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current;

[0135] When the motion state of the superlift mast is the lowering state and the difference is less than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current.

[0136] Furthermore, the processor 520 may be further configured to:

[0137] The controller communicates with the tension acquisition device to obtain the superlift mast tension in real time during the superlift luffing winch movement, including:

[0138] Receive the superlift mast tension sent by the tension collection device.

[0139] Through the above technical solution, the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope is obtained to determine the initial main luffing winch control current and the initial super-lifting luffing winch control current; the main luffing winch movement is controlled according to the initial main luffing winch control current, and the super-lifting luffing winch movement is controlled according to the initial super-lifting luffing winch control current; the super-lifting mast tension is obtained in real time during the super-lifting luffing winch movement; the main luffing winch control current and the super-lifting luffing winch control current are adjusted according to the super-lifting mast tension until the super-lifting mast moves to the target position, which can automatically control the mechanism action, reduce the difficulty of operating the super-lifting mast raising and lowering process, and improve the operation accuracy and efficiency.

[0140] FIG6 schematically shows a structural diagram of a control system of a superlift mast according to an embodiment of the present application. As shown in FIG6 , an embodiment of the present application provides a control system of a superlift mast, which may include:

[0141] According to the controller 610 described above;

[0142] The tension acquisition device 620 is in communication with the controller 610 and is configured to acquire the tension of the superlift mast.

[0143] In an embodiment of the present application, a control system for a superlift mast may include a controller 610 and a tension collection device 620. The tension collection device 620 communicates with the controller 610 and is configured to obtain tension in the superlift mast. When controlling the movement of the superlift mast, the controller 610 first obtains the linear velocity relationship between the main luffing winch wire rope and the superlifting luffing winch wire rope. Based on this linear velocity relationship, the controller 610 determines an initial main luffing winch control current and an initial superlifting luffing winch control current. The controller 610 then controls the movement of the main luffing winch based on the initial main luffing winch control current, and controls the movement of the superlifting luffing winch based on the initial superlifting luffing winch control current. During the movement of the superlifting luffing winch, the controller 610 receives the superlift mast tension transmitted by the tension collection device 620 in real time and adjusts the main luffing winch control current and the superlifting luffing winch control current based on the superlifting mast tension until the superlift mast reaches the target position.

[0144] Figure 7 schematically shows a structural diagram of tension control when the angle of a superlift mast is less than 86° according to a specific embodiment of the present application. Figure 8 schematically shows a structural diagram of tension control when the angle of a superlift mast is greater than 86° and less than 94° according to a specific embodiment of the present application. Figure 9 schematically shows a structural diagram of tension control when the angle of a superlift mast is greater than 94° according to a specific embodiment of the present application. As shown in Figures 7, 8 and 9, a specific embodiment of the present application provides a tension control structure under different angles. The movement of the superlift mast may include lifting the superlift mast and lowering the superlift mast. It is defined that when the superlift mast is at 90°, the tension of the pull plate in the tensioned state F2 is F 2min When the arm is raised at 0°, the F2 tension is F 2max . F 2min and F 2max All of them are parameters related to the weight of the main arm pull plate and can be obtained through testing. The F2 tension value control target is divided into stages according to the super lift mast angle and set according to the range. When the super lift mast is at an angle of less than 86° to the front, the maximum F2 tension is controlled to be less than F when the super lift mast is raised or lowered. 2min When the mast is turned over the vertical state (i.e. the angle between the mast and the front is between 86° and 94°), when the mast is raised, the mast and the main arm pull plate must be kept tight to prevent the mast from falling freely when it turns over 90°. In this case, the minimum tension of F2 should be controlled to be greater than F 2min , which is less than the maximum pulling force F when pulling up the main arm 2max When the super mast is lowered, the main arm is pulled by the super mast to control F2 to be equal to F 2min When the angle between the mast and the front is greater than 94°, the maximum tension of F2 should be controlled to be greater than F when the mast is raised or lowered. 2min and less than F 2max .

[0145] Through the above technical solution, the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope is obtained to determine the initial main luffing winch control current and the initial super-lifting luffing winch control current; the main luffing winch movement is controlled according to the initial main luffing winch control current, and the super-lifting luffing winch movement is controlled according to the initial super-lifting luffing winch control current; the super-lifting mast tension is obtained in real time during the super-lifting luffing winch movement; the main luffing winch control current and the super-lifting luffing winch control current are adjusted according to the super-lifting mast tension until the super-lifting mast moves to the target position, which can automatically control the mechanism action, reduce the difficulty of operating the super-lifting mast raising and lowering process, and improve the operation accuracy and efficiency.

[0146] An embodiment of the present application further provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the control method of the superlift mast described above.

[0147] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0148] The present application is described with reference to the flow chart and / or block diagram of the method, device (system), and computer program product according to the embodiment of the present application. It should be understood that each flow process and / or box in the flow chart and / or block diagram and the combination of the flow process and / or box in the flow chart and / or block diagram can be realized by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processing machine or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for realizing the function specified in one flow chart flow or multiple flows and / or one box or multiple boxes of the block diagram.

[0149] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0150] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0151] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0152] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0153] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0154] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0155] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A control method for a superlift mast, characterized in that: Applied to a controller, the control method comprises: Obtain the linear velocity relationship between the main luffing winch wire rope and the superlift luffing winch wire rope; Determining an initial main luffing winch control current and an initial super-lifting luffing winch control current according to a linear velocity relationship between the main luffing winch steel wire rope and the super-lifting luffing winch steel wire rope; Controlling the movement of the main luffing winch according to the initial main luffing winch control current, and controlling the movement of the super-lifting luffing winch according to the initial super-lifting luffing winch control current; Real-time acquisition of the superlift mast pulling force during the movement of the superlift luffing winch; The main luffing winch control current and the superlifting luffing winch control current are adjusted according to the superlifting mast pulling force until the superlifting mast moves to the target position.

2. The control method according to claim 1, characterized in that: The determining of the initial main luffing winch control current and the initial super-lifting luffing winch control current according to the linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope comprises: Determine the corresponding relationship between the displacement of the main luffing pump group and the displacement of the superlifting pump group according to the linear velocity relationship between the main luffing winch wire rope and the superlifting luffing winch wire rope; The initial main luffing winch control current and the initial superlift luffing winch control current are determined according to the corresponding relationship between the displacement of the main luffing pump group and the displacement of the superlifting pump group.

3. The control method according to claim 2, characterized in that: The linear velocity relationship between the main luffing winch wire rope and the super-lifting luffing winch wire rope satisfies formula (1): Among them, Vw is the linear velocity of the superlifting luffing winch wire rope, Ve is the linear velocity of the main luffing winch wire rope, r2 is the superlifting luffing pulley ratio, Lw is the superlifting mast length, β is the angle between the main luffing winch wire rope and the main luffing mast, r 1a Lm is the main luffing pulley ratio, Lm is the main luffing mast length, and γ is the angle between the superlift pulley and the tangent of the superlift mast trajectory circle.

4. The control method according to claim 2, characterized in that: The corresponding relationship between the displacement of the main variable-luffing pump group and the displacement of the superlifting pump group satisfies formula (2): Among them, V gw is the displacement of the superlift pump group, V ge is the displacement of the main luffing pump group, r2 is the ratio of the super-lifting luffing pulley group, Lw is the length of the super-lifting mast, β is the angle between the main luffing winch wire rope and the main luffing mast, r1 is the ratio of the main luffing pulley group, Lm is the length of the main luffing mast, γ is the angle between the super-lifting pulley group and the tangent of the super-lifting mast trajectory circle, d is the wire rope diameter, and n is the number of wire rope layers.

5. The control method according to claim 1, characterized in that: The step of adjusting the main luffing winch control current and the superlifting luffing winch control current according to the superlifting mast pulling force until the superlifting mast moves to the target position comprises: Determining whether the superlift mast tension meets a preset value; When the superlift mast pulling force does not meet the preset value, the initial main luffing winch control current and the initial superlift luffing winch control current are respectively updated according to the superlift mast pulling force, the superlift mast pulling force target value and the superlift mast motion state; When the pulling force of the superlift mast meets the preset value, the superlift mast is controlled to move to the target position.

6. The control method according to claim 5, characterized in that: When the superlift mast pulling force does not meet the preset value, updating the luffing winch control current and the superlift luffing winch control current according to the superlift mast pulling force, the superlift mast pulling force target value and the superlift mast motion state respectively includes: Determining a difference between the superlift mast pulling force and the superlift mast pulling force target value; When the motion state of the superlift mast is the cocking state and the difference is greater than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current; When the motion state of the superlift mast is the cocking state and the difference is less than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current; When the motion state of the superlift mast is the lowering state and the difference is greater than zero, the sum of the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the difference between the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current; When the movement state of the superlift mast is the lowering state and the difference is less than zero, the difference between the initial luffing winch control current and the adjustment current is determined as the updated luffing winch control current, and the sum of the initial superlift luffing winch control current and the adjustment current is determined as the updated superlift luffing winch control current.

7. The control method according to claim 1, characterized in that: The controller communicates with the tension acquisition device, and obtaining the superlift mast tension in real time during the movement of the superlift luffing winch includes: Receive the superlift mast tension sent by the tension collection device.

8. A controller, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the control method of the superlift mast according to any one of claims 1 to 7 when executing the instructions.

9. A control system for a superlift mast, characterized in that: include: A controller according to claim 8; The tension acquisition device is in communication with the controller and is configured to acquire the tension of the superlift mast.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the control method of a superlift mast according to any one of claims 1 to 7.

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