The invention discloses a method and device for preventing a crane jib from moving forwards and a crane. The method comprises the following steps: acquiring state data of a crane at the current moment, determining an initial suspension arm driving counter-force according to the state data, determining a transfer function according to the state data, inputting the initial suspension arm driving counter-force into the transfer function to obtain a predictive quantity of forward movement displacement, obtaining an initial tracking error according to the predictive quantity and an expected value, and tracking the forward movement displacement according to the initial tracking error. And determining a final compensation pressure value according to the initial tracking error, and correcting the pressure of the telescopic oil cylinder of the crane through the final compensation pressure value. According to the method, the transfer function of the driving reaction force of the suspension arm and the forward movement amount of the suspension arm is determined, and the pressure of the telescopic oil cylinder of the crane is further dynamically corrected by combining an iterative control method, so that the purpose of preventing the suspension arm from moving forwards during emergency braking of the crane is effectively achieved; the problems that in the prior art, a method for preventing the suspension arm from moving forwards is high in system complexity and not accurate enough in control are solved.

    本申请公开了一种用于防止起重机吊臂前窜的方法、装置及起重机。该方法包括:获取起重机当前时刻的状态数据,根据状态数据确定初始吊臂驱动反力,根据状态数据确定传递函数,将初始吊臂驱动反力输入至传递函数,以得到前窜位移的预测量,根据预测量与期望值得到初始跟踪误差,根据初始跟踪误差确定最终补偿压力值,通过最终补偿压力值对起重机的伸缩油缸的压力进行修正。本申请通过确定吊臂驱动反力与吊臂前窜量的传递函数,结合迭代控制方法,进一步对起重机伸缩油缸的压力进行动态修正,有效达到防止起重机在紧急制动时发生吊臂前窜的目的,解决了现有技术中所采用的防止吊臂前窜的方法系统复杂度高,且控制不够精准的问题。


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    Titel :

    Method and device for preventing crane jib from moving forwards and crane


    Weitere Titelangaben:

    用于防止起重机吊臂前窜的方法、装置及起重机


    Beteiligte:
    HE WEI (Autor:in) / SUN YUWEI (Autor:in) / SHEN CHANGWU (Autor:in) / ZHOU QINGXI (Autor:in) / HUANG ZHEN (Autor:in)

    Erscheinungsdatum :

    2022-09-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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