The embodiment of the invention provides a crawler assembly walking control method and system and a crawler-type tower crane comprising the system, and belongs to the field of engineering machinery. The method comprises the steps that the initial rotation angle of one crawler belt set in the multiple crawler belt sets serves as the reference rotation angle, a walking speed serves as the reference walking speed, each crawler belt set in the multiple crawler belt sets is controlled to walk at the reference rotation angle and the reference walking speed, and in the walking period of the crawler belt assembly, the initial rotation angle of the crawler belt set in the multiple crawler belt sets is adjusted. For each track group, executing the following operations: determining the rotation angle of the track group; determining the angle deviation between the rotation angle of the crawler group and the reference rotation angle and the direction of the angle deviation, and determining the respective walking speed compensation of the left crawler and the right crawler of the crawler group according to the angle deviation and the direction of the angle deviation; and controlling the walking speed of the left crawler belt and the walking speed of the right crawler belt according to the respective walking speed compensation of the left crawler belt and the right crawler belt, so that the rotation angle of the crawler belt group keeps the reference rotation angle.

    本发明实施例提供一种履带总成行走控制方法、系统、及包含该系统的履带式塔机,属于工程机械领域。所述方法包括:以所述多个履带组中的一履带组的初始回转角度作为基准回转角度并以一行走速度作为基准行走速度,控制所述多个履带组中的每一履带组以所述基准回转角度及基准行走速度进行行走,其中,在所述履带总成行走期间,针对每一履带组,执行以下操作:确定该履带组的回转角度;确定该履带组的回转角度与所述基准回转角度之间的角度偏差及该角度偏差的方向,并据此确定该履带组的左履带和右履带各自的行走速度补偿;以及根据左右履带各自的行走速度补偿,控制该左履带和右履带的行走速度,以使得该履带组的回转角度保持所述基准回转角度。


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    Titel :

    Crawler belt assembly walking control method and system and crawler belt type tower crane


    Weitere Titelangaben:

    履带总成行走控制方法、系统及履带式塔机


    Beteiligte:
    YU LEKANG (Autor:in) / ZHANG YUZHU (Autor:in) / WANG CHANGLEI (Autor:in) / XU HUI (Autor:in)

    Erscheinungsdatum :

    2023-03-14


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B66C Krane , CRANES



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