The invention discloses a method for controlling a crawler crane, a controller and the crawler crane. The method comprises the following steps: judging whether a lifting hoisting mechanism or a variable-amplitude hoisting mechanism is switched to an operation state or not; determining an initial overturning coefficient and the initial weight of an additional counterweight mechanism under the condition of judging that the lifting hoisting mechanism or the variable amplitude hoisting mechanism is switched to the operation state; determining a current overturning coefficient of the crawler crane; determining a target additional counterweight weight based on the initial overturning coefficient and the current overturning coefficient; and the additional counterweight mechanism is controlled to move, so that the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight. The target additional counterweight weight is determined based on the initial overturning coefficient and the current overturning coefficient, then the additional counterweight mechanism is controlled to move, the weight of the additional counterweight mechanism reaches the target additional counterweight weight from the initial weight, the weight of the additional counterweight mechanism can be accurately controlled, and therefore the gravity center of the crawler crane can be adjusted.
本申请公开了一种用于控制履带式起重机的方法、控制器及履带式起重机。该方法包括:判断起升卷扬机构或变幅卷扬机构是否切换至作业状态;在判定起升卷扬机构或变幅卷扬机构切换至作业状态的情况下,确定初始倾覆系数和附加配重机构的初始重量;确定履带式起重机的当前倾覆系数;基于初始倾覆系数和当前倾覆系数确定目标附加配重重量;控制附加配重机构移动,以使附加配重机构的重量由初始重量达到目标附加配重重量。本申请基于初始倾覆系数和当前倾覆系数确定目标附加配重重量,再控制附加配重机构移动,使附加配重机构的重量由初始重量达到目标附加配重重量,可以精确地控制附加配重机构的重量,从而实现对履带式起重机的重心的调节。
Method for controlling crawler crane, controller and crawler crane
用于控制履带式起重机的方法、控制器及履带式起重机
2023-11-10
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
Crawler crane pull rod control method, controller and crawler crane
Europäisches Patentamt | 2023
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