The crane control method disclosed by the invention comprises the following steps: acquiring dynamic data acquired by a plurality of sensors arranged on a hydraulic mechanical arm of a crane; based on the dynamic data, a first expected included angle between a dynamic first variable-amplitude arm of the hydraulic mechanical arm and the vertical direction, a second expected included angle between a dynamic second variable-amplitude arm and the dynamic first variable-amplitude arm and the expected telescopic length of a telescopic arm are calculated through a constructed moment balance equation; the first expected included angle, the second expected included angle and the expected telescopic length are imported into a control model comprising cascaded position PID and speed PID, and expected target current required in real-time dynamic action of the hydraulic mechanical arm is obtained; the expected target current comprises a first expected current used for controlling the rotary valve, a second expected current used for controlling the first variable-amplitude oil cylinder, a third expected current used for controlling the second variable-amplitude oil cylinder and a fourth expected current used for controlling the telescopic oil cylinder. In this way, the control response speed and control precision of the hydraulic mechanical arm can be improved, and shaking is reduced or eliminated.
本申请公开的起重机控制方法中,包括:获取设置于起重机的液压机械臂上的多个传感器采集的动态数据;基于动态数据,通过构建的力矩平衡方程计算液压机械臂动态的第一变幅臂与垂直方向的第一期望夹角、第二变幅臂与第一变幅臂的第二期望夹角以及伸缩臂的期望伸缩长度;将第一期望夹角、第二期望夹角和期望伸缩长度导入包括有级联的位置PID和速度PID的控制模型,获得液压机械臂实时动态动作中需求的期望目标电流;期望目标电流包括用于控制回转阀的第一期望电流、用于控制第一变幅油缸的第二期望电流、用于控制第二变幅油缸的第三期望电流以及用于控制伸缩油缸的第四期望电流。如此,能够提高对液压机械臂的控制响应速度和控制精度,降低或消除抖动。
Crane control method, electronic equipment, crane and readable storage medium
起重机控制方法、电子设备、起重机及可读存储介质
13.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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