The embodiment of the invention provides a control method and device for a crane, a controller and the crane. The control method for the crane comprises the following steps: acquiring an elevation angle of an arm support in variable amplitude motion at the current moment; the pressure of a rodless cavity of the anti-back-tipping oil cylinder at the current moment is obtained; and according to the elevation angle and the pressure of the rodless cavity, an anti-back-tilting oil cylinder overflow measure is executed. According to the embodiment of the invention, different measures can be taken according to the elevation angle of the crane boom and the pressure of the rodless cavity of the anti-back-tipping oil cylinder when the crane boom performs variable-amplitude motion, and when the pressure of the rodless cavity is smaller than the maximum working pressure of the rodless cavity overflow valve and the elevation angle is not smaller than the preset elevation angle, the anti-back-tipping oil cylinder can be taken. The magnitude of the control current of the electric proportional speed regulating valve is dynamically adjusted according to different displacements of the anti-backward-inclination oil cylinder, and finally real-time feedback, dynamic adjustment, closed-loop control and dynamic control with high matching precision of the amplitude variation speed of the boom are achieved.

    本发明实施例提供一种用于起重机的控制方法及装置、控制器和起重机,所述用于起重机的控制方法包括:获取当前时刻所述臂架在变幅运动中的仰角;获取当前时刻所述防后倾油缸的无杆腔的压力;以及根据所述仰角和所述无杆腔的压力执行防后倾油缸溢流措施。本发明实施例可以在起重机臂架变幅运动时,根据起重机臂架的仰角和防后倾油缸的无杆腔的压力执行不同的措施,在无杆腔的压力小于无杆腔溢流阀的最大工作压力且仰角不小于预设仰角的情况下,由防后倾油缸的不同位移来动态调节电比例调速阀的控制电流的大小,最终实现对臂架变幅速度的实时反馈、动态调节、闭环控制、匹配精准度高的动态控制。


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    Title :

    Control method and device for crane, controller and crane


    Additional title:

    用于起重机的控制方法及装置、控制器和起重机


    Contributors:
    MAO JING (author) / ZHANG YUAN (author) / SHANG YOUDONG (author) / ZE ZHANBIN (author) / CHEN ZHIPENG (author)

    Publication date :

    2022-04-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES / F15B SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL , Druckmittelbetriebene Systeme allgemein



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