The invention relates to the technical field of hydraulic pressure, and provides a control method and system of engineering machinery and the engineering machinery. The control method of the engineering machinery comprises the following steps: inputting an expected rotation angular velocity omega of the arm support, and acquiring a current angle parameter theta of the arm support by a controller; the controller obtains the flow Q cylinder theoretically flowing out of the rodless cavity according to the angular velocity omega and the angle parameter theta; the controller obtains the pressure difference P of the two sides of the balance valve; the pilot pressure of the balance valve is obtained according to the flow Q cylinder flowing through the balance valve and the pressure difference P; the controller determines control current needing to be input into the electromagnetic valve according to the pilot pressure and the characteristics of the electromagnetic valve, and corresponding control current is input into the electromagnetic valve so as to control the arm support to rotate at the angular speed omega. According to the engineering machinery control method, constant-speed amplitude falling of the cantilever crane is achieved by controlling the opening degree of the valve element of the balance valve, large hydraulic impact is avoided, and then the problem that the operation comfort becomes poor due to natural amplitude falling is avoided.
本发明涉及液压技术领域,提供一种工程机械的控制方法、控制系统及工程机械。上述的工程机械的控制方法包括:输入期望的臂架转动角速度ω、控制器获取臂架当下的角度参数θ;控制器根据角速度ω、角度参数θ,获取油缸理论上流出无杆腔的流量Q缸;控制器获取平衡阀两侧的压差△P;根据流经平衡阀的流量Q缸、压差△P,获取平衡阀的先导压力;控制器根据先导压力、及电磁阀的特性确定需输入至电磁阀的控制电流,输入至电磁阀相应的控制电流,以控制臂架以角速度ω转动。本发明的工程机械控制方法通过控制平衡阀的阀芯开度,实现了臂架匀速落幅,避免了造成较大的液压冲击,进而避免了因自然落幅造成操作舒适度变差的问题。
Control method and control system of engineering machinery and engineering machinery
工程机械的控制方法、控制系统及工程机械
2022-07-08
Patent
Electronic Resource
Chinese
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