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 steps that it is determined that an arm support is in a downward variable-amplitude motion state at the current sampling moment; the pressure of a rodless cavity of the anti-back-tipping oil cylinder at the current sampling moment is obtained; under the condition that the pressure of the rodless cavity at the current sampling moment exceeds the preset pressure range, the preset pressure, the rotating speed of the engine at the current sampling moment and the working angle of the boom at the current sampling moment are obtained; and controlling the control current of the variable pump at the next sampling moment according to the pressure of the rodless cavity at the current sampling moment, the preset pressure, the rotating speed and the working angle. According to the embodiment of the invention, the extension speed of the anti-back-tipping oil cylinder at the next sampling moment can follow the downward amplitude variation speed of the arm support, the stability of the reaction force in the downward amplitude variation process of the arm support is realized, the real-time response of the anti-back-tipping reaction force of the arm support system of the whole vehicle is ensured, and the safety of the whole vehicle during arm falling of the arm support is ensured.

    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,用于起重机的控制方法包括:确定臂架在当前采样时刻处于向下变幅运动状态;获取防后倾油缸的无杆腔在当前采样时刻的压力;在无杆腔在当前采样时刻的压力超出预设压力范围的情况下,获取预设压力、发动机在当前采样时刻的转速和臂架在当前采样时刻的工作角度;根据无杆腔在当前采样时刻的压力、预设压力、转速和工作角度控制变量泵在下一采样时刻的控制电流。本发明实施例可以保证在下一采样时刻防后倾油缸的伸出速度能够跟随臂架的向下变幅速度,实现臂架向下变幅过程中支反力的稳定性,保证整车臂架系统防后倾支反力的实时响应,确保臂架落臂时的整车安全。


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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:
    ZHANG YUAN (author) / LIU JIANHUA (author) / MAO JING (author) / YIN FEI (author)

    Publication date :

    2022-12-06


    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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