The invention discloses a control method and a controller for a pull rod of a crawler crane and the crawler crane. The control method comprises the steps that the initial movement speed of the oil cylinder mechanism and the initial movement speed of the luffing mechanism are determined respectively; the extension length of the oil cylinder mechanism is obtained every preset time, and the theoretical extension length of the oil cylinder mechanism is determined; determining a first target current and a first movement speed corresponding to the first target current according to the initial movement speed of the oil cylinder mechanism, the extension length of the oil cylinder mechanism and the theoretical extension length of the oil cylinder mechanism; the initial movement speed of the oil cylinder mechanism and the initial movement speed of the luffing mechanism are combined, and the second movement speed is determined according to the first movement speed; and respectively controlling the oil cylinder mechanism to act at the first movement speed and controlling the luffing mechanism to act at the second movement speed. By synchronously controlling the movement speeds of the oil cylinder mechanism and the luffing mechanism, the operation efficiency in the rod pulling process of the crawler crane can be improved, and the operation difficulty is reduced.
本申请公开了一种履带起重机扳杆的控制方法、控制器及履带起重机。该控制方法包括:分别确定油缸机构的初始运动速度和变幅机构的初始运动速度;每隔预设时间获取油缸机构的伸出长度,以及确定油缸机构的理论伸出长度;根据油缸机构的初始运动速度、油缸机构的伸出长度和油缸机构的理论伸出长度确定第一目标电流以及第一目标电流对应的第一运动速度;结合油缸机构的初始运动速度和变幅机构的初始运动速度,根据第一运动速度确定第二运动速度;分别控制油缸机构以第一运动速度动作以及控制变幅机构以第二运动速度动作。本申请通过同步控制油缸机构和变幅机构的运动速度,能够提高履带起重机扳杆过程中的作业效率,降低操作难度。
Crawler crane pull rod control method, controller and crawler crane
履带起重机扳杆的控制方法、控制器及履带起重机
2023-06-09
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Method for controlling crawler crane, controller and crawler crane
European Patent Office | 2023
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