The embodiment of the invention provides a control method for a cantilever crane, engineering machinery, a storage medium and a processor. Comprises: receiving a target speed periodically sent by an input device; determining a first angular velocity and a first angular displacement of the joint according to the duration of the current period and the target velocity; determining a second angular velocity and a second angular displacement according to the first angular velocity and an angular velocity limit value; under the condition that the second angular velocity of any joint is larger than the corresponding angular velocity limit value, the second angular velocity and the second angular displacement are determined again till the second angular velocity of each joint is smaller than or equal to the angular velocity limit value; and each arm support is controlled to move so as to drive the corresponding joint to operate. According to the technical scheme, the speed of the joints does not exceed the limited speed, the joints are well protected, a plurality of arm supports can be controlled at the same time to drive the joints to move, the joints have good coordination, the control precision of the tail ends of the arm supports is improved, and the operation safety is improved.
本申请实施例提供一种用于臂架的控制方法、工程机械、存储介质及处理器。包括:接收输入装置周期性地发送的目标速度;根据当前周期的时长和目标速度确定关节的第一角速度和第一角位移;根据第一角速度和角速度限值确定第二角速度和第二角位移;在任意一个关节的第二角速度大于对应的角速度限值的情况下,再次确定第二角速度和第二角位移的步骤,直至每个关节的第二角速度均小于或等于与角速度限值;控制每个臂架运动以带动对应的关节运行。上述技术方案,能够使得关节的速度不超过限定速度,对关节具有良好的保护作用,且能够同时控制多个臂架带动关节运动,使得各关节之间具有良好的协调性,提高了对臂架末端的控制精度,提高了作业的安全性。
Control method for cantilever crane, engineering machinery, storage medium and processor
用于臂架的控制方法、工程机械、存储介质及处理器
2024-01-30
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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