The invention discloses a method for arm support control, a processor, engineering equipment and a storage medium, the method is applied to the engineering equipment, the engineering equipment comprises an arm support and a telescopic oil cylinder and a pitching oil cylinder of the arm support, and the method comprises the steps that an expected track of the tail end of the arm support is obtained; determining a first length of a telescopic oil cylinder and a second length of a pitching oil cylinder according to the expected track on the basis of a pre-constructed boom tail end kinematics model; according to the second length and the preset length of the pitching oil cylinder, the deflection deformation quantity of the cantilever crane is determined; correcting the second length of the pitching oil cylinder according to the deflection deformation quantity to obtain a target pitching oil cylinder length; and based on the first length and the target pitching oil cylinder length, the tail end of the boom is controlled to work along the expected track. The influence of deflection deformation on boom control is considered, the method can be suitable for a long and thin boom, and the boom control precision is improved.

    本申请公开了一种用于臂架控制的方法、处理器、工程设备及存储介质,应用于工程设备,工程设备包括臂架以及臂架的伸缩油缸和俯仰油缸,属于工程机械技术领域,该方法包括:获取臂架的末端的期望轨迹;基于预构建的臂架末端运动学模型,根据期望轨迹确定伸缩油缸的第一长度和俯仰油缸的第二长度;根据第二长度和预设俯仰油缸长度确定臂架的挠度形变量;根据挠度形变量对俯仰油缸的第二长度进行修正,以得到目标俯仰油缸长度;基于第一长度和目标俯仰油缸长度,控制臂架的末端沿期望轨迹作业。本申请考虑挠度形变对臂架控制的影响,可以适用于细长臂架,提高了臂架控制的精度。


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    Title :

    Cantilever crane control method, processor, engineering equipment and storage medium


    Additional title:

    用于臂架控制的方法、处理器、工程设备及存储介质


    Contributors:
    HOU LIWEI (author) / CHEN KAI (author) / KUANG MING (author) / YU CHANG (author)

    Publication date :

    2025-01-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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