The invention discloses a method for controlling a boom, high-altitude operation equipment and a machine readable storage medium, and belongs to the technical field of engineering machinery, the method comprises the steps that the target displacement amount of an executing mechanism of the boom in the next control period is obtained, and the executing mechanism of the boom comprises at least one of a rotary motor, a telescopic oil cylinder and a variable-amplitude oil cylinder; according to the target displacement, a target control current of the execution mechanism is determined based on a pre-constructed prediction model and a preset constraint condition, and the prediction model is used for predicting the corresponding displacement according to the input control current; and outputting the target control current of the execution mechanism to the execution mechanism so as to control the arm support to act. The control quantity of each execution mechanism of the boom can be determined by adopting the model prediction control method on the basis of the pre-constructed prediction model in combination with the preset constraint condition, so that the control error can be reduced, and the control stability can be improved.

    本申请公开了一种用于控制臂架的方法、高空作业设备及机器可读存储介质,属于工程机械技术领域,该方法包括:获取下一控制周期臂架的执行机构的目标位移量,臂架的执行机构包括回转马达、伸缩油缸及变幅油缸中的至少一者;根据目标位移量,基于预构建的预测模型和预设约束条件,确定执行机构的目标控制电流,其中,预测模型用于根据输入的控制电流预测对应的位移量;将执行机构的目标控制电流输出至执行机构,以控制臂架动作。本申请能够基于预构建的预测模型采用模型预测控制方法,结合预设约束条件,确定臂架的各执行机构的控制量,有利于降低控制误差,提高控制平稳性。


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    Title :

    Method for controlling cantilever crane, high-altitude operation equipment and machine readable storage medium


    Additional title:

    用于控制臂架的方法、高空作业设备及机器可读存储介质


    Contributors:
    LI YUWEI (author) / YANG SEUNG-GIL (author) / ZHU HOU (author) / TAN JINGCHAO (author) / ZHOU FENG (author)

    Publication date :

    2025-03-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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