CN102536103B - Method, device and system for controlling arm support recycling and vehicle for arm support recycling - Google Patents
Method, device and system for controlling arm support recycling and vehicle for arm support recycling Download PDFInfo
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- CN102536103B CN102536103B CN2011104558776A CN201110455877A CN102536103B CN 102536103 B CN102536103 B CN 102536103B CN 2011104558776 A CN2011104558776 A CN 2011104558776A CN 201110455877 A CN201110455877 A CN 201110455877A CN 102536103 B CN102536103 B CN 102536103B
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000004064 recycling Methods 0.000 title abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 103
- 238000011084 recovery Methods 0.000 claims description 88
- 230000033001 locomotion Effects 0.000 claims description 43
- 230000007423 decrease Effects 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 description 12
- 230000009471 action Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
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- 238000006073 displacement reaction Methods 0.000 description 3
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- 230000000994 depressogenic effect Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/64—Jibs
- B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
- B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
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Abstract
The invention discloses a method, device and system for controlling arm support recycling and a vehicle for the arm support recycling. The method comprises the steps: a control device obtains state information of a current position of the arm support through a measuring device, determines a position section where the arm locates according to at least one parameter value in the state information of the current position and drives a driving device to perform a recycling strategy which corresponds to the position section.
Description
Technical Field
The invention relates to a control method, a control device, a control system and a vehicle for boom recovery.
Background
At present, a certain distance exists between an operation object of a plurality of engineering vehicles and the vehicles, and the operation on the operation object is completed through a telescopic arm support. For example: the aerial ladder fire truck is an engineering vehicle provided with a telescopic aerial ladder, a lifting bucket rotary table and a fire extinguishing device, can be used for a fire fighter to ascend to extinguish fire and rescue trapped personnel, and is suitable for fighting fire hazards of high-rise buildings. The arm support of the aerial ladder fire truck is a telescopic aerial ladder. When the aerial ladder fire truck finishes working, the arm support needs to be recovered. At present, generally retrieve through manual mode, control the length, the rotation amplitude of cantilever crane respectively through the operating handle to and gyration angle, specifically include: the length of the arm support is adjusted through the handle until the proper length observed is reached, the rotation amplitude of the arm support is adjusted through the handle until the proper amplitude observed is reached, and the rotation angle of the arm support is adjusted through the handle until the proper rotation angle observed is reached. The three adjustment processes can be performed in a set sequence or alternatively, and depend on the working experience of an operator and the proficiency of operation. In the manual arm support recovery mode, the arm support can be recovered in place after multiple adjustments are needed, so that long operation time is consumed, and the overall operation efficiency and the operation simplicity are influenced.
Disclosure of Invention
The embodiment of the invention provides a control method, a control device, a control system and a vehicle for arm support recovery, which are used for improving the operation efficiency of arm support recovery.
The embodiment of the invention provides a control method for arm support recovery, which comprises the following steps:
the control device acquires the current position state information of the arm support through the measuring device;
comparing at least one parameter value in the current position state information with a set threshold value, and determining a position section where the arm support is located according to a comparison result;
driving a transmission to implement a recovery strategy corresponding to the location segment;
wherein,
the current location state information includes: one or more of length, rotation amplitude, and slew angle;
in the control device, each of the location sections corresponds to one of the recovery strategies.
The embodiment of the invention provides a control device for arm support recovery, which comprises:
the acquisition equipment is used for acquiring the current position state information of the arm support through a measuring device, wherein the current position state information comprises one or more of length, rotation amplitude and rotation angle;
the determining device is used for comparing at least one parameter value in the current position state information with a set threshold value and determining a position section where the arm support is located according to a comparison result;
a drive device for driving the transmission to execute a recovery strategy corresponding to the position sections, wherein each of the position sections corresponds to one of the recovery strategies.
The embodiment of the invention provides a control system for arm support recovery, which comprises: the control device comprises a measuring device for acquiring the current position state information of the arm support, the control device and a transmission device which is driven by the control device and executes a recovery strategy corresponding to the position section.
The embodiment of the invention provides a vehicle with an arm support, which comprises the control system.
In the embodiment of the invention, after the control device acquires the current position state information of the arm support through the measuring device, the control device determines the position section where the arm support is located according to at least one parameter value in the current position state information and drives the transmission device to execute the recovery strategy corresponding to the position section, so that the automatic recovery of the arm support is realized, the operation time is saved, and the overall operation efficiency and the operation simplicity are improved.
Drawings
Fig. 1 is a flowchart of boom recovery control in the embodiment of the present invention;
FIG. 2 is a diagram of error and variance calculations in an embodiment of the present invention;
fig. 3 is a flowchart of boom recovery control in the embodiment of the present invention;
fig. 4 is a structural diagram of a boom recovery control device in the embodiment of the present invention;
fig. 5 is an architecture diagram of a control system for boom recovery in an embodiment of the present invention.
Detailed Description
In the embodiment of the invention, for the engineering vehicle with the arm support, after the operation is finished, the control device is adopted to automatically recover the arm support, so that the operation time is saved, and the overall operation efficiency and the operation simplicity are improved.
In the embodiment of the invention, the arm support can be telescopic, can rotate on a vertical plane and can rotate on a horizontal plane, namely the arm support can perform telescopic motion, rotary motion and recovery motion. Thus, the position state information of the boom comprises: boom length, rotation amplitude and swivel angle. In order to keep the center of gravity of the arm support stable, the rotation amplitude of the arm support is generally less than 90 degrees, and the arm support can rotate at any angle on the horizontal plane, namely 360 degrees.
On the arm mounts measuring devices, such as: displacement sensor, angle sensor. The current position state information of the arm support can be obtained through the measuring devices. Of course, the engineering vehicle is also provided with a transmission device, such as: and the electro-hydraulic proportional valve or the electromagnetic valve can drive the arm support to carry out corresponding recovery work through the transmission devices.
After the measurement device and the transmission device are installed, the process of controlling the boom recovery, as shown in fig. 1, includes:
step 101: and the control device acquires the current position state information of the arm support through the measuring device.
The arm support is provided with measuring devices, and the current position state information of the arm support can be obtained through the measuring devices. The current location state information includes: one or more of length, amplitude of rotation, and angle of gyration. For example: the length of the arm support is obtained through the displacement sensor, the rotation amplitude of the arm support is obtained through the first angle sensor, and the rotation angle of the arm support is obtained through the second angle sensor.
Step 102: and the control device determines the position section of the arm support according to at least one parameter value in the current position state information.
In the embodiment of the invention, the position space of the arm support is divided into a plurality of position sections. The arm support can be determined to be in the position section according to one, two or more parameter values in the current position state information.
At least one parameter value in the current position state information can be compared with a set threshold value, and the position section where the arm support is located is determined according to the comparison result. If the length parameter value in the current position state information is smaller than a first threshold value and the rotation amplitude parameter value in the current position state information is smaller than a second threshold value, determining that the arm support is located in a safe rotation section, and determining a specific position section where the arm support is located according to a comparison result of the rotation angle parameter value in the current position state information and a third threshold value; otherwise, determining that the arm support is in the unsafe turning section.
Wherein, the non-safety rotary section can be further divided, for example: the non-safety swing section includes: a first position section and a second position section; in this way, the length parameter value in the current position state information is compared with the first threshold, if the length parameter value is greater than the first threshold, the boom is determined to be in the first position section, otherwise, the rotation amplitude parameter value in the current position state information is compared with the second threshold, and if the rotation amplitude parameter value is greater than the second threshold, that is, the length parameter value is less than or equal to the first threshold, and the rotation amplitude parameter value is greater than the second threshold, the boom is determined to be in the second position section.
Or, the rotation amplitude parameter value in the current position state information may be compared with the second threshold, then the length parameter value in the current position state information is compared with the first threshold, and then the specific position section where the boom is located is determined according to the specific comparison result. For example: the non-safety swing section includes: the boom is determined to be in the first unsafe turning section if the rotation amplitude parameter value is larger than a second threshold value, and the boom is determined to be in the second unsafe turning section if the rotation amplitude parameter value is smaller than or equal to the second threshold value and the length parameter value is larger than the first threshold value.
After the boom is located in the safe rotation section, determining the specific position section where the boom is located according to the comparison result between the rotation angle parameter value in the current position state information and the third threshold comprises:
and if the length is greater than the fourth threshold, determining that the arm support is in a fourth position section, otherwise, determining that the arm support is in a fifth position section. Namely, if the value of the rotation angle parameter in the current position state information is not the third threshold value, determining that the arm support is in a third position section; otherwise, comparing the length parameter value in the current position state information with a fourth threshold value; if the length parameter value is larger than a fourth threshold value, determining that the arm support is in a fourth position section; otherwise, determining that the arm support is in the fifth position section.
Or, at this time, the specific position section where the fixed arm support is located is determined only by judging according to the rotation angle parameter value, which is not illustrated in detail.
It can be seen that whether the boom is in the first position section can be determined by one length, whether the boom is in the second position section can be determined by the length and the rotation amplitude, and whether the boom is in the third, fourth, or fifth position section can be determined by the length, the rotation amplitude, and the rotation angle.
The first threshold is determined by the longest length of the boom, and may be 1/2, 1/3, 1/4, 1/5, or the like. Namely, the arm support is contracted to a certain range, and then subsequent rotation and revolution operations are carried out.
The second threshold is generally determined by the structure of the boom and the vehicle body, and preferably, when the rotation amplitude of the boom is the second threshold, the rotation of the boom on the horizontal plane is not affected.
Wherein, since 360 ° revolution is possible, the third threshold value may be 0 °, or 360 °. In the embodiment of the present invention, a shortest route principle may be adopted, so that before determining whether the value of the rotation angle parameter in the current position state information is the third threshold, it may be determined whether the value of the rotation angle parameter in the current position state information is greater than 180 °, if so, the third threshold is 360 °, otherwise, the third threshold is 0 °. Of course, if the shortest route rule is not considered, the third threshold may be a fixed value, such as: 0 deg.
The fourth threshold is generally determined by the shortest length of the boom and is slightly greater than the shortest length, so that if the length in the current position state information is smaller than the fourth threshold, the length is recovered.
The above is only one manner of dividing the position space, and the embodiment of the present invention is not limited thereto, and other dividing manners may also be adopted, for example: firstly, determining a position section of the arm support according to the rotation amplitude, then determining another position section of the arm support according to the length and the rotation amplitude, and finally determining other position sections of the arm support according to the length, the rotation amplitude and the rotation angle.
Step 103: the control device drives the transmission to execute a recovery strategy corresponding to the position section.
In the embodiment of the invention, the corresponding transmission device can be driven to execute the recovery strategy corresponding to the position section through proportional-integral-derivative PID control, proportional-derivative PD control or fuzzy control.
In the control device, each location section corresponds to a recovery strategy. If the arm support is in the safe rotation section, driving a corresponding transmission device to execute a recovery strategy corresponding to the safe rotation section; and if the arm support is positioned in the non-safe rotation section, driving the corresponding transmission device to execute a recovery strategy corresponding to the non-safe rotation section.
Taking the above 5 location spaces as examples, the correspondence between the location sections and the recycling policy is shown in table 1:
TABLE 1
In table 1, since the boom and the nose of the engineering vehicle have a certain angle, the boom can be rotated in the horizontal plane only after the rotation angle parameter value of the boom is greater than the angle, and thus the fifth threshold is preferably slightly greater than the angle between the boom and the nose of the engineering vehicle. Of course, if the boom is installed on the flat plate, in the strategy 3, the rotation angle of the boom may be directly adjusted without considering the rotation angle of the boom, so that the parameter value of the rotation angle of the boom is the third expected value.
In this way, the third expected value may be equal to the third threshold, and when the third threshold is 0 °, the third expected value is also 0 °, and when the third threshold is 360 °, the third expected value is also 360 °, which ensures that the path of the boom slewing is shortest.
In table 1, the first expected value is smaller than the first threshold, the second expected value is smaller than the second threshold, the third expected value may be equal to the third threshold, the fourth expected value is greater than the fifth threshold, and the fifth expected value is smaller than the fourth threshold. Preferably, the fifth expected value is a length corresponding to the arm support when the arm support is completely retracted, and the sixth expected value is a rotation amplitude corresponding to the arm support when the vertical surface of the arm support rotates in place.
In the embodiment of the invention, the arm support is recovered through the transmission device, so that the first transmission device corresponds to the telescopic motion of the arm support, the second transmission device corresponds to the rotary motion of the arm support on a vertical plane, and the third transmission device corresponds to the rotary motion of the arm support on a horizontal plane. The transmission may include: electro-hydraulic proportional valves or solenoid valves.
Thus, driving the corresponding transmission to perform the recovery strategy corresponding to the unsafe zone comprises:
and if the arm support is located in the first position section, driving the first transmission device to execute a strategy 1, namely driving the first transmission device to adjust the length of the arm support, so that the length parameter value of the arm support is a first expected value, wherein the first expected value is smaller than a first threshold value.
And if the arm support is positioned in the second position section, driving the first transmission device, and executing a strategy 2 by the second transmission device, namely driving the first transmission device, adjusting the length of the arm support to enable the length parameter value of the arm support to be a fifth expected value, driving the second transmission device, adjusting the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be a second expected value, wherein the second expected value is smaller than a second threshold value. The fifth desired value is preferably the corresponding length of the boom when fully retracted.
Driving the corresponding transmission to execute the recovery strategy corresponding to the safe rotation section comprises:
and if the arm support is in the third position section, driving a third transmission device and a second transmission device to perform measurement 3, namely comparing a rotation amplitude parameter value in the current position state information with a fifth threshold value, when the rotation amplitude parameter value is larger than the fifth threshold value, driving the third transmission device, adjusting the rotation angle of the arm support to enable the rotation angle parameter value of the arm support to be a third expected value, otherwise, driving the second transmission device, adjusting the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be a fourth expected value, wherein the fourth expected value is larger than the fifth threshold value, and driving the third transmission device, adjusting the rotation angle of the arm support to enable the rotation angle of the arm support to be the third expected value, wherein the third expected value is the third threshold value.
And if the arm support is located in the fourth position section, driving the first transmission device to execute a strategy 4, namely driving the first transmission device to adjust the length of the arm support, so that the length parameter value of the arm support is a fifth expected value, wherein the fifth expected value is smaller than a fourth threshold value.
And if the arm support is located in the fifth position section, driving the second transmission device to execute a strategy 5, namely driving the second transmission device to adjust the rotation amplitude of the arm support, so that the rotation amplitude parameter value of the arm support is a sixth expected value.
The embodiment of the invention adopts PID control, PD control or fuzzy control to drive the corresponding transmission device. In engineering practice, the most widely used control law of the regulator is proportional, integral and derivative control, which is abbreviated as PID control. Proportional (P) control is the simplest control method, with the controller output being proportional to the input error signal. The integral (I) control output is proportional to the integral of the input error signal, the integral term integrates the error over time, and the integral term increases with time. Thus, even if the error is small, the integral term increases with time, which drives the output of the controller to increase, further reducing the steady state error until it equals zero. The derivative (D) controls the output and the derivative of the input error signal, namely the change rate of the error, to be in a direct proportion relation, and the derivative term can predict the trend of the error change, so that the control action of inhibiting the error can be enabled to be equal to zero in advance, and the serious overshoot of the controlled quantity is avoided.
The PID control algorithm is adopted for driving the transmission device to control the parameters of the arm support, the rotation amplitude of the arm support is taken as an expected set value, the rotation amplitude parameter value in the current position state information of the arm support is taken as an actual value, a control error is obtained according to the difference between the set value and the actual value and is taken as PID input, and the driving current of the transmission device for the rotation amplitude action of the arm support can be obtained. I.e., the difference between the parameter value in the current position status information and the desired value, is the error of the PID input.
Therefore, the implementation of the recovery strategy corresponding to the position section by driving the corresponding transmission through PID control includes:
inputting an error formed between a corresponding parameter value and an expected value in the current position state information into PID control to obtain a PID control output result; driving a current transmission to perform a current motion using the result of the PID control output, wherein the current motion comprises: telescoping, rotating, or retracting.
Besides being related to the error, the output result of the PID control algorithm is also influenced by the initial setting parameters which are unrelated to the error in the PID control, namely the P parameter, the I parameter and the D parameter. The setting of the parameters has a direct influence on the PID control effect.
In an embodiment of the present invention, fixed P, I and D parameters may be employed. In order to improve the efficiency of the recovery movement, the embodiment of the invention can also adopt a variable parameter processing mode for the PID parameter. Referring to fig. 2, the X-coordinate represents the error, e.g., the parameter values have all been quantized to a range of 8000, and the Y-coordinate represents the corresponding calculated values of the variable parameters. When the boom is switched from one position section to another position section, a variable parameter calculation value corresponding to an input error can be obtained through the graph 2, the variable parameter calculation value is divided by 100 to obtain a PID variable parameter base number, the range of the variable parameter base number is 1-4 as can be known from the graph 2, the variable parameter base number is multiplied by a P parameter in the PID, namely a proportional coefficient Kp and an I parameter, namely an integral time constant Ki, and the obtained value is used as a new Kp parameter and a new Ki parameter for PID control.
Therefore, when the boom is switched to a position section, the PID control is adjusted by adopting different PID parameters, when the error is large, the output is large, the adjusting time is long, the duration of the integral action is long, at the moment, the variable parameter base number is small, and Kp and Ki are properly reduced, so that the rapidity is not greatly influenced, the impact of strong integral on the later stage of the adjusting process can be avoided, and the stability of the boom movement is improved. When the error is small, the output is small, the duration of the integral action is short, and at the moment, the variable parameter base number is large, Kp and Ki are properly increased, so that the response speed can be accelerated, and the adjusting time can be shortened.
The above is only one way of processing the variable parameters, and other ways of processing the variable parameters may also be adopted in the embodiment of the present invention, which only needs to make the parameters Kp and Ki increase with the decrease of the error. Therefore, executing the recovery strategy corresponding to the position section at the driving of the corresponding transmission by the PID control further includes: in accordance with the error of the input PID control, the proportional coefficient Kp and the integral time constant Ki are adjusted so that the proportional coefficient Kp and the integral time constant Ki increase as the error, which is formed by the corresponding parameter value and the desired value in the current position state information, decreases.
In the embodiment of the invention, the first transmission device, the second transmission device and the third transmission device need to be driven respectively, and in order to enable the control device to control the transmission devices in a unified manner, each parameter value in the current position state information needs to be converted within a unified measuring range after the current position state information of the arm support is acquired through the measuring device. That is, within the unified range, each parameter value in the current position state information is converted into a reference parameter value within the unified range. For example: the unified range of measurement is 0-1000, the range of the length parameter value of the arm support is 3-103 m, and the length parameter value in the measured current position state information is 50 m, and is converted into 500 in 0-1000; the range of the rotation amplitude parameter value of the arm support is 5-85 degrees, the rotation amplitude parameter value in the measured current position state information is 60 degrees, and the rotation amplitude parameter value is 750 degrees after conversion within 0-1000 degrees; the range of the rotation angle parameter value of the arm support is 0-360 degrees, the rotation angle parameter value in the measured current position state information is 90 degrees, and the rotation angle parameter value is converted into 250 degrees within 0-1000 degrees.
Similarly, the first threshold, the second threshold, the third threshold, the fourth threshold, and the fifth threshold are also converted in a unified range, and the first expected value, the second expected value, the third expected value, the fourth expected value, the fifth expected value, and the sixth expected value are also converted in a unified range.
After the control device drives the transmission device to execute a primary recovery strategy, the arm support may or may not be recovered in place. At this time, when it is determined that the boom is not recovered in place, the steps 101 and 103 are executed again until the boom is recovered in place. For example: if the fifth position section is determined in step 102, after the strategy 5 is executed in step 103, it is determined that the boom is recovered in place, and the recovery process is ended. If the first position section is determined in the step 102, after the strategy 1 is executed in the step 103, and the boom is determined not to be recovered in place according to the rotation amplitude and the rotation angle in the current parameter, the step 101 and the step 103 are executed again until the boom is recovered in place.
The embodiments of the present invention will be described in further detail with reference to the drawings attached hereto.
In this embodiment, the recovery of the aerial ladder fire truck is taken as an example for description, that is, in this example, the boom is the aerial ladder. The transmission device is an electro-hydraulic proportional valve. The unified range of ranges is 0-8000, so that a first threshold of 2100, a second threshold of 1700, a first threshold of 0 or-8000, a fourth threshold of 50 and a fifth threshold of 1000 are provided. The first desired value is slightly less than the first threshold value and may be 2000, the second desired value is also slightly less than the second threshold value and may be 1500, the third desired value is 0 or-8000, the fourth desired value is slightly greater than the fifth threshold value and may be 1100, and the fifth desired value is slightly less than the fourth threshold value and may be 45. The sixth expected value corresponds to the aerial ladder being rotated into position in the vertical plane, which may be approximately 0, e.g., 5.
Thus, the automatic recovery function of the aerial ladder is firstly started, namely, the automatic operation is activated.
Generally, in the whole operation process of the aerial ladder, the aerial ladder must be ensured not to hurt other people or articles, and an operator firstly ensures that no obstacle exists in a vertical column body where a sector formed by a ladder frame and a vehicle body is located; then, the pedal is depressed and held, where the pedal of the bucket or the turn table is depressed in conjunction with the getting-on/off operation switching state. And the manual operating handle is put back to the default position. And finally, triggering a display screen to recover the scaling ladder function button or triggering an automatic starting selection switch. Here, if the aerial ladder angle is small, the aerial ladder will be lifted up slightly in the process.
When the aerial ladder is recovered in place, the automatic operation program can be stopped, and the method comprises the following steps: and pressing the function button of the recovery aerial ladder again or triggering an automatic stop selection switch, then touching any one operation control rod, and finally loosening the pedal, so that the aerial ladder is automatically stopped after the operation process is finished. Of course, in an emergency, the emergency stop button may be directly pressed to stop the automatic operation of the recovery.
The automatic recovery process of the aerial ladder is shown in fig. 3, and includes:
step 301: the control device obtains the current position state information of the aerial ladder through the measuring device.
And obtaining the length, the rotation amplitude and the rotation angle of the aerial ladder.
Step 302: and the control device converts each parameter value in the current position state information in a unified range.
The unified range of measurement ranges is 0-8000, in which each parameter value in the current position status information is scaled.
Step 303: the control device determines whether the length parameter value of the aerial ladder in the current position state information is larger than 2100, if so, step 304 is executed, otherwise, step 305 is executed.
The control device determines whether the aerial ladder is in the first position section or not through the length, when the length parameter value is larger than 2100, the aerial ladder is determined to be in the first position section, step 304 is executed, and otherwise, step 305 is executed.
Step 304: the control device drives the first electro-hydraulic proportional valve to execute a recovery strategy 1.
The control device drives the first electro-hydraulic proportional valve to adjust the length of the arm support, so that the length parameter value of the arm support is 2000.
Step 305: the control device judges whether the rotation amplitude parameter value of the aerial ladder in the current position state information is larger than 1700, if so, the step 306 is executed, otherwise, the step 307 is executed.
Here, the control device determines whether the aerial ladder is in the second position section or not through the rotation amplitude, determines that the aerial ladder is in the second position section when the rotation amplitude parameter value is larger than 1700, and executes step 306, otherwise, executes step 307.
Step 306: and the control device respectively drives the first electro-hydraulic proportional valve and the second electro-hydraulic proportional valve to execute a recovery strategy 2.
Specifically, the control device drives the first electro-hydraulic proportional valve to adjust the length of the arm support, so that the length parameter value of the arm support is 45. And the second electro-hydraulic proportional valve is driven to adjust the rotation amplitude of the arm support, so that the parameter value of the rotation amplitude of the arm support is 1500.
Step 307: the control device judges whether the aerial ladder is in the rotation centering position, if not, step 308 is executed, and if so, step 309 is executed.
In the embodiment of the invention, the aerial ladder can be rotated by 360 degrees in the horizontal direction, at the moment, whether a rotation angle parameter value of the aerial ladder in the current position state information is larger than 4000 or not can be judged firstly, if so, whether the rotation angle parameter value is 8000 or not is judged, if not, the aerial ladder is determined not to be in a rotation centering position and to be in a third position section, if so, step 309 is executed, and at the moment, the third threshold value is 8000. If the rotation angle parameter value of the aerial ladder in the current position state information is less than or equal to 4000, judging whether the rotation angle parameter value is 0, if not, determining that the aerial ladder is not in the rotation centering position and is in a third position section, if so, executing a step 309, and at the moment, the third threshold value is 0.
Step 308: and the control device respectively drives the third electro-hydraulic proportional valve, or the third electro-hydraulic proportional valve and the second electro-hydraulic proportional valve to execute a recovery strategy 3.
And comparing the rotation amplitude parameter value in the current position state information with 1000, and driving a third electro-hydraulic proportional valve to adjust the rotation angle of the arm support when the rotation amplitude parameter value is greater than 1000, so that the rotation angle parameter value of the arm support is 0 or 8000. When the rotation amplitude parameter value is smaller than or equal to 1000, the second electro-hydraulic proportional valve is actuated to adjust the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be 1100, and then the third electro-hydraulic proportional valve is driven to adjust the rotation angle of the arm support to enable the rotation angle parameter value of the arm support to be 0 or 8000.
The third threshold value is 8000, the rotation angle parameter value of the arm support is 8000, the third threshold value is 0, the rotation angle parameter value of the arm support is 0, and therefore the rotation distance of the arm support is shortest.
Step 309: the control device judges whether the length parameter value of the aerial ladder in the current position state information is larger than 50, if so, the step 310 is executed, otherwise, the step 311 is executed.
The control device determines whether the aerial ladder is in the fourth position section or the fifth position section according to the length of the aerial ladder, determines that the aerial ladder is in the fourth position section when the length parameter value is larger than 50, and executes the step 310, otherwise, executes the step 311 in the fifth position section.
Step 310: the control device drives the first electro-hydraulic proportional valve to execute a recovery strategy 4.
The control device drives the first electro-hydraulic proportional valve to adjust the length of the arm support, so that the length of the arm support is 45.
Step 311: the control device drives the second electro-hydraulic proportional valve to execute a recovery strategy 5.
The control device drives the second electro-hydraulic proportional valve to adjust the rotation amplitude of the arm support, so that the rotation amplitude parameter value of the arm support is 5.
The current position state information of the aerial ladder is obtained in real time, the process is executed until the recovery strategy 5 is executed, the rotation amplitude of the arm support reaches the recovery position, and therefore the automatic recovery process of the aerial ladder is completed.
In the specific process of driving the electro-hydraulic proportional valve by the control device in the above steps 302, 306, 308, 310 and 311, PID control may be adopted, and PID may also adopt a variable parameter processing mode, specifically, a difference between a parameter value and an expected value in the current position state information may be calculated first, and the difference is determined as an error of input PID control, then referring to fig. 2, a programmed parameter calculation value corresponding to the error is determined, new parameters Kp and Ki are calculated, and finally, a PID control output result is obtained to drive the corresponding electro-hydraulic proportional valve.
The opening degree of the electro-hydraulic proportional valve corresponds to the PID control output result, for example, the PID control output result is a driving current, the larger the driving current is, the larger the opening degree of the electro-hydraulic proportional valve is, and thus, the corresponding recovery movement speed is faster, and conversely, the smaller the driving current is, the smaller the opening degree of the electro-hydraulic proportional valve is, and thus, the corresponding recovery movement speed is slower.
Therefore, when the error is large, the PID control output result is reduced by adjusting the parameters Kp and Ki, the corresponding recovery movement speed is slower, the impact in the later period of the adjustment process is reduced, when the error is large, the PID control output result is increased by adjusting the parameters Kp and Ki, the corresponding recovery movement speed can be increased, and the adjustment time is shortened.
In the practical use process, dead zones exist in the opening degree of the valve of the electro-hydraulic proportional valve and the action of the ladder frame, a large drive is needed, the drive is starting current or voltage, and the ladder frame does not act when the opening degree of the valve is small. Further, if the magnitude and direction of the load of the hydraulic actuator and the opening/closing characteristics of the valve are different for each operation, the actuation current required for the valve is also different, that is, the drive for extending or retracting or rotating the ladder frame is different. However, if the output is small enough to drive the valve, the action cannot be executed, so that the dead zone of the output result needs to be avoided, and the value of the output result needs to be converted into a range corresponding to the valve opening control. The method specifically comprises the following steps:
firstly, starting values corresponding to various movements can be obtained by detecting handle data, for example, during rotation, left-turning and right-turning starting data are 270 and 550 respectively, during extension and retraction, extension or retraction starting data are 300 and 640 respectively, during rotation, data of upper and lower amplitude are 630 and 280 respectively, then output values calculated by corresponding PID and corresponding starting values are accumulated, and the accumulated values are in a set range, and the accumulated values are used as data of valve opening for controlling the ladder frame. The range is set from the negative maximum valve opening degree corresponding value to the positive maximum valve opening degree corresponding value, for example: 0-1000.
Therefore, the implementation of the recovery strategy corresponding to the position section by driving the corresponding transmission through PID control includes:
obtaining a starting value corresponding to a current movement executed by a current transmission device, wherein the current movement comprises: telescoping, rotating, or retracting. And then, inputting an error formed between a corresponding parameter value and an expected value in the current position state information into PID control to obtain a result output by the PID control, superposing the result output by the PID control and a starting numerical value, determining a driving value of the current transmission device according to the accumulated numerical value when the superposed numerical value is in a set range, and finally driving the current transmission device to execute current motion by using the determined driving value.
According to the control process of boom recovery, as shown in fig. 4, the control device in the embodiment of the present invention includes: an acquisition device 100, a determination device 200, and a drive device 300. Wherein,
the obtaining device 100 is configured to obtain current position state information of the boom through a measuring apparatus.
The determining device 200 is configured to determine a location section where the boom is located according to at least one parameter value in the current location state information.
A drive device 300 for driving the transmission to execute the recovery strategy corresponding to the location segment.
Wherein the current location state information includes: one or more of length, amplitude of rotation, and angle of gyration.
The determining device 200 is specifically configured to compare at least one parameter value in the current position state information with a set threshold, and determine a position section where the boom is located according to a comparison result.
Specifically, the determining device 200 is configured to determine that the boom is located in the safe turning section if the length parameter value in the current position state information is smaller than a first threshold and the rotation amplitude parameter value in the current position state information is smaller than a second threshold, and determine the specific position section where the boom is located according to a comparison result between the turning angle parameter value in the current position state information and a third threshold, otherwise, determine that the boom is located in the unsafe turning section.
The determining device 200 is specifically configured to determine that the boom is located in a first position section if the length parameter value is greater than a first threshold, and determine that the boom is located in a second position section if the length parameter value is less than or equal to the first threshold and the rotation amplitude parameter value is greater than a second threshold, where the unsafe turning section includes: a first position section and a second position section. And the number of the first and second groups,
the determining device 200 is specifically configured to determine that the boom is located in the third position section if the rotation angle parameter value in the current position state information is not the third threshold, otherwise, compare the length parameter value in the current position state information with a fourth threshold, determine that the boom is located in the fourth position section if the length parameter value is greater than the fourth threshold, and otherwise, determine that the boom is located in the fifth position section.
The control device also includes:
and the conversion device is used for converting each parameter value in the current position state information into a reference parameter value in the unified range within the unified range.
The driving device 300 is specifically configured to drive a corresponding transmission device to execute a recovery strategy corresponding to the position section through proportional-integral-derivative PID control, proportional-derivative PD control, or fuzzy control, where if the boom is in a safe slewing section, the corresponding transmission device is driven to execute the recovery strategy corresponding to the safe slewing section;
and if the arm support is positioned in the non-safe rotation section, driving a corresponding transmission device to execute a recovery strategy corresponding to the non-safe rotation section.
The driving device 300 is specifically configured to drive the first transmission device if the boom is located in the first position section, and adjust the length of the boom to make a length parameter value of the boom be a first expected value, where the first expected value is smaller than the first threshold;
and if the arm support is located in the second position section, driving a first transmission device to adjust the length of the arm support to enable the length parameter value of the arm support to be a fifth expected value, and driving a second transmission device to adjust the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be a second expected value, wherein the second expected value is smaller than a second threshold value. And the number of the first and second groups,
the driving device 300 is specifically configured to, if the boom is located in a third position section, compare a rotation amplitude parameter value in the current position state information with a fifth threshold, drive a third transmission device when the rotation amplitude parameter value is greater than the fifth threshold, adjust a rotation angle of the boom to make a rotation angle parameter value of the boom be a third expected value, otherwise, drive the second transmission device, adjust the rotation amplitude of the boom to make the rotation amplitude parameter value of the boom be a fourth expected value, where the fourth expected value is greater than the fifth threshold, and drive the third transmission device to adjust the rotation angle of the boom to make the rotation angle parameter value of the boom be a third expected value, where the third expected value is the third threshold;
if the arm support is located in a fourth position section, driving a first transmission device, and adjusting the length of the arm support to enable the length parameter value of the arm support to be a fifth expected value, wherein the fifth expected value is smaller than the fourth threshold;
and if the arm support is located in the fifth position section, driving a second transmission device, and adjusting the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be a sixth expected value.
Moreover, the driving apparatus 300 may be specifically configured to obtain a starting value corresponding to a current motion performed by a current transmission device, where the current motion includes: and (3) performing telescopic motion, rotary motion or recovery motion, inputting an error formed between a corresponding parameter value and an expected value in the current position state information into PID control, obtaining a result output by the PID control, superposing the result output by the PID control and the starting numerical value, determining a driving value of the current transmission device according to the accumulated numerical value when the superposed numerical value is in a set range, and driving the current transmission device to execute the current motion by using the driving value.
The driving apparatus 300 is further specifically configured to adjust the proportional coefficient Kp and the integral time constant Ki in the PID control according to the error of the input PID control, so that the proportional coefficient Kp and the integral time constant Ki increase as the error decreases.
In the embodiment of the present invention, the Control device may be applied to a Programmable Logic Controller (PLC) or a Distributed Control System (DCS).
Therefore, the control system for boom recovery in the embodiment of the present invention, referring to fig. 5, includes: a measuring device 510, a control device 520 and an execution device 530. Wherein,
and the measuring device 510 is used for acquiring the current position state information of the arm support.
And the control device 520 is configured to obtain the current position state information of the boom, which is obtained by the measurement device 510, determine a position section where the boom is located according to at least one parameter value in the current position state information, and drive the transmission device to execute a recovery strategy corresponding to the position section.
And an executing device 530 for executing the recovery strategy corresponding to the position section under the driving of the control device 520.
Wherein the current location state information includes: one or more of length, amplitude of rotation, and angle of gyration. The measuring device 510 may specifically include: displacement sensors, angle sensors, etc.
The executing device 530 may include: electro-hydraulic proportional valves or solenoid valves.
Therefore, in the embodiment of the present invention, the control system for boom recovery includes: the device comprises a measuring device for acquiring the current position state information of the arm support, the control device and a transmission device which is driven by the control device and executes a recovery strategy corresponding to a position section.
In the above embodiments, the arm support may perform a telescopic motion, a rotational motion, and a retracting motion. Of course, the embodiment of the invention is not limited thereto, and the arm support may perform one or more of a telescopic motion, a rotary motion, and a retracting motion. Thus, the parameter values in the current location status information also include only: one or more of length, rotation amplitude, and slew angle.
The arm support can be installed in an engineering vehicle, and can also be arranged at a fixed place, such as: in the operating room.
Of course, when the engineering vehicle with the telescopic boom is installed in the boom recovery control system in the embodiment of the invention, the boom can be automatically recovered after the operation on the operation object is completed. And the position section is divided, and the recovery strategy corresponding to the position section is executed, so that the operation time is saved, and the overall operation efficiency and the operation simplicity are improved.
In the embodiment of the invention, after the control device acquires the current position state information of the arm support through the measuring device, the control device determines the position section where the arm support is located according to at least one parameter value in the current position state information and drives the transmission device to execute the recovery strategy corresponding to the position section, so that the automatic recovery of the arm support is realized, the operation time is saved, and the overall operation efficiency and the operation simplicity are improved.
In addition, the control device can drive the transmission device to execute a recovery strategy corresponding to the position section through PID control, wherein a PID parameter can be processed in a variable parameter mode, and when the PID input error is large, Kp and Ki are properly reduced, so that the rapidity is not greatly influenced, the impact of strong integral on the later stage of the adjusting process can be avoided, and the stability of the arm support movement is improved. When the error is small, Kp and Ki are properly increased, so that the response speed can be accelerated, and the adjusting time can be shortened.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (22)
1. A control method for arm support recovery is characterized by comprising the following steps:
the control device acquires the current position state information of the arm support through the measuring device;
comparing at least one parameter value in the current position state information with a set threshold value, and determining a position section where the arm support is located according to a comparison result;
driving a transmission to implement a recovery strategy corresponding to the location segment;
wherein,
the current location state information includes: one or more of length, rotation amplitude, and slew angle;
in the control device, each of the location sections corresponds to one of the recovery strategies.
2. The method of claim 1, wherein the determining the location section of the boom according to the comparison comprises:
if the length parameter value in the current position state information is smaller than a first threshold value and the rotation amplitude parameter value in the current position state information is smaller than a second threshold value, determining that the arm support is located in a safe rotation section, and determining a specific position section where the arm support is located according to a comparison result of the rotation angle parameter value in the current position state information and a third threshold value;
otherwise, determining that the arm support is in an unsafe slewing section.
3. The method of claim 1, wherein the unsafe turning zone comprises: a first position section and a second position section;
determining that the boom is in the non-safety section comprises:
if the length parameter value is larger than a first threshold value, determining that the arm support is in a first position section;
and if the length parameter value is smaller than or equal to a first threshold value and the rotation amplitude parameter value is larger than a second threshold value, determining that the arm support is in a second position section.
4. The method of claim 1, wherein the determining the specific position section where the boom is located according to the comparison result between the value of the gyration angle parameter in the current position state information and the third threshold comprises:
if the value of the rotation angle parameter in the current position state information is not a third threshold value, determining that the arm support is in a third position section;
otherwise, comparing the length parameter value in the current position state information with a fourth threshold value;
if the length parameter value is larger than a fourth threshold value, determining that the arm support is located in a fourth position section;
otherwise, determining that the arm support is in a fifth position section.
5. The method of claim 1, wherein the determining that the boom is located before the position section according to the at least one parameter value in the current position status information further comprises:
and converting each parameter value in the current position state information into a reference parameter value in the unified range within the unified range.
6. The method of claim 2, wherein the drive transmission executing a recovery strategy corresponding to the position segment comprises:
driving the corresponding transmission to implement the recovery strategy corresponding to the position section by means of proportional-integral-derivative PID control, or proportional-derivative PD control, or fuzzy control, wherein,
if the arm support is in a safe rotation section, driving a corresponding transmission device to execute a recovery strategy corresponding to the safe rotation section;
and if the arm support is positioned in the non-safe rotation section, driving a corresponding transmission device to execute a recovery strategy corresponding to the non-safe rotation section.
7. The method of claim 6, wherein driving the corresponding transmission to implement the recovery strategy corresponding to the unsafe swing section comprises:
if the arm support is located in the first position section, driving a first transmission device, and adjusting the length of the arm support to enable the length parameter value of the arm support to be a first expected value, wherein the first expected value is smaller than the first threshold value;
and if the arm support is located in the second position section, driving a first transmission device to adjust the length of the arm support to enable the length parameter value of the arm support to be a fifth expected value, and driving a second transmission device to adjust the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be a second expected value, wherein the second expected value is smaller than a second threshold value.
8. The method of claim 6, wherein driving the corresponding transmission to implement the recovery strategy corresponding to the safe swing section comprises:
if the arm support is in a third position section, comparing a rotation amplitude parameter value in the current position state information with a fifth threshold value, driving a third transmission device when the rotation amplitude parameter value is larger than the fifth threshold value, adjusting the rotation angle of the arm support to enable the rotation angle parameter value of the arm support to be a third expected value, otherwise, driving a second transmission device, adjusting the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be a fourth expected value, wherein the fourth expected value is larger than the fifth threshold value, driving the third transmission device, adjusting the rotation angle of the arm support to enable the rotation angle parameter value of the arm support to be the third expected value, and wherein the third expected value is the third threshold value;
if the arm support is located in a fourth position section, driving a first transmission device, and adjusting the length of the arm support to enable the length parameter value of the arm support to be a fifth expected value, wherein the fifth expected value is smaller than the fourth threshold;
and if the arm support is located in the fifth position section, driving a second transmission device, and adjusting the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be a sixth expected value.
9. The method of claim 6, wherein said executing a recovery strategy corresponding to the position segment by PID-controlled driving a corresponding transmission comprises:
obtaining a starting value corresponding to a current movement executed by a current transmission device, wherein the current movement comprises: a telescoping motion, a rotating motion, or a retracting motion;
inputting an error formed between a corresponding parameter value and an expected value in the current position state information into PID control to obtain a PID control output result;
superposing the result output by the PID control with the starting numerical value, and determining the driving value of the current transmission device according to the numerical value after superposition when the numerical value is in a set range;
and driving the current transmission device to execute the current movement by using the driving value.
10. The method of claim 9, wherein said executing a recovery strategy corresponding to the position segment by PID-controlling a corresponding transmission further comprises:
and according to the error of the input PID control, adjusting a proportional coefficient Kp and an integral time constant Ki in the PID control, so that the proportional coefficient Kp and the integral time constant Ki are increased along with the reduction of the error.
11. A control device for arm support recovery is characterized by comprising:
the acquisition equipment is used for acquiring the current position state information of the arm support through a measuring device, wherein the current position state information comprises one or more of length, rotation amplitude and rotation angle;
the determining device is used for comparing at least one parameter value in the current position state information with a set threshold value and determining a position section where the arm support is located according to a comparison result;
a drive device for driving the transmission to execute a recovery strategy corresponding to the position sections, wherein each of the position sections corresponds to one of the recovery strategies.
12. The apparatus of claim 11,
the determining device is specifically configured to determine that the boom is located in a safe turning section if the length parameter value in the current position state information is smaller than a first threshold and the rotation amplitude parameter value in the current position state information is smaller than a second threshold, and determine a specific position section where the boom is located according to a comparison result between the turning angle parameter value in the current position state information and a third threshold, otherwise, determine that the boom is located in a non-safe turning section.
13. The apparatus of claim 12,
the determining device is specifically configured to determine that the boom is located in a first position section if the length parameter value is greater than a first threshold, and determine that the boom is located in a second position section if the length parameter value is less than or equal to the first threshold and the rotation amplitude parameter value is greater than a second threshold, where the non-safety slewing section includes: a first position section and a second position section.
14. The apparatus of claim 12,
the determining device is specifically configured to determine that the boom is located in a third position section if a rotation angle parameter value in the current position state information is not a third threshold, otherwise, compare a length parameter value in the current position state information with a fourth threshold, determine that the boom is located in a fourth position section if the length parameter value is greater than the fourth threshold, and otherwise, determine that the boom is located in a fifth position section.
15. The apparatus of claim 11, further comprising:
and the conversion device is used for converting each parameter value in the current position state information into a reference parameter value in the unified range within the unified range.
16. The apparatus of claim 12,
the drive device, in particular for driving the corresponding actuator by means of proportional-integral-derivative PID control, or proportional-derivative PD control, or fuzzy control, to implement the recovery strategy corresponding to the position section, wherein,
if the arm support is in a safe rotation section, driving a corresponding transmission device to execute a recovery strategy corresponding to the safe rotation section;
and if the arm support is positioned in the non-safe rotation section, driving a corresponding transmission device to execute a recovery strategy corresponding to the non-safe rotation section.
17. The apparatus of claim 16,
the driving device is specifically configured to drive the first transmission device if the boom is located in the first position section, and adjust the length of the boom to make a length parameter value of the boom be a first expected value, where the first expected value is smaller than the first threshold;
and if the arm support is located in the second position section, driving a first transmission device to adjust the length of the arm support to enable the length parameter value of the arm support to be a fifth expected value, and driving a second transmission device to adjust the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be a second expected value, wherein the second expected value is smaller than a second threshold value.
18. The apparatus of claim 16,
the driving device is specifically configured to, if the boom is located in a third position section, compare a rotation amplitude parameter value in the current position state information with a fifth threshold, drive a third transmission device when the rotation amplitude parameter value is greater than the fifth threshold, adjust a rotation angle of the boom to make a rotation angle parameter value of the boom be a third expected value, otherwise, drive the second transmission device, adjust the rotation amplitude of the boom to make the rotation amplitude parameter value of the boom be a fourth expected value, where the fourth expected value is greater than the fifth threshold, and drive the third transmission device to adjust the rotation angle of the boom to make the rotation angle parameter value of the boom be a third expected value, where the third expected value is the third threshold;
if the arm support is located in a fourth position section, driving a first transmission device, and adjusting the length of the arm support to enable the length parameter value of the arm support to be a fifth expected value, wherein the fifth expected value is smaller than the fourth threshold;
and if the arm support is located in the fifth position section, driving a second transmission device, and adjusting the rotation amplitude of the arm support to enable the rotation amplitude parameter value of the arm support to be a sixth expected value.
19. The apparatus of claim 16,
the driving device is specifically configured to obtain a starting value corresponding to a current motion executed by a current transmission device, where the current motion includes: and (3) performing telescopic motion, rotary motion or recovery motion, inputting an error formed between a corresponding parameter value and an expected value in the current position state information into PID control, obtaining a result output by the PID control, superposing the result output by the PID control and the starting numerical value, determining a driving value of the current transmission device according to the accumulated numerical value when the superposed numerical value is in a set range, and driving the current transmission device to execute the current motion by using the driving value.
20. The apparatus of claim 19,
the driving device is further specifically configured to adjust the proportional coefficient Kp and the integral time constant Ki in the PID control according to the error of the input PID control, so that the proportional coefficient Kp and the integral time constant Ki increase with a decrease in the error.
21. A control system for boom recovery is characterized by comprising:
a measuring device for acquiring the current position state information of the arm support, a control device as claimed in any one of the claims 11 to 20, and a transmission device driven by the control device for executing a recovery strategy corresponding to the position section.
22. A vehicle with a boom comprising the control system of claim 21.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104558776A CN102536103B (en) | 2011-12-30 | 2011-12-30 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
| PCT/CN2012/082242 WO2013097509A1 (en) | 2011-12-30 | 2012-09-28 | Method, device, and system for controlling jib retraction, and vehicle for jib retraction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104558776A CN102536103B (en) | 2011-12-30 | 2011-12-30 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
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| Publication Number | Publication Date |
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| CN102536103A CN102536103A (en) | 2012-07-04 |
| CN102536103B true CN102536103B (en) | 2013-12-04 |
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| CN2011104558776A Active CN102536103B (en) | 2011-12-30 | 2011-12-30 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
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| CN (1) | CN102536103B (en) |
| WO (1) | WO2013097509A1 (en) |
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| CN102536103B (en) * | 2011-12-30 | 2013-12-04 | 长沙中联消防机械有限公司 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
| CN103234002B (en) * | 2013-04-28 | 2014-12-24 | 中联重科股份有限公司 | Equipment, method and system for inhibiting rotary vibration of arm support and engineering machinery |
| CN103537029B (en) * | 2013-11-07 | 2016-02-24 | 徐州重型机械有限公司 | A kind of fire fighting truck safe operation range guard method and device |
| CN103809595A (en) * | 2014-01-26 | 2014-05-21 | 三一汽车制造有限公司 | Engineering machinery operation method, operation terminal, control device and operation system |
| CN104571143A (en) * | 2014-12-04 | 2015-04-29 | 长沙中联消防机械有限公司 | Engineering machinery arm support control system, method and device and engineering machinery |
| CN104984507A (en) * | 2015-07-07 | 2015-10-21 | 明光浩淼安防科技股份公司 | Automatic centering method of elevating fire truck rotary table |
| CN107145163B (en) * | 2017-04-28 | 2020-12-22 | 三一汽车制造有限公司 | Fire truck and positioning control method and device of arm support thereof |
| CN112727858B (en) * | 2021-01-15 | 2023-01-24 | 长沙九方湾流智能科技有限公司 | A point control method, hydraulic control system and engineering vehicle |
| CN113735028B (en) * | 2021-08-06 | 2023-08-18 | 湖南星邦智能装备股份有限公司 | Safety control method, system, equipment and storage medium under aerial working platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2501390A1 (en) * | 1981-03-05 | 1982-09-10 | Camiva | MICROPROCESSOR CONTROL DEVICE FOR DEPLOYABLE ORIENTABLE SCALE OR SIMILAR ELEVATOR ARM |
| GB8406094D0 (en) * | 1984-03-08 | 1984-04-11 | Merryweather & Sons | Control system |
| JPH0528900A (en) * | 1991-07-19 | 1993-02-05 | Kojundo Chem Lab Co Ltd | Circuit breaker |
| CN1177333A (en) * | 1995-03-02 | 1998-03-25 | 株式会社小松制作所 | Boom storing and extending device for crane |
| JPH08333778A (en) * | 1995-06-09 | 1996-12-17 | Yutani Heavy Ind Ltd | Turning circuit for construction machine |
| US7740106B2 (en) * | 2004-05-10 | 2010-06-22 | Capital Safety Group Winnipeg Ltd. | Mobile mount for attachment of a fall arrest system |
| DE102005042721A1 (en) * | 2005-09-08 | 2007-03-15 | Iveco Magirus Ag | Rotating ladder e.g. fire fighting ladder, for use on vehicle, has controller provided to move ladder parts, where map-based pilot control representing idealized movement behavior of ladder in dynamic model is provided |
| CN100591880C (en) * | 2006-12-31 | 2010-02-24 | 三一重工股份有限公司 | An intelligent boom control device |
| CN201447874U (en) * | 2009-03-27 | 2010-05-05 | 长沙中联重工科技发展股份有限公司 | Concrete pump truck tail-end cantilever crane |
| CN101525944B (en) * | 2009-03-31 | 2011-09-21 | 北京易斯路电子有限公司 | Concrete pump truck intelligent arm support control system and control method thereof |
| CN102248933A (en) * | 2011-05-23 | 2011-11-23 | 三一重工股份有限公司 | Pump vehicle as well as feedback system and method of arm support safe rotation range thereof |
| CN102393751A (en) * | 2011-10-27 | 2012-03-28 | 中联重科股份有限公司 | Method, device and system for controlling rotation position of arm support and engineering machinery |
| CN102536103B (en) * | 2011-12-30 | 2013-12-04 | 长沙中联消防机械有限公司 | Method, device and system for controlling arm support recycling and vehicle for arm support recycling |
| CN102681553B (en) * | 2012-05-25 | 2014-08-27 | 中联重科股份有限公司 | Control method and system for withdrawing arm support of pump truck and pump truck |
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- 2011-12-30 CN CN2011104558776A patent/CN102536103B/en active Active
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2012
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| WO2013097509A1 (en) | 2013-07-04 |
| CN102536103A (en) | 2012-07-04 |
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Inventor after: Su Liang Inventor after: Deng Pengfei Inventor after: Zhang Hu Inventor after: Duan Juanxiang Inventor after: Xiong Yi Inventor before: Su Liang Inventor before: Deng Pengfei Inventor before: Zhang Hu Inventor before: Duan Juanxiang Inventor before: Xiong Yi |
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Address after: 410200 No. 997, Section 2, Tengfei Road, Wangcheng District, Changsha City, Hunan Province Patentee after: Hunan Zoomlion emergency equipment Co., Ltd Address before: 410013 Zhonglian Science Park, 361 yinpen South Road, Changsha, Hunan Patentee before: Changsha Zhonglian fire fighting Machinery Co., Ltd |