Flexible control method and device for free hook falling device of crawler crane

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Flexible control method and device for free hook falling device of crawler crane

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AI CHAO / XU WENQIANG / WANG CHUNYI / GAO WEI / QI FANG / YANG GUISHENG / SONG SHIHENG / CHEN GEXIN

The invention provides a flexible control method for a free hook falling device in a crawler crane. The flexible control method comprises the following steps: carrying out nonlinear and hysteresis processing on a change signal of a pedal by a controller; the controller obtains the pressure of a brake cavity of the clutch according to the weight of the heavy object, meanwhile, the pressure of a clutch cavity of the clutch is set to be a fixed value, and real-time current of the proportional pressure reducing valve is obtained through conversion; subtraction is carried out on the current signal and the current selected by the controller, the deviation is sent to a feedback link of the controller, and a current signal in the feedback link is obtained; adding the current signal of the feed-forward link and the current signal of the feedback link in the controller, and superposing tremor on the current to obtain a corrected current signal; and the controller controls the proportional pressure reducing valve through the pedal, so that flexible free hook falling is carried out. According to the flexible control method and device, hysteresis compensation is carried out on the control method of the free hook falling device, nonlinearity of output pressure in control current is reduced, and therefore brake impact caused by nonlinearity is reduced.

本发明提供一种用于履带式起重机中自由落钩装置的柔性控制方法，包括：控制器对脚踏板的变化信号进行非线性和滞后性处理；控制器根据重物的重量得到离合器制动腔的压力，同时将离合器离合腔的压力设为定值，通过换算得到比例减压阀的实时电流；将电流信号和控制器选择电流进行作差，并将偏差送入控制器的反馈环节，得到反馈环节中的电流信号；将控制器中前馈环节的电流信号和反馈环节的电流信号相加，并给电流叠加震颤，得到修正的电流信号；控制器通过脚踏板控制比例减压阀，从而进行柔性自由落钩。本发明柔性控制方法及其装置对自由落钩装置的控制方法进行了滞环补偿，减小控制电流中输出压力的非线性，从而减少了非线性带来的制动冲击。

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Title :

Flexible control method and device for free hook falling device of crawler crane

Additional title:

用于履带式起重机自由落钩装置的柔性控制方法及其装置

Contributors:

AI CHAO (author) / XU WENQIANG (author) / WANG CHUNYI (author) / GAO WEI (author) / QI FANG (author) / YANG GUISHENG (author) / SONG SHIHENG (author) / CHEN GEXIN (author)

Publication date :

2022-11-01

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B66C Krane , CRANES / B66D Haspeln , CAPSTANS / F15B SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL , Druckmittelbetriebene Systeme allgemein