阅读说明：本技术 臂架运动的控制方法、高空作业设备和可读存储介质 (Control method of arm support movement, aerial work equipment and readable storage medium ) 是由 万昌雄 王光磊 *** 于 2019-11-22 设计创作，主要内容包括：本发明提供了一种臂架运动的控制方法、高空作业设备以及计算机可读存储介质。控制方法包括：接收臂架运动的控制信号；根据控制信号和预存在控制器中的电流输出曲线公式,生成臂架控制阀的控制电流随运动时间变化的S形输出曲线；根据S形输出曲线控制向臂架控制阀输出的控制电流。本发明所提供的臂架运动的控制方法,通过操作一次手柄或是遥控装置,生成臂架控制阀的控制电流随运动时间变化的S形输出曲线,不需要为手柄或是遥控装置设置多个挡位,也不需要设置多条作业曲线,进行手动曲线匹配等操作,控制方式更加简便、灵活,且通过S形输出曲线大幅度减少臂架运动启停时的冲击作用使得臂架的运动过程更加平稳。(The invention provides a control method of arm support movement, high-altitude operation equipment and a computer readable storage medium. The control method comprises the following steps: receiving a control signal of arm support movement; generating an S-shaped output curve of the control current of the arm support control valve along with the change of the movement time according to the control signal and a current output curve formula prestored in the controller; and controlling the control current output to the arm support control valve according to the S-shaped output curve. According to the method for controlling the movement of the arm support, the S-shaped output curve of the control current of the arm support control valve changing along with the movement time is generated by operating the primary handle or the remote control device, a plurality of gears do not need to be arranged for the handle or the remote control device, a plurality of operation curves do not need to be arranged, manual curve matching and other operations are carried out, the control mode is simpler, more convenient and more flexible, and the impact effect when the arm support is started and stopped during movement is greatly reduced through the S-shaped output curve, so that the movement process of the arm support is more stable.)

1. A method for controlling arm support movement is characterized by comprising the following steps:

receiving a control signal of arm support movement;

generating an S-shaped output curve of the control current I of the arm support control valve along with the change of the motion time t according to the control signal and a current output curve formula prestored in the controller;

and controlling the control current output to the arm support control valve according to the S-shaped output curve.

2. The control method according to claim 1, wherein the step of generating an S-shaped output curve of the control current I of the boom control valve as a function of the movement time t according to the control signal and a current output curve formula prestored in the controller comprises:

acquiring a target current In according to the control signal;

determining an initial current Im;

acquiring a motion period tz according to the target current In and the initial current Im;

and substituting the target current In, the initial current Im and the movement period tz into the current output curve formula to obtain a corresponding S-shaped output curve.

3. The control method according to claim 2, wherein the step of "obtaining a target current In according to the control signal" includes:

acquiring the opening L of the arm support control valve;

acquiring the maximum input current Imax and the minimum input current Imin allowed by the input end of the boom control valve under the current opening degree;

according to the formula: the target current In is Imin + (Imax-Imin) × L, and is determined.

4. The control method according to claim 2, wherein the step of "determining the starting current Im" includes:

acquiring an initial current Im;

judging the magnitude relation between the initial current Im and the dead zone current Id;

and if the initial current Im is less than or equal to the dead zone current Id, enabling the initial current Im to be equal to the dead zone current Id.

5. The control method according to claim 2, characterized by further comprising:

setting a coefficient k according to the scanning period change of the controller and the characteristics of the arm support control valve;

the step of obtaining the movement period tz according to the target current In and the initial current Im includes: according to the formula: -In-Im |/k, determining the movement period tz.

6. The control method according to any one of claims 2 to 5, characterized by further comprising:

receiving a further control signal within the movement period tz; according to another control signal and a current output curve formula prestored in the controller, an S-shaped output curve of the control current I of the arm support control valve changing along with the movement time t is regenerated, and the initial current Im of the regenerated S-shaped output curve is equal to the current control current I; or

And when the movement time t reaches a value corresponding to the movement period tz, keeping the control current I equal to the target current In.

7. The control method according to any one of claims 1 to 5,

the S-shaped output curve comprises a uniform acceleration stage and a uniform deceleration stage;

in the uniform acceleration stage, the acceleration a of the control current I is gradually increased along with the movement time t;

in the uniform deceleration phase, the acceleration a of the control current I is gradually reduced with the movement time t.

8. The control method according to claim 7,

for the condition that the target current In is greater than the initial current Im, the uniform acceleration stage is before the uniform deceleration stage, the initial value of the acceleration a of the control current I is 0 In the uniform acceleration stage, and the final value of the acceleration a of the control current I is 0 In the uniform deceleration stage;

and when the initial current Im is larger than the target current In, the uniform deceleration stage is before the uniform acceleration stage, the initial value of the acceleration a of the control current I is 0 In the uniform deceleration stage, and the final value of the acceleration a of the control current I is 0 In the uniform acceleration stage.

9. An aerial work apparatus, comprising:

a boom;

the controller is electrically connected with the arm support;

the controller comprises a memory, a processor and a boom control program which is stored on the memory and can run on the processor, and when the control program of the boom is executed by the processor, the method for controlling the movement of the boom according to any one of claims 1 to 8 is realized.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a boom control program, which when executed by a processor implements the method for controlling boom movement according to any one of claims 1 to 8.

Technical Field

The invention relates to the technical field of control of aerial work machinery, in particular to a control method of arm support movement, aerial work equipment and a computer readable storage medium.

Background

The fire truck controls the action of the arm support through a handle or a remote control device, and the opening degree of the handle or the remote controller corresponds to the control current value output by the control valve, so that the movement speed of the arm support is controlled. In the effective working range, the larger the output control current value is, the faster the movement speed of the arm support is, and the smaller the output control current value is, the slower the movement speed of the arm support is.

At present, the control of the arm frame of the fire engine is realized by changing the output control current mainly in a straight line with a fixed slope, a plurality of gears are required to be arranged under the condition that the applicable control current needs to adopt different slopes, each gear corresponds to an operation curve, the gears need to be replaced by a manual operation handle or a remote control device in the operation process, the operation is not flexible due to the fact that the gears are adapted to different slopes.

Disclosure of Invention

In order to solve at least one of the above technical problems, an object of the present invention is to provide a method for controlling arm support movement.

Another object of the present invention is to provide an aerial work apparatus using the above control method.

Another object of the present invention is to provide a computer-readable storage medium capable of implementing the above-described control method.

In order to achieve the above object, a technical solution of a first aspect of the present invention provides a method for controlling a boom movement, including: receiving a control signal of arm support movement; generating an S-shaped output curve of the control current I of the arm support control valve along with the change of the motion time t according to the control signal and a current output curve formula prestored in the controller; and controlling the control current output to the arm support control valve according to the S-shaped output curve.

The method for controlling the movement of the arm support provided by the invention generates a control signal of the movement of the arm support by operating the primary handle or the remote control device, and after receiving the control signal of the movement of the arm support, the controller controls the control current output to the arm support control valve according to the control signal and a current output curve formula prestored in the controller. Compared with the prior art, the control method has the advantages that a plurality of gears do not need to be arranged on the handle or the remote control device, a plurality of operation curves corresponding to different gears do not need to be arranged, namely control signals of the movement of the arm support are not needed, the S-shaped output curve of the control current I of the arm support control valve changing along with the movement time t can be automatically generated, manual operation such as curve switching or curve matching is not needed, and the control mode is simpler, more convenient and more flexible. And the variation of the control current is close to zero at the initial end and the termination end of the S-shaped output curve, so that the soft start and stop of the boom can be realized in the motion process of the boom, the motion of the boom is more stable, and the impact effect of the boom during the motion start and stop is greatly reduced.

The controller can be an independent controller such as a PLC (programmable logic controller) or an embedded controller installed on the arm support.

In addition, the control method in the above technical solution provided by the present invention may further have the following additional technical features:

in the above technical solution, the step of generating an S-shaped output curve of the control current I of the boom control valve along with the change of the movement time t according to the control signal and a current output curve formula prestored in the controller includes: acquiring a target current In according to the control signal; determining an initial current Im; setting a coefficient k; obtaining a motion period tz according to the target current In, the initial current Im and the coefficient k; and substituting the target current In, the initial current Im and the movement period tz into the current output curve formula to obtain a corresponding S-shaped output curve.

In the above technical solution, the step of "obtaining the target current In according to the control signal" includes: acquiring the opening L of the arm support control valve; acquiring the maximum input current Imax and the minimum input current Imin allowed by the input end of the boom control valve under the current opening degree; according to the formula: the target current In is Imin + (Imax-Imin) × L, and is determined.

In the above technical solution, the step of determining the initial current Im includes: acquiring an initial current Im; judging the magnitude relation between the initial current Im and the dead zone current Id; and if the initial current Im is less than or equal to the dead zone current Id, enabling the initial current Im to be equal to the dead zone current Id.

In the above technical solution, the control method further includes: setting a coefficient k according to the scanning period change of the controller and the characteristics of the arm support control valve; the step of obtaining the movement period tz according to the target current In and the initial current Im includes: according to the formula: -In-Im |/k, determining the movement period tz.

In any of the above technical solutions, the control method further includes: receiving a further control signal within the movement period tz; according to another control signal and a current output curve formula prestored in the controller, an S-shaped output curve of the control current I of the arm support control valve changing along with the movement time t is regenerated, and the initial current Im of the regenerated S-shaped output curve is equal to the current control current I; or when the movement time t reaches a value corresponding to the movement period tz, keeping the control current I equal to the target current In.

In any of the above technical solutions, the S-shaped output curve includes a uniform acceleration stage and a uniform deceleration stage; in the uniform acceleration stage, the acceleration a of the control current I is gradually increased along with the movement time t; in the uniform deceleration phase, the acceleration a of the control current I is gradually reduced with the movement time t.

In the above technical solution, for the case that the target current In is greater than the initial current Im, the uniform acceleration stage is before the uniform deceleration stage, the initial value of the acceleration a of the control current I is 0 In the uniform acceleration stage, and the final value of the acceleration a of the control current I is 0 In the uniform deceleration stage; and when the initial current Im is larger than the target current In, the uniform deceleration stage is before the uniform acceleration stage, the initial value of the acceleration a of the control current I is 0 In the uniform deceleration stage, and the final value of the acceleration a of the control current I is 0 In the uniform acceleration stage.

The technical scheme of the second aspect of the invention provides high-altitude operation equipment, which comprises: a boom; the controller is electrically connected with the arm support; the controller includes a memory, a processor, and a boom control program stored in the memory and capable of running on the processor, and when the control program of the boom is executed by the processor, the method for controlling the movement of the boom according to any one of the technical solutions of the first aspect is implemented.

The aerial work equipment comprises a fire truck, a lifting platform and the like, wherein the aerial work equipment is provided with an arm support. The arm support comprises a single-section arm or a multi-section arm. The controller is used for controlling the movement speed of the boom, so that the method for controlling the movement of the boom according to any one of the technical solutions of the first aspect can be implemented, and therefore the aerial working equipment provided by the technical solution has all the beneficial effects of any one of the technical solutions, which are not described herein again.

Further, the aerial working equipment comprises a human-computer interaction device, the human-computer interaction device is not limited to a handle, a remote control device and the like, an operator sends a control signal of arm support movement to the controller through operating the human-computer interaction device, so that the controller outputs a control current to the arm support control valve under the instruction of the control signal to drive the arm support to act, and the arm support works at the movement speed corresponding to the control current I in the S-shaped output curve.

A third aspect of the present invention provides a computer-readable storage medium, where a boom control program is stored in the computer-readable storage medium, and when the boom control program is executed by a processor, the method for controlling the movement of a boom according to any one of the first aspect of the present invention is implemented.

The computer-readable storage medium according to the third aspect of the present invention can implement the control method according to any one of the first aspect of the present invention, so that all the advantages of any one of the above-mentioned technical solutions are achieved, and details are not repeated herein.

In summary, the method for controlling the movement of the boom, the aerial work device and the computer-readable storage medium provided by the invention have at least the following advantages:

1. the output curve of the control current I along with the change of the motion time t is an S-shaped output curve, so that the cantilever crane realizes soft start and stop, the motion is stable, and the impact effect during start and stop is greatly reduced.

2. By reasonably setting the movement period tz of the control current I from the value corresponding to the initial current Im to the value corresponding to the target current In, the influence of the scanning period change of the controller and the characteristics of the boom control valve on the output control current I is reduced.

3. An operator generates a control signal of arm support movement only by operating the handle or the remote control device once, and after the target current In is obtained, an S-shaped output curve can be automatically generated to obtain the value of each point of the output current I.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a flow chart of a method for controlling arm support movement according to an embodiment of the present invention;

FIG. 2 is a block diagram of a process for generating a sigmoid output curve according to an embodiment of the present invention;

FIG. 3 is a block diagram of a process for obtaining relevant parameters of a sigmoid output curve according to an embodiment of the present invention;

fig. 4 is a flowchart of a method for controlling arm support movement according to an embodiment of the present invention;

fig. 5 is a flowchart of a method for controlling arm support movement according to an embodiment of the present invention;

FIG. 6 is a graph of the sigmoidal output of the control current I according to one embodiment of the present invention;

FIG. 7 is a graph showing the variation of the acceleration a corresponding to the control current I in FIG. 6;

FIG. 8 is a graph of the sigmoidal output of the control current I according to one embodiment of the present invention;

FIG. 9 is a graph showing the variation of the acceleration a corresponding to the control current I in FIG. 8;

fig. 10 is a logic flow diagram of a method for controlling arm support movement according to an embodiment of the present invention.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

A control method of boom movement, an aerial work apparatus, and a computer-readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 10.