CN102637047B - Suspension arm telescopic follow-up control method and system - Google Patents
Suspension arm telescopic follow-up control method and system Download PDFInfo
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- CN102637047B CN102637047B CN201210106701.4A CN201210106701A CN102637047B CN 102637047 B CN102637047 B CN 102637047B CN 201210106701 A CN201210106701 A CN 201210106701A CN 102637047 B CN102637047 B CN 102637047B
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 239000000725 suspension Substances 0.000 title abstract 2
- 230000007246 mechanism Effects 0.000 claims abstract description 160
- 230000008878 coupling Effects 0.000 claims description 109
- 238000010168 coupling process Methods 0.000 claims description 109
- 238000005859 coupling reaction Methods 0.000 claims description 109
- 230000007306 turnover Effects 0.000 claims description 37
- 230000008859 change Effects 0.000 claims description 12
- 239000007788 liquid Substances 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 7
- 239000002828 fuel tank Substances 0.000 claims description 6
- 238000005086 pumping Methods 0.000 claims description 4
- 238000011897 real-time detection Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 description 10
- 230000008602 contraction Effects 0.000 description 7
- 230000001595 contractor effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 238000004458 analytical method Methods 0.000 description 1
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Classifications
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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
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- Fluid-Pressure Circuits (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses a suspension arm telescopic follow-up control method and a system, wherein the method comprises the following steps: when the telescopic oil cylinder drives the bolt mechanism to move, detecting whether the position of the bolt mechanism belongs to a high-speed moving area or a low-speed moving area in real time; obtaining the high-speed moving speed required by the bolt mechanism when the bolt mechanism belongs to the high-speed moving area, and obtaining the low-speed moving speed required by the bolt mechanism when the bolt mechanism belongs to the low-speed moving area; calculating the matching rotating speed N required by an engine driving the telescopic oil cylinder according to the high-speed moving speed or the low-speed moving speed of the bolt mechanism; the matching speed N is set as the current speed of the engine. According to the embodiment of the invention, the matching rotating speed N required by the engine is calculated according to the moving speed of the bolt mechanism, and the rotating speed of the engine is intelligently and accurately adjusted to be the matching rotating speed N, so that the rotating speed of the engine is matched with the stretching speed of the bolt mechanism, risk factors caused by manual operation errors are avoided, and the working efficiency is improved.
Description
Technical field
The present invention relates to mechanical arm technical field, be specifically related to a kind of hoisting arm expansion follow-up control method and system of single telescopic oil cylinder single oil cylinder.
Background technology
In prior art, mechanical arm particularly large-scale engineering machinery arm generally adopts the stretch mode of single telescopic oil cylinder single oil cylinder, and its principle of work comprises:
Step S01, telescopic oil cylinder drive bolt mechanism finds the afterbody of the jth joint telescopic arm that will stretch;
Step S02, stretches out work pin and this telescopic oil cylinder and this jth are saved telescopic arm locks, and this jth of retracting joint telescopic arm is inserted in jth-1 and saves bearing pins in telescopic arm;
Step S03, stretch this telescopic oil cylinder, this jth joint telescopic arm and then stretches simultaneously, after being stretched over destination locations, this bolt mechanism releasing bearing pin, the bearing pins of this jth joint telescopic arm is inserted in jth-1 save in telescopic arm, saves telescopic arm again lock jth to be saved telescopic arm and jth-1, complete the stretching that jth saves telescopic arm;
Repeat step, return step S01, until complete the stretching of all joint arms.
Wherein, said process is only described for the stretching of single oil cylinder, and the Principle of Process of the contractive action of single oil cylinder is substantially identical, and therefore not to repeat here.
In above-mentioned principle of work, adopt and comprise manual control mode (substantially superseded) and semiautomatic control mode two kinds of specific implementations.Wherein, semi-automatic extensible becomes mainstream technology gradually with its advance, and its control procedure comprises:
The telescopic oil cylinder of telescoping mechanism drives bolt mechanism to move;
Electronic control unit calculates the flexible progress percentage of bolt mechanism according to the bolt mechanism state detected, telescopic oil cylinder length gauge;
When percentages show bolt mechanism is in high-speed mobile region, electronic control unit exports big current automatically to scaling valve, and points out operator to step on the throttle pedal, engine is raised speed, to reach the object of flexible high-speed cruising; When percentages show bolt mechanism is in low speed moving area, electronic control unit exports small area analysis automatically to scaling valve, and points out operator manually to reduce engine speed, thus ensures telescoping mechanism slow running.
Therefore in the process of bolt mechanism automatic telescopic, although stretching speed achieves automatic control, the rotating speed of engine need carry out manual operation by operator according to the flexible progress prompt of display.In the process that manual operation controls, easily there is following technical matters: at flexible low speed segment, because misoperation does not have timely reduction of speed, cause rotating speed too high, both wasted engine capacity, also may because the too fast bolt mechanism that causes of stretching speed be to hole failure.In other words, after reduction of speed, speed is fallen too low, telescopic oil cylinder may be caused for shortage of oil, stretch and creep, and bolt mechanism is to hole failure; And in flexible accelerating sections, high regime, engine accelerated slowly, power was inadequate, caused engine kill, and expanding-contracting action stops.
In sum, in prior art, owing to adopting manual control engine, cause the stretching speed of bolt mechanism not mate with engine speed, the success ratio of extension and contraction control is on the low side.
How to solve in prior art owing to adopting manual control engine, cause the stretching speed of bolt mechanism not mate with engine speed, the technical matters that the success ratio of extension and contraction control is on the low side is the difficult problem that this area needs solution badly.
Summary of the invention
The present invention mainly solves owing to adopting manual control engine, causes the stretching speed of bolt mechanism not mate with engine speed, and the technical matters that the success ratio of extension and contraction control is on the low side, provides a kind of hoisting arm expansion follow-up control method and system.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of hoisting arm expansion follow-up control method, by telescopic oil cylinder drive bolt mechanism, the action of inserting or pulling out bearing pins is carried out to single oil cylinder, comprise the following steps: when telescopic oil cylinder drives bolt mechanism to move, the position detected residing for bolt mechanism belongs to high-speed mobile district or low speed turnover zone in real time; Obtaining the high-speed mobile speed needed for this bolt mechanism when belonging to high-speed mobile district, obtaining the low speed translational speed needed for this bolt mechanism when belonging to low speed turnover zone; According to the coupling rotating speed N needed for the high-speed mobile speed of this bolt mechanism or the engine of this telescopic oil cylinder of low speed translational speed calculating driving; Wherein, this coupling rotating speed N need meet traffic demand and the power demand of scaling valve and expansion pump simultaneously; This coupling rotating speed N is set to the current rotating speed of this engine.
Wherein, obtaining the high-speed mobile speed needed for this bolt mechanism when belonging to high-speed mobile district at this, also comprising obtain the step of the low speed translational speed needed for this bolt mechanism when belonging to low speed turnover zone after: according to high-speed mobile speed or the low speed translational speed output actual current I of this bolt mechanism
valueto scaling valve, to control the duty of this scaling valve; Comprise in the step of this coupling rotating speed N calculated needed for the engine driving this telescopic oil cylinder according to the high-speed mobile speed of this bolt mechanism or low speed translational speed: the first coupling rotating speed N calculating this engine by the traffic demand of the expansion pump of this scaling valve and correspondence thereof
1, the second coupling rotating speed N of this engine is calculated by the power demand of the expansion pump of this scaling valve and correspondence thereof
2, in the hope of this coupling rotating speed N:
N＝Max(N
1，N
2)×K
In above-mentioned calculating formula, this first coupling rotating speed N
1, the second coupling rotating speed N
2and the unit of this coupling rotating speed N is rev/min, by the throttle servo antrol of this expansion pump with change this flexible pump capacity q and the unit of q for milliliter/turn, this engine driven expansion pump by hydraulic path to this scaling valve pumping high-voltage oil liquid, Q be this scaling valve rated flow and unit for liter/min, A is coefficient of regime, P is flexible pressure in this hydraulic path and unit is megapascal (MPa), η is the efficiency of this expansion pump, W be the power input of this expansion pump and unit for kilowatt, this the second coupling rotating speed N is obtained from the external characteristic curve of this engine according to this power input W
2, Max function is for getting maximal value, and K is safety coefficient.
Wherein, should when telescopic oil cylinder drives bolt mechanism to move, position residing for real-time detection bolt mechanism also comprises before belonging to the step of high-speed mobile district or low speed turnover zone: input the object state of this arm and obtain the current state of this arm, calculate total distance of movement needed for this bolt mechanism according to the object state of this arm and current state, this total distance is divided into this high-speed mobile district and the low speed turnover zone of this bolt mechanism; The high-speed mobile speed that should obtain when belonging to high-speed mobile district needed for this bolt mechanism, the step obtaining the low speed translational speed needed for this bolt mechanism when belonging to low speed turnover zone comprises: the state of this telescopic oil cylinder of detection is to obtain telescopic oil cylinder length in real time, according to the real-time distance of this bolt mechanism of telescopic oil cylinder length computation detected movement; This high-speed mobile district or low speed turnover zone is belonged to according to this bolt mechanism of the total Distance Judgment of this real-time Distance geometry, and the high-speed mobile speed obtained needed for this bolt mechanism or low speed translational speed.
Wherein, the first coupling rotating speed N of this engine is calculated at this by the traffic demand of the expansion pump of this scaling valve and correspondence thereof
1, the second coupling rotating speed N of this engine is calculated by the power demand of the expansion pump of this scaling valve and correspondence thereof
2, comprise in the hope of the step of this coupling rotating speed N: when this bolt mechanism is in this high-speed mobile district, this coefficient of regime A=1, K is greater than 1, that is:
N＝Max(N
1，N
2)×K
When this bolt mechanism is in this low speed turnover zone, K is greater than 1, now:
N＝Max(N
1，N
2)×K
In above-mentioned calculating formula, this actual current I
valveunit is mA, I
valve_minfor this scaling valve minimum current value and unit is mA, I
valve_maxfor this scaling valve maximum current value and unit is mA.
Wherein, comprise after this calculates the step of the coupling rotating speed N needed for the engine driving this telescopic oil cylinder according to the high-speed mobile speed of this bolt mechanism or low speed translational speed: according to the message format of engine speed moment of torsion steering order, this coupling rotating speed N is encoded into rotary speed instruction; At this, step that this coupling rotating speed N is set to the current rotating speed of this engine is comprised: according to this rotary speed instruction, the rotating speed of this engine is set to this coupling rotating speed N.
For solving the problems of the technologies described above, another technical solution used in the present invention is: provide a kind of hoisting arm expansion following control system, comprises bolt mechanism, telescopic oil cylinder, engine, length of oil cylinder pick-up unit, electronic control unit and control unit of engine.This bolt mechanism is used for inserting or pulling out bearing pins; This telescopic oil cylinder is fixedly connected with this bolt mechanism, moves for driving this bolt mechanism; This engine is for driving this telescopic oil cylinder to change the telescopic oil cylinder length of this telescopic oil cylinder; This length of oil cylinder pick-up unit is used for detecting this telescopic oil cylinder length in real time to determine that the position residing for this bolt mechanism belongs to high-speed mobile district or low speed turnover zone; This electronic control unit, obtain the high-speed mobile speed needed for this bolt mechanism correspondence or low speed translational speed when belonging to high-speed mobile district or low speed turnover zone for the position residing for this bolt mechanism, and high-speed mobile speed needed for this bolt mechanism or low speed translational speed calculate the coupling rotating speed N needed for this engine; Wherein, this coupling rotating speed N need calculate according to the traffic demand of scaling valve and expansion pump and power demand; This control unit of engine, is connected with this engine, and this coupling rotating speed N for being calculated by this electronic control unit is set to the current rotating speed of this engine.
Wherein, this system also comprises expansion pump and scaling valve.This expansion pump is used for getting high-voltage oil liquid by the driving of this engine from fuel tank pump, and this expansion pump comprises output oil port; This scaling valve comprises pressure oil port, oil return opening, the first actuator port, the second actuator port and ratio control end.This pressure oil port is used for being connected with this output oil port; This oil return opening is used for being connected with fuel tank; This first actuator port is used for being connected with the rod chamber of this telescopic oil cylinder; This second actuator port is used for being connected with the rodless cavity of this telescopic oil cylinder; This ratio control end and this electronic control unit are electrically connected; This electronic control unit exports actual current I according to the high-speed mobile speed of this bolt mechanism or low speed translational speed
valueto this ratio control end to change the valve openings size of this scaling valve and then to control the uninterrupted of high-voltage oil liquid, the coupling rotating speed N of this engine and this uninterrupted needed for scaling valve are matched.
Wherein, this system also comprises Telescopic pressing force snesor, is located in the hydraulic path that this output oil port is connected with the pressure oil port of this scaling valve, and is electrically connected with this electronic control unit.This Telescopic pressing force snesor is for measuring the pressure in this hydraulic path, this electronic control unit is calculated the flexible pressure P in this hydraulic path according to the pressure gauge in this hydraulic path and is calculated the power input W of this expansion pump by this flexible pressure P, makes it match with the rotating speed N that mates of this engine.
Wherein, this system also comprises display device, being electrically connected with this electronic control unit, inputting object state and the current state of this arm for showing user, and total distance of movement needed for this bolt mechanism of calculating through this electronic control unit of display and flexible progress percentage; This electronic control unit calculates total distance of movement needed for this bolt mechanism according to the object state of this arm and current state, and this total distance is divided into high-speed mobile district and the low speed turnover zone of this bolt mechanism; This length of oil cylinder pick-up unit is detected this telescopic oil cylinder length in real time and is calculated the real-time distance of this bolt mechanism movement by this electronic control unit, and this electronic control unit calculates this flexible progress percentage according to the real-time distance of this this bolt mechanism of total Distance geometry movement.
Wherein, this control unit of engine is electrically connected by CAN bus and this electronic control unit, and this coupling rotating speed N is encoded into rotary speed instruction according to the message format of engine speed moment of torsion steering order and is sent to by this CAN bus this control unit of engine the rotating speed of this engine is set to this coupling rotating speed N according to this rotary speed instruction by this electronic control unit.This electronic control unit calculates the first coupling rotating speed N of this engine by the traffic demand of this scaling valve and this expansion pump
1, the second coupling rotating speed N of this engine is calculated by the power demand of this scaling valve and this expansion pump
2, in the hope of this coupling rotating speed N:
When this bolt mechanism is in this high-speed mobile district, the computing method of this coupling rotating speed N comprise:
N＝Max(N
1，N
2)×K
When this bolt mechanism is in this low speed turnover zone, the computing method of this coupling rotating speed N comprise:
N＝Max(N
1，N
2)×K
In above-mentioned calculating formula, this first coupling rotating speed N
1, the second coupling rotating speed N
2and the unit of this coupling rotating speed N is rev/min, the unit of this flexible pressure P is MPa, Q be this scaling valve rated flow and unit for liter/min, q be this flexible pump capacity and unit be milliliter/turn, A is coefficient of regime, η is the efficiency of this expansion pump, W be the power input of this expansion pump and unit for kilowatt, this electronic control unit obtains this second coupling rotating speed N according to this power input W from the external characteristic curve of this engine
2, K be greater than 1 safety coefficient, Max function is maximizing, this actual current I
valveunit is mA, I
valve_minfor this scaling valve minimum current value and unit is mA, I
valve_maxfor this scaling valve maximum current value and unit is mA.
The invention has the beneficial effects as follows: the situation being different from prior art, hoisting arm expansion follow-up control method of the present invention and system correspond respectively to according to this bolt mechanism the coupling rotating speed N that translational speed that high-speed mobile region or low speed moving area should reach comes needed for calculation engine, and the rotating speed of this engine of accurate adjustment is this coupling rotating speed N intelligently, the rotating speed of engine and the stretching speed of bolt mechanism are matched, improve degree of accuracy and the correctness of engine speed, effectively improve the success ratio of extension and contraction control, thus avoid the risk factors brought due to manual hand manipulation's error, increase work efficiency.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of hoisting arm expansion follow-up control method one embodiment of the present invention;
Fig. 2 is the schematic flow sheet of another embodiment of hoisting arm expansion follow-up control method of the present invention;
Fig. 3 is the functional module connection diagram that hoisting arm expansion follow-up control system of the present invention unifies embodiment; And
Fig. 4 is the working oil path connected mode schematic diagram of hoisting arm expansion following control system of the present invention.
Embodiment
Referring to Fig. 1, is the schematic flow sheet of hoisting arm expansion follow-up control method one embodiment of the present invention.In the present embodiment, this hoisting arm expansion follow-up control method comprises:
Step S101, when telescopic oil cylinder drives bolt mechanism to move, the position detected residing for bolt mechanism belongs to high-speed mobile district or low speed turnover zone in real time.
Before this step S101, user first inputs the object state that this arm needs to stretch, then automatic telescopic switch is started, by this telescopic oil cylinder drive bolt mechanism, single oil cylinder is carried out to the action of slotting bearing pins, when this single oil cylinder needs to stretch, the afterbody of the jth joint telescopic arm that this telescopic oil cylinder drives this bolt mechanism to find will to stretch, stretch out work pin this telescopic oil cylinder and this jth are saved telescopic arm to lock, ensure that jth joint telescopic arm or jth-1 save telescopic arm and be in controllable state, then this jth joint telescopic arm of retracting is inserted in the bearing pins in jth-1 joint telescopic arm.Then, this telescopic oil cylinder and this bolt mechanism are fixed and are driven bolt mechanism to move toward object pin-and-hole.Certainly, can be also contractive action, therefore not to repeat here.Meanwhile, the flexible length of this telescopic oil cylinder can be detected by length of oil cylinder pick-up unit, determine that the position residing for this bolt mechanism belongs to high-speed mobile district or low speed turnover zone with this.
Step S102, obtains the high-speed mobile speed needed for this bolt mechanism when belonging to high-speed mobile district, obtain the low speed translational speed needed for this bolt mechanism when belonging to low speed turnover zone.
In this step S102, can be read from length of oil cylinder pick-up unit by electronic control unit and calculate telescopic oil cylinder length, then, translational speed needed for this bolt mechanism can be obtained at a high speed or low speed from the database prestored; Certainly, also translational speed needed for this bolt mechanism can directly be calculated by this electronic control unit; Understandably, high-speed mobile district can comprise acceleration, deceleration and region at the uniform velocity, and low speed turnover zone also can comprise the region of slowing down with at the uniform velocity.After determining the translational speed needed for this bolt mechanism, can by controlling the size of the valve of scaling valve to control the translational speed of this telescopic oil cylinder.For example can by changing the size of the electric current of scaling valve, make this scaling valve be in a certain flow status between flow full-gear, minimum flow state or two states, thus change the translational speed of this telescopic oil cylinder.
Step S103, according to the coupling rotating speed N needed for the high-speed mobile speed of this bolt mechanism or the engine of this telescopic oil cylinder of low speed translational speed calculating driving.
In this step S103, as mentioned above, when this scaling valve is in a certain flow status between flow full-gear, minimum flow state or two states, expansion pump needs to provide the high-voltage oil liquid of coupling flow enter this scaling valve and finally enter rod chamber or the rodless cavity of this telescopic oil cylinder, to change the translational speed of this telescopic oil cylinder.Therefore, the translational speed of this electronic control unit needed for this bolt mechanism calculates the coupling rotating speed N needed for engine of this expansion pump.In the present embodiment, this coupling rotating speed N also needs the traffic demand and the power demand that meet this scaling valve and this expansion pump simultaneously.In addition, this electronic control unit directly can arrange the rotating speed of this engine, also can require that this coupling rotating speed N is encoded into rotary speed instruction sends to control unit of engine according to the message format of TSC1 (engine speed moment of torsion steering order) in SAE-J1939 (the recommendation working specification of serial console communications automotive networking).Wherein, in order to prevent engine capacity on the low side, or the underfed of telescopic oil cylinder, the rotating speed of engine, by calculating pre-service, is defined between idling to maximum speed, and this step accurately calculates to control the rotating speed of engine for coupling rotating speed N further.
Step S104, is set to the current rotating speed of this engine by this coupling rotating speed N.
In this step S104, be this coupling rotating speed N by this electronic control unit or by this control unit of engine to arrange this engine rotating speed according to this rotary speed instruction.After this bolt mechanism is stretched over object pin-and-hole, releasing bearing pin, the bearing pins of this jth joint telescopic arm is inserted in jth-1 to be saved in telescopic arm, save telescopic arm again lock jth to be saved telescopic arm and jth-1, complete the stretching of jth joint telescopic arm, certainly, can be also contractive action, therefore not to repeat here.Repeat this step S101 to step S104, until the single oil cylinder of this arm stretches to object state.
The coupling rotating speed N of embodiment of the present invention hoisting arm expansion follow-up control method needed for the translational speed calculation engine of this bolt mechanism, and the rotating speed of this engine of accurate adjustment is this coupling rotating speed N intelligently, the rotating speed of engine and the stretching speed of bolt mechanism are matched, improve degree of accuracy and the correctness of engine speed, effectively improve the success ratio of extension and contraction control, thus avoid the risk factors brought due to manual hand manipulation's error, increase work efficiency.
Consulting Fig. 2 incorporated by reference to Fig. 1, is the schematic flow sheet of another embodiment of hoisting arm expansion follow-up control method of the present invention.In the particular embodiment, this hoisting arm expansion follow-up control method comprises:
Step S200, input the object state of this arm and obtain the current state of this arm, calculate total distance of movement needed for this bolt mechanism according to the object state of this arm and current state, this total distance is divided into this high-speed mobile district and the low speed turnover zone of this bolt mechanism.
In this step S200, user first inputs the object state that this arm needs to stretch, and is then detected the current state of this arm by mechanism status pick-up unit and/or length of oil cylinder pick-up unit.After starting automatic telescopic switch, by telescopic oil cylinder drive bolt mechanism, single oil cylinder is carried out to the action of slotting bearing pins, when this single oil cylinder needs to carry out flexible, the afterbody of the jth joint telescopic arm that this telescopic oil cylinder drives this bolt mechanism to find will to stretch, stretch out work pin this telescopic oil cylinder and this jth are saved telescopic arm to lock, ensure that jth joint telescopic arm or jth-1 save telescopic arm and be in controllable state, then this jth joint telescopic arm of retracting is inserted in the bearing pins in jth-1 joint telescopic arm.
Step S201, when telescopic oil cylinder drives bolt mechanism to move, the position detected residing for bolt mechanism belongs to high-speed mobile district or low speed turnover zone in real time.
In this step S201, this telescopic oil cylinder and this bolt mechanism are fixed and are driven bolt mechanism to move toward object pin-and-hole.Meanwhile, telescopic oil cylinder length can be detected by length of oil cylinder pick-up unit, determine that the position residing for this bolt mechanism belongs to high-speed mobile district or low speed turnover zone with this.
Step S202, obtains the high-speed mobile speed needed for this bolt mechanism when belonging to high-speed mobile district, obtain the low speed translational speed needed for this bolt mechanism when belonging to low speed turnover zone.
In this step S202, can be read from length of oil cylinder pick-up unit by electronic control unit and calculate the flexible length of this telescopic oil cylinder, then, from the database prestored, obtain translational speed needed for this bolt mechanism at a high speed or low speed.Certainly, also translational speed needed for this bolt mechanism can directly be calculated by this electronic control unit.
Step S203, according to high-speed mobile speed or the low speed translational speed output actual current I of this bolt mechanism
valueto scaling valve, to control the duty of this scaling valve.
In this step S203, as previously mentioned, need the input current adjusting scaling valve accordingly to change the valve openings size of scaling valve, make this scaling valve be in a certain flow status between flow full-gear, minimum flow state or two states, thus change the translational speed of this telescopic oil cylinder.
Step S204, calculates the first coupling rotating speed N of this engine by the traffic demand of the expansion pump of this scaling valve and correspondence thereof
1, the second coupling rotating speed N of this engine is calculated by the power demand of the expansion pump of this scaling valve and correspondence thereof
2, in the hope of this coupling rotating speed N.
In this step S204, this first coupling rotating speed N
1, the second coupling rotating speed N
2comprise with the concrete computation process of coupling rotating speed N:
N=Max (N
1, N
2) × K-Shi 3
In the present embodiment, unless otherwise indicated, this first coupling rotating speed N
1, the second coupling rotating speed N
2and the unit of this coupling rotating speed N is r (rev/min), by the throttle servo antrol of this expansion pump, to change this flexible pump capacity q, (unit is for mL/r, milliliter/turn), this engine driven expansion pump by hydraulic path to this scaling valve pumping high-voltage oil liquid, Q is that (unit is L/min to this scaling valve rated flow, liter/min), A is coefficient of regime, P is that (unit is MPa for flexible pressure in this hydraulic path, megapascal (MPa)), η is the efficiency of this expansion pump, W is that (unit is KW for the power input of this expansion pump, kilowatt), this the second coupling rotating speed N is obtained from the external characteristic curve of this engine according to this power input W
2, Max function for getting maximal value, K be greater than 1 safety coefficient.
Furthermore, when this bolt mechanism is in this high-speed mobile district, this coefficient of regime A=1, that is:
N=Max (N
1, N
2) × K-Shi 6
And when this bolt mechanism is in this low speed turnover zone, that is:
N=Max (N
1, N
2) × K-Shi 10
In formula 7 in formula 10, I
valve_minfor the minimum current value (unit is mA, milliampere) of this scaling valve, I
valve_maxfor the maximum current value (unit is mA) of this scaling valve, when engine is in high regime, the actual current I of scaling valve
value(unit is mA) equals I
valve_max, i.e. A=1.
Step S205, is encoded into rotary speed instruction according to the message format of engine speed moment of torsion steering order by this coupling rotating speed N.
In this step S205, the rotating speed of this engine directly can be set by this electronic control unit, also can require that this coupling rotating speed N is encoded into rotary speed instruction sends to control unit of engine according to the message format of TSC1 in SAE-J1939.
Step S206, is set to this coupling rotating speed N according to this rotary speed instruction by the rotating speed of this engine.
As previously mentioned, can be this coupling rotating speed N by this electronic control unit or by this control unit of engine to arrange this engine rotating speed according to this rotary speed instruction.After this bolt mechanism is stretched over object pin-and-hole, releasing bearing pin, the bearing pins of this jth joint telescopic arm is inserted in jth-1 to be saved in telescopic arm, save telescopic arm again lock jth to be saved telescopic arm and jth-1, complete the stretching of jth joint telescopic arm, certainly, can be also contractive action, therefore not to repeat here.Repeat this step S200 to step S206, until the single oil cylinder of this arm stretches to object state.
The coupling rotating speed N of embodiment of the present invention hoisting arm expansion follow-up control method needed for the translational speed calculation engine of this bolt mechanism, and the rotating speed of this engine of accurate adjustment is this coupling rotating speed N intelligently, the rotating speed of engine and the stretching speed of bolt mechanism are matched, improve degree of accuracy and the correctness of engine speed, effectively improve the success ratio of extension and contraction control, thus avoid the risk factors brought due to manual hand manipulation's error, increase work efficiency.
Hoisting arm expansion following control system below in conjunction with the embodiment of the present invention is further described this hoisting arm expansion follow-up control method, and wherein, this hoisting arm expansion following control system is applied but is not limited to large-scale engineering machinery arm, crane and obstacles removing car etc.
Refer to Fig. 3 to Fig. 4, in the present embodiment, this hoisting arm expansion following control system comprises bolt mechanism (not shown), electronic control unit 30 and the mechanism status pick-up unit 31 be connected with electronic control unit 30, length of oil cylinder pick-up unit 32, control unit of engine (ECU) 33, engine 34, scaling valve 35, Telescopic pressing force snesor 36, expansion pump 40 and telescopic oil cylinder 41 etc.
As previously mentioned, bolt mechanism is used for inserting or pulling out bearing pins, and telescopic oil cylinder 41 is fixedly connected with this bolt mechanism.
Electronic control unit 30 also claims vehicle electronic control unit, ECU (Electrical Control Unit), automobile electronic control unit, integrated circuit control module or Multi-channel controller etc., mainly in order to the control device of realization to a series of functions such as the analyzing and processing transmissions of data.In the present embodiment, electronic control unit 30 can obtain high-speed mobile speed needed for this bolt mechanism correspondence or low speed translational speed when belonging to high-speed mobile district or low speed turnover zone in the position residing for this bolt mechanism, and high-speed mobile speed needed for this bolt mechanism or low speed translational speed calculate the coupling rotating speed N needed for engine driving this telescopic oil cylinder;
Mechanism status pick-up unit 31 is mainly for detection of the action of bolt mechanism release work pin, also for detecting the current state etc. of the single oil cylinder of this arm, comprise the real-time status of arm combination, telescopic oil cylinder 41, bearing pins and work pin, the data that electronic control unit 30 can detect according to mechanism status pick-up unit 31 carry out overall treatment.
Length of oil cylinder pick-up unit 32, for detecting the telescopic oil cylinder length of this telescopic oil cylinder 41 in real time to determine that the position residing for this bolt mechanism belongs to high-speed mobile district or low speed turnover zone, can also be used for the current state that matching mechanism condition checkout gear 31 detects single oil cylinder.
Control unit of engine 33 and common single-chip microcomputer similar, be made up of microprocessor (CPU), storer (ROM, RAM), input/output interface (I/O), analog to digital converter (A/D) and the integrated circuit such as shaping, driving, it mainly carries out computing, process and judgement according to the data of electronic control unit 30 or the information of various sensor input, and then output order is to control the rotating speed of engine.The present embodiment in order to distinguish its function, and is provided with separately this control unit of engine 33 for engine 34, in other embodiments, control unit of engine 33 and electronic control unit 30 accessible site to together with.In addition, control unit of engine 33 is electrically connected by CAN (controller local area network) bus and electronic control unit 30, in the process of work, this coupling rotating speed N is encoded into rotary speed instruction and sends to control unit of engine 33 by CAN according to the message format of TSC1 in SAE-J1939 by electronic control unit 30, for example, electronic control unit 30 is according at the 2nd of ID=0C0000F0, rotary speed instruction is sent to control unit of engine 33 by the 3rd byte, the adjustment of rotational speed of engine 34 is this coupling rotating speed N by this rotary speed instruction by control unit of engine 33.Specifically, electronic control unit 30 calculates the first coupling rotating speed N of engine 34 by the traffic demand of scaling valve 35 and expansion pump 40
1, the second coupling rotating speed N of engine 34 is calculated by the power demand of this scaling valve 35 and expansion pump 40
2, the coupling rotating speed N in the hope of needed for engine 34:
When this bolt mechanism is in this high-speed mobile district, the computing method of this coupling rotating speed N comprise following process:
N=Max (N
1, N
2) × K-Shi 13
When this bolt mechanism is in this low speed turnover zone, the computing method of this coupling rotating speed N comprise following process:
N=Max (N
1, N
2) × K-Shi 16
In the formula 11 to 16 of the present embodiment, unless otherwise indicated, the first coupling rotating speed N
1, the second coupling rotating speed N
2and the unit of this coupling rotating speed N is r (rev/min), Q is the rated flow (unit is L/min) of scaling valve 35, q is the discharge capacity (unit is mL/r) of expansion pump 40, P is the flexible pressure (unit is MPa) in the hydraulic path between scaling valve 35 to expansion pump 40, η is the efficiency of expansion pump 40, W is the power input (unit is KW) of expansion pump 40, obtains this second coupling rotating speed N according to this power input W from the external characteristic curve of this engine 34
2, Max function for getting maximal value, K be greater than 1 safety coefficient, I
valve_minfor the minimum current value (unit is mA) of scaling valve 35, I
valve_maxfor the maximum current value (unit is mA) of scaling valve 35, when engine 34 is in high regime, the actual current I of scaling valve 35
value(unit is mA) equals I
valve_max.
Engine 34 is mainly used in providing power to expansion pump 40, is controlled the flow of expansion pump 40 pumping high-voltage oil liquid by the rotating speed of engine 34.In other words, engine 34 is for driving this telescopic oil cylinder 41 to change the telescopic oil cylinder length of this telescopic oil cylinder 41, and this expansion pump 40 is then undertaken driving by this engine 34 to be got high-voltage oil liquid from fuel tank pump and is transported to scaling valve 35 by the output oil port of expansion pump 40.
Scaling valve 35 comprises pressure oil port, oil return opening, the first actuator port, the second actuator port and ratio control end Y1a, Y1b.Be connected by the output oil port of this pressure oil port with expansion pump 40; Be connected with fuel tank by this oil return opening; Be connected with the rod chamber of telescopic oil cylinder 41 by this first actuator port; Be connected with the rodless cavity of telescopic oil cylinder 41 by this second actuator port; Be electrically connected by this ratio control end Y1a, Y1b and electronic control unit 30.In the present embodiment, electronic control unit 30 exports actual current I according to the high-speed mobile speed of this bolt mechanism or low speed translational speed
valueto ratio control end Y1a, Y1b, to control the duty of the pressure oil port of scaling valve 35, oil return opening, the first actuator port and the second actuator port, and the valve openings size controlling scaling valve 35 is to control the uninterrupted of the high-voltage oil liquid of this first actuator port or this second actuator port, makes the coupling rotating speed N of this engine 34 and the uninterrupted needed for scaling valve 35 match.As Fig. 4, its inner concrete structure of scaling valve 35 is for shown in dotted portion, and because belonging to prior art, therefore not to repeat here.
As previously mentioned, in the hydraulic path that the output oil port that Telescopic pressing force snesor 36 is located at expansion pump 40 is connected with the pressure oil port of scaling valve 35, and be electrically connected with electronic control unit 30, Telescopic pressing force snesor 36 is for measuring the pressure in this hydraulic path, and the flexible pressure P calculated by electronic control unit 30 in this hydraulic path, calculated the power input W of expansion pump 40 by flexible pressure P, make it match with the rotating speed N that mates of engine 34.
Display device 37 and electronic control unit 30 are electrically connected, it can be touch-screen etc., object state and the current state of this arm is inputted for showing user, and total distance of movement needed for this bolt mechanism of calculating through this electronic control unit 30 of display and flexible progress percentage etc.Wherein, electronic control unit 30 calculates total distance of movement needed for this bolt mechanism according to the object state of this arm and current state, and this total distance is divided into high-speed mobile district and the low speed turnover zone of this bolt mechanism, then, this length of oil cylinder pick-up unit 32 is in real time detected this telescopic oil cylinder length and is calculated the real-time distance of this bolt mechanism movement by this electronic control unit 30, furthermore, this electronic control unit 30 calculates this flexible progress percentage according to the real-time distance of this this bolt mechanism of total Distance geometry movement and shows, the visual operation of meeting an urgent need is carried out with standby user, prevent accident etc.
Certainly, except display device 37, the embodiment of the present invention can also comprise switch order input block 38 and status indicator lamp 39, can automatic telescopic switch be started by switch order input block 38 or input the actions such as various instructions, can be shown the job schedule and retracted position etc. of this flexible progress percentage or hoisting arm expansion following control system by status indicator lamp 39, therefore not to repeat here.
The hoisting arm expansion following control system of the embodiment of the present invention, except the principle of work of said structure and correspondence thereof, can also comprise other structures of engineering machinery arm and the principle of work of correspondence, in the scope that the art personnel understand, be not construed as limiting.
In sum, embodiment of the present invention hoisting arm expansion follow-up control system unifies method can coupling rotating speed N needed for the translational speed calculation engine 34 of this bolt mechanism, and the rotating speed of this engine 34 of accurate adjustment is this coupling rotating speed N intelligently, the rotating speed of engine 34 and the stretching speed of bolt mechanism are matched, improve degree of accuracy and the correctness of engine 34 rotating speed, effectively improve the success ratio of extension and contraction control, thus avoid the risk factors brought due to manual hand manipulation's error, increase work efficiency.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. a hoisting arm expansion follow-up control method, described arm carries out the action of inserting or pulling out bearing pins by telescopic oil cylinder drive bolt mechanism to single oil cylinder, it is characterized in that, comprising:
When telescopic oil cylinder drives bolt mechanism to move, the position detected residing for bolt mechanism belongs to high-speed mobile district or low speed turnover zone in real time;
Obtaining the high-speed mobile speed needed for described bolt mechanism when belonging to high-speed mobile district, obtaining the low speed translational speed needed for described bolt mechanism when belonging to low speed turnover zone;
According to the coupling rotating speed N needed for the high-speed mobile speed of described bolt mechanism or the engine of the described telescopic oil cylinder of low speed translational speed calculating driving; Wherein, described coupling rotating speed N need meet traffic demand and the power demand of scaling valve and expansion pump simultaneously;
Described coupling rotating speed N is set to the current rotating speed of described engine.
2. method according to claim 1, it is characterized in that, in the described high-speed mobile speed obtained when belonging to high-speed mobile district needed for described bolt mechanism, also comprise obtain the step of the low speed translational speed needed for described bolt mechanism when belonging to low speed turnover zone after:
According to high-speed mobile speed or the low speed translational speed output actual current I of described bolt mechanism
valueto scaling valve, to control the duty of described scaling valve;
The step calculating the coupling rotating speed N needed for engine of the described telescopic oil cylinder of driving in the described high-speed mobile speed according to described bolt mechanism or low speed translational speed comprises:
The first coupling rotating speed N of described engine is calculated by the traffic demand of the expansion pump of described scaling valve and correspondence thereof
1, the second coupling rotating speed N of described engine is calculated by the power demand of the expansion pump of described scaling valve and correspondence thereof
2, in the hope of described coupling rotating speed N, wherein:
N＝Max(N
1，N
2)×K
Wherein, described first coupling rotating speed N
1, the second coupling rotating speed N
2and the unit of described coupling rotating speed N is rev/min, by the throttle servo antrol of described expansion pump with change described flexible pump capacity q and the unit of q for milliliter/turn, described engine driven expansion pump by hydraulic path to described scaling valve pumping high-voltage oil liquid, Q be described scaling valve rated flow and unit for liter/min, A is coefficient of regime, P is flexible pressure in described hydraulic path and unit is megapascal (MPa), η is the efficiency of described expansion pump, W be the power input of described expansion pump and unit for kilowatt, described second coupling rotating speed N is obtained from the external characteristic curve of described engine according to described power input W
2, Max function is for getting maximal value, and K is safety coefficient.
3. method according to claim 2, is characterized in that, described when telescopic oil cylinder drives bolt mechanism to move, the position detected residing for bolt mechanism also comprises before belonging to the step of high-speed mobile district or low speed turnover zone in real time:
Input the object state of described arm and obtain the current state of described arm, calculate total distance of movement needed for described bolt mechanism according to the object state of described arm and current state, described total distance is divided into described high-speed mobile district and the low speed turnover zone of described bolt mechanism;
The described high-speed mobile speed obtained when belonging to high-speed mobile district needed for described bolt mechanism, the step obtaining the low speed translational speed needed for described bolt mechanism when belonging to low speed turnover zone comprises:
The state of the described telescopic oil cylinder of real-time detection to obtain telescopic oil cylinder length, the real-time distance of bolt mechanism movement according to the telescopic oil cylinder length computation detected;
According to the total Distance Judgment of described real-time Distance geometry, bolt mechanism belongs to described high-speed mobile district or low speed turnover zone, and the high-speed mobile speed obtained needed for described bolt mechanism or low speed translational speed.
4. method according to claim 3, is characterized in that, calculates the first coupling rotating speed N of described engine at the traffic demand of the described expansion pump by described scaling valve and correspondence thereof
1, the second coupling rotating speed N of described engine is calculated by the power demand of the expansion pump of described scaling valve and correspondence thereof
2, comprise in the hope of the step of described coupling rotating speed N:
When described bolt mechanism is in described high-speed mobile district, described coefficient of regime A=1, K is greater than 1, that is:
N＝Max(N
1，N
2)×K
When described bolt mechanism is in described low speed turnover zone, K is greater than 1, now:
N＝Max(N
1，N
2)×K
Wherein, described actual current I
valveunit is mA, I
valve_minfor the minimum current value of described scaling valve and I
valve_minunit is mA, I
valve_maxfor described scaling valve maximum current value and unit is mA.
5. method according to claim 4, is characterized in that, comprises after the described high-speed mobile speed according to described bolt mechanism or low speed translational speed calculate the step of the coupling rotating speed N needed for the engine driving described telescopic oil cylinder:
According to the message format of engine speed moment of torsion steering order, described coupling rotating speed N is encoded into rotary speed instruction;
Described, the step that described coupling rotating speed N is set to the current rotating speed of described engine is comprised:
According to described rotary speed instruction, the rotating speed of described engine is set to described coupling rotating speed N.
6. a hoisting arm expansion following control system, is characterized in that, comprising:
Bolt mechanism, for inserting or pulling out bearing pins;
Telescopic oil cylinder, is fixedly connected with described bolt mechanism, moves for driving described bolt mechanism;
Engine, for driving described telescopic oil cylinder to change the telescopic oil cylinder length of described telescopic oil cylinder;
Length of oil cylinder pick-up unit, for detecting described telescopic oil cylinder length in real time to determine that the position residing for described bolt mechanism belongs to high-speed mobile district or low speed turnover zone;
Electronic control unit, obtain the high-speed mobile speed needed for described bolt mechanism correspondence or low speed translational speed when belonging to high-speed mobile district or low speed turnover zone for the position residing for described bolt mechanism, and high-speed mobile speed needed for described bolt mechanism or low speed translational speed calculate the coupling rotating speed N needed for described engine; Wherein, described coupling rotating speed N need calculate according to the traffic demand of scaling valve and expansion pump and power demand
Control unit of engine, is connected with described engine, and the described coupling rotating speed N for being calculated by described electronic control unit is set to the current rotating speed of described engine.
7. system according to claim 6, is characterized in that, also comprises expansion pump and scaling valve:
Described expansion pump, get high-voltage oil liquid for the driving by described engine from fuel tank pump, described expansion pump comprises output oil port;
Described scaling valve comprises:
Pressure oil port, for being connected with described output oil port;
Oil return opening, for being connected with fuel tank;
First actuator port, for being connected with the rod chamber of described telescopic oil cylinder;
Second actuator port, for being connected with the rodless cavity of described telescopic oil cylinder;
Ratio control end, is electrically connected with described electronic control unit;
Described electronic control unit exports actual current I according to the high-speed mobile speed of described bolt mechanism or low speed translational speed
valueto described ratio control end to change the valve openings size of described scaling valve and then to control the uninterrupted of high-voltage oil liquid, the coupling rotating speed N of described engine and the uninterrupted needed for described scaling valve are matched.
8. system according to claim 7, is characterized in that, also comprises:
Telescopic pressing force snesor, is located in the hydraulic path that described output oil port is connected with the pressure oil port of described scaling valve, and is electrically connected with described electronic control unit; Described Telescopic pressing force snesor is for measuring the pressure in described hydraulic path, described electronic control unit is calculated the flexible pressure P in described hydraulic path according to the pressure gauge in described hydraulic path and is calculated the power input W of described expansion pump by described flexible pressure P, makes it match with the rotating speed N that mates of described engine.
9. system according to claim 8, is characterized in that, also comprises:
Display device, be electrically connected with described electronic control unit, object state and the current state of described arm is inputted for showing user, and total distance of movement needed for the described bolt mechanism that calculates through described electronic control unit of display and flexible progress percentage;
Wherein, described electronic control unit calculates total distance of movement needed for described bolt mechanism according to the object state of described arm and current state, and described total distance is divided into high-speed mobile district and the low speed turnover zone of described bolt mechanism; Described length of oil cylinder pick-up unit is detected described telescopic oil cylinder length in real time and is calculated the real-time distance of described bolt mechanism movement by described electronic control unit, and the real-time distance of described electronic control unit bolt mechanism movement according to described total Distance geometry calculates described flexible progress percentage.
10. system according to claim 8 or claim 9, it is characterized in that, described control unit of engine is electrically connected by CAN bus and described electronic control unit, and described coupling rotating speed N is encoded into rotary speed instruction according to the message format of engine speed moment of torsion steering order and is sent to by described CAN bus described control unit of engine the rotating speed of described engine is set to described coupling rotating speed N according to described rotary speed instruction by described electronic control unit;
Wherein, described electronic control unit calculates the first coupling rotating speed N of described engine by the traffic demand of described scaling valve and described expansion pump
1, the second coupling rotating speed N of described engine is calculated by the power demand of described scaling valve and described expansion pump
2, in the hope of described coupling rotating speed N:
When described bolt mechanism is in described high-speed mobile district, the computing method of described coupling rotating speed N comprise:
N＝Max(N
1，N
2)×K
When described bolt mechanism is in described low speed turnover zone, the computing method of described coupling rotating speed N comprise:
N＝Max(N
1，N
2)×K
Wherein, described first coupling rotating speed N
1, the second coupling rotating speed N
2and the unit of described coupling rotating speed N is rev/min, the unit of described flexible pressure P is MPa, Q be described scaling valve rated flow and unit for liter/min, q be described flexible pump capacity and unit be milliliter/turn, A is coefficient of regime, η is the efficiency of described expansion pump, W be the power input of described expansion pump and unit for kilowatt, described electronic control unit obtains described second coupling rotating speed N according to described power input W from the external characteristic curve of described engine
2, K be greater than 1 safety coefficient, Max function is maximizing, described actual current I
valveunit is mA, I
valve_minfor described scaling valve minimum current value and unit is mA, I
valve_maxfor described scaling valve maximum current value and unit is mA.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210106701.4A CN102637047B (en) | 2012-04-12 | 2012-04-12 | Suspension arm telescopic follow-up control method and system |
| PCT/CN2012/082345 WO2013152575A1 (en) | 2012-04-12 | 2012-09-28 | Method and system for telescopic follow control of boom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210106701.4A CN102637047B (en) | 2012-04-12 | 2012-04-12 | Suspension arm telescopic follow-up control method and system |
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| Publication Number | Publication Date |
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| CN102637047A CN102637047A (en) | 2012-08-15 |
| CN102637047B true CN102637047B (en) | 2015-01-21 |
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| WO (1) | WO2013152575A1 (en) |
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| CN102637047B (en) * | 2012-04-12 | 2015-01-21 | 中联重科股份有限公司 | Suspension arm telescopic follow-up control method and system |
| CN104340884B (en) * | 2014-08-20 | 2016-04-06 | 中联重科股份有限公司 | Control method, equipment and system for single-cylinder bolt type telescopic arm and engineering machinery |
| CN110240072B (en) * | 2019-06-17 | 2020-05-15 | 辽宁机电职业技术学院 | Control method for telescopic arm of crane |
| CN112520655A (en) * | 2020-11-26 | 2021-03-19 | 湖南星邦智能装备股份有限公司 | Arm support telescopic control method, arm support control system and aerial work platform |
| CN113093641B (en) * | 2021-04-01 | 2022-11-22 | 湖南鸿辉科技有限公司 | Automatic bolt control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5877693A (en) * | 1998-05-27 | 1999-03-02 | Grove U.S. L.L.C. | Method and apparatus for measuring the length of a multi-section telescopic boom |
| JP2003343296A (en) * | 2002-03-20 | 2003-12-03 | Honda Motor Co Ltd | Compression ratio variable engine |
| CN1418805A (en) * | 2002-11-13 | 2003-05-21 | 徐州重型机械厂 | Multiple arms telescopic device automatically controlled by single telescopic cylinder |
| JP4031746B2 (en) * | 2003-09-26 | 2008-01-09 | 三菱重工業株式会社 | Controller for large industrial vehicles |
| CN201154878Y (en) * | 2007-11-30 | 2008-11-26 | 三一重工股份有限公司 | Expansion control device for multi-joint arm of single-expansion oil cylinder |
| JP2009242006A (en) * | 2008-03-28 | 2009-10-22 | Ihi Corp | Turning control device of deck crane |
| CN101723262B (en) * | 2008-10-15 | 2011-09-14 | 徐州重型机械有限公司 | Control system of telescopic boom bolt mechanism |
| CN101440829B (en) * | 2008-12-19 | 2011-02-09 | 三一集团有限公司 | Engineering machine and engineering machine control method |
| CN201339619Y (en) * | 2009-02-06 | 2009-11-04 | 徐州重型机械有限公司 | Multiple-pump working controller, control system and crane |
| CN102637047B (en) * | 2012-04-12 | 2015-01-21 | 中联重科股份有限公司 | Suspension arm telescopic follow-up control method and system |
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2012
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| WO2013152575A1 (en) | 2013-10-17 |
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