The invention discloses a method for controlling a cantilever crane, a cantilever crane control device and engineering machinery. The method comprises the following steps: acquiring a target speed of a tail end boom in a plurality of booms; the expected angular displacement of each joint in the preset period is determined according to the target speed and the preset period; according to the target speed and the expected angular displacement, the expected angular speed of each joint is determined; the actual angular displacement of each joint is obtained; determining a control law of a PID controller according to the expected angular displacement, the expected angular velocity and the actual angular displacement; and according to the control law of the PID controller, the arm support is controlled to move through the PID controller. According to the method, the PID control parameters of the arm support can be automatically adjusted according to different working conditions, manual adjustment is not needed, and the control precision and efficiency of the arm support are improved while the adjustment difficulty and strength of the control parameters of the arm support are reduced.
本申请公开了一种控制臂架的方法、臂架控制装置及工程机械。该方法包括:获取多个臂架中的末端臂架的目标速度;根据目标速度和预设周期确定每个关节在预设周期内的期望角位移;根据目标速度和期望角位移确定每个关节的期望角速度;获取每个关节的实际角位移;根据期望角位移、期望角速度和实际角位移确定PID控制器的控制律;根据PID控制器的控制律,通过PID控制器控制臂架运动。本申请可以针对不同的工况,自动随对臂架的PID控制参数进行调整,不需要人工调整,在降低了臂架控制参数的调整难度与强度的同时提高了臂架的控制精度和效率。
Method for controlling cantilever crane, cantilever crane control device and engineering machinery
控制臂架的方法、臂架控制装置及工程机械
2023-11-14
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / B66C Krane , CRANES |
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