The invention provides a motion control method and device of an overhead working truck, a controller and the overhead working truck, and the method comprises the steps that when a starting signal of one-key motion is detected, an initial main arm angle and an initial main arm length are obtained; in the movement process, the actual main arm length and the actual main arm angle are obtained; calculating a theoretical main arm length according to the initial main arm angle, the initial main arm length and the actual main arm angle; determining a target difference value between the theoretical main arm length and the actual main arm length; and controlling the main arm to stretch according to the target difference value. According to the method, one-key control is carried out on main arm stretching according to the theoretical main arm length, the control accuracy is improved, the deviation is smaller, the effect of long-distance vertical movement or horizontal movement can be achieved, a mechanical structure does not need to be changed, and an additional sensor does not need to be added either.
本申请提供一种高空作业车的运动控制方法、装置、控制器及高空作业车,该方法包括:在检测到一键运动的启动信号时,获取初始主臂角度和初始主臂长度;在运动过程中,获取实际主臂长度和实际主臂角度;根据初始主臂角度、初始主臂长度、实际主臂角度计算理论主臂长度;确定理论主臂长度和实际主臂长度的目标差值;根据目标差值控制主臂的伸缩。本申请通过根据理论主臂长度对主臂伸缩进行一键控制的方式,提高控制的准确度,偏差更小,能够达到长距离垂直运动或水平运动的效果,并且不需要变动机械结构,也不需要添加额外的传感器。
Motion control method and device of overhead working truck, controller and overhead working truck
高空作业车的运动控制方法、装置、控制器及高空作业车
2025-01-14
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 |
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