Engineering machine and controlling method and controlling system for engineering machine

Abstract

The invention discloses an engineering machine and a controlling method and a controlling system for the engineering machine. The engineering machine comprises n sections of arm supports sequentially hinged through hinged shafts. The controlling method comprises the following steps of: detecting the angle parameter of each arm support in the current state or the state parameter of an arm support cylinder for driving the arm supports to move at the current moment; sending a control instruction according to the angle parameters in the current state or the state parameter of the arm support cylinder at the current moment and a preset control strategy; and controlling hydraulic oil flow of the arm support cylinder according to the control instruction, so that each arm support uniformly rotates around the corresponding hinged shaft. By the controlling method, the hydraulic oil flow of the cylinder for driving the arm supports to move can be adjusted in real time, and uniform rotation of the arm supports is realized; the controlling method is relatively high in control precision and easy to implement; and a hydraulic element is not required to be added, and the control program can be directly improved in the conventional hydraulic system, so that the reformation cost is reduced.

Description

technical field [0001] The invention relates to the technical field of construction machinery control, in particular to a control method for construction machinery. In addition, the present invention also relates to a control system and a construction machine including the above control method. Background technique [0002] Construction machinery is mainly used for concrete pumping and elevating fire protection. Among them, concrete pump truck is a typical construction machinery, which mainly uses pumping power to transport concrete to designated locations along the delivery pipeline. [0003] The conveying pipeline is generally set on the foldable boom device, which has the actions of unfolding, folding and rotating. The boom device includes several section arms and boom oil cylinders and connecting rods arranged between two adjacent boom sections. , hinged shaft, etc. Each two-section boom and its connecting rod constitute a four-bar mechanism, which is driven by a hydra...

AI Technical Summary

Problems solved by technology

[0006] In the prior art, the multi-way control valve controls the movement of the driving cylinders of each section of the boom to approach a uniform speed. However, when the driving cylinders move at a uniform speed, the boom itself moves at a variable speed, and often unfolds or retracts quickly and sometimes slowly. The coordination of the movement of the boom is relatively poor, resulting in relatively poor working stability of the engineering vehicle

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