Overhead working truck leveling system based on boom limit and control method thereof

Abstract

The invention discloses an overhead working truck leveling system based on boom limit and a control method thereof. Through the adoption of the boom limiting control method, after sampling is implemented by using sensors, an amplitude-variation system and a levelling system are introduced to limit and control booms, so that the levelling function of an operation platform can still be achieved when a workbench outputs a smaller levelling angle (equal to or smaller than 180 degrees) and a larger amplitude-variation angle (equal to or smaller than 260 degrees) is formed through boom lifting, the levelling function of the workbench can be achieved while the workbench is lifted in a large space, the lifting amplitude angles of arms are matched with smaller levelling output angles through the limiting and control on the booms, and the difficulty of levelling output is effectively reduced; besides, the booms are consistent with an automatic workbench levelling system in starting and stopping, so that the levelling hysteresis is low; moreover, the workbench serves as a single controlled object, so that the system is simple and easy to control.

Description

technical field [0001] The invention relates to the technical field of engineering machinery, in particular to a leveling system and control method for an aerial work vehicle based on boom constraints. Background technique [0002] The high-altitude aerial work vehicle requires not only a large working space, but also a fast lifting speed, and at the same time, it also puts forward high requirements for the continuity of the operation and the leveling accuracy. The leveling methods of common working platforms include self-weight type, mechanical type, hydrostatic type, electro-hydraulic type, etc. The first three leveling methods have low leveling accuracy, large lag, and are affected by factors such as operating height and service time. Therefore, it cannot meet the operation requirements of large height and large space. The electro-hydraulic leveling method combines the advantages of electrical control and hydraulic transmission, overcomes the shortcomings of the traditio...

AI Technical Summary

Problems solved by technology

[0004] Patent ZL 201320563219.3 proposes an automatic leveling system and operating vehicle for a hybrid boom aerial work vehicle, although it solves the problem of limited output swing angle of the leveling hydraulic cylinder in the operation of a hybrid boom aerial work vehicle with a double-stage telescopic boom. The problem is to realize the leveling function of the working platform in a large space with a jib luffing angle of 260°. However, due to the existence of lower jib luffing, upper jib luffing, The multi-action combination between the variable amplitude and the leveling of the working platform will easily cause insufficient flow supply of the leveling circuit, resulting in a lag in the leveling response and affecting the control accuracy of the system

In addition, when using two-stage leveling, there are differences in front and rear leveling control objects. When the operator does not respond in time, the boom is likely to collide with surrounding obstacles.

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