Method and system for control over position of tail end of cantilever crane and engineering machine with system

Abstract

The embodiment of the invention provides a method and system for control over the position of the tail end of a cantilever crane and an engineering machine with the system. The method includes the steps that the direction and magnitude indicated by a control mechanism used for controlling the position of the tail end of the cantilever crane are received; the actual speed and position of the tail end of the cantilever crane are received; according to the direction and magnitude and the actual speed and actual position of the tail end of the cantilever crane, the target position of the tail endof the cantilever crane is determined; according to the target position of the tail end of the cantilever crane, a set of target joint positions are worked out through inverse solution; a set of target joint speeds are calculated; a driving mechanism of the cantilever crane is controlled so that one or more joints of the cantilever crane can meet the target joint positions and target joint speedsrespectively. In the scheme, an operator can directly control the position of the tail end of the cantilever crane, and it is not needed to separately control each joint of the cantilever crane to control the position of the tail end of the cantilever crane.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a method for controlling the position of a boom end, a system for controlling the position of the end of a boom, and construction machinery including the system for controlling the position of the end of a boom. Background technique [0002] Many construction machinery in the construction machinery industry involve the control of the boom, which generally includes one or more joints, and the current conventional method of controlling multi-joint booms is to control the movements of each joint separately through the remote control, so that The end of the boom gradually approaches the target position. [0003] As the number of joints increases, the operation process is cumbersome, and the requirements for operator proficiency and experience are also high. It is of great significance to develop a control method and system that allows the operator to directly control the positio...

AI Technical Summary

Problems solved by technology

[0003] With the increase in the number of joints, the operation process is cumbersome, and the requirements for operator proficiency and experience are also high.

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