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Anti-rollover control method and device of construction machinery and construction machinery

A technology of engineering machinery and control methods, applied in the direction of control without feedback, can solve the problems of lack of universal correctness and lag of anti-rollover control technology, and achieve remarkable predictability, universal correctness, and high safety guarantee effect of ability

Active Publication Date: 2020-01-10
ZOOMLION HEAVY IND CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide an anti-rollover control method and device for construction machinery and the construction machinery, which are used to solve the problems that the existing anti-rollover control technology has hysteresis and does not have universal correctness

Method used

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  • Anti-rollover control method and device of construction machinery and construction machinery
  • Anti-rollover control method and device of construction machinery and construction machinery
  • Anti-rollover control method and device of construction machinery and construction machinery

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] figure 1 It is a schematic flow chart of the anti-overturn control method for construction machinery provided in Embodiment 1 of the present invention, wherein the construction machinery includes a boom pump truck, a lifting machine with a folding arm, a folding arm fire truck, and the like. Such as figure 1 As shown, the anti-rollover control method may include the following steps:

[0039] Step S110, acquiring the boom reference included angle value of each boom section of the construction machine.

[0040] Wherein, the reference angle value of the boom is intended to indicate the value of the included angle of the boom, figure 2 That is, the schematic diagram of the included angle of the boom in the embodiment of the present invention, in the figure β i Indicates the jib angle formed by the previous jib and the i-th jib, where i is 1, 2, 3, 4 and 5. However, it should be noted that the reference angle value of the jib here is also intended to use the word "refer...

Embodiment 2

[0082] Before the above-mentioned embodiment 1 uses the criterion of combining the "partial derivative value of the vehicle safety factor with respect to the reference angle value of the boom" and "the change trend of the reference angle value of the boom" to make a safety judgment, the embodiment of the present invention The second option can be initially judged through the vehicle safety factor. Figure 6 It is a schematic flow chart of the second embodiment of the present invention to preliminarily determine whether to limit the movement of the boom according to the safety factor of the whole vehicle. Such as Figure 6 As shown, after establishing the functional relationship between the safety factor of the vehicle and the reference angle value of the boom in step S120, and before calculating the partial derivative value in step S130, the anti-rollover control method may further include:

[0083] Step S610, calculating the vehicle safety factor according to the reference a...

Embodiment 3

[0095] Figure 7 It is a structural schematic diagram of an anti-rollover control device for construction machinery in Embodiment 3 of the present invention. The anti-rollover control device and the anti-rollover control method in Embodiment 1 are based on the same inventive idea. Such as Figure 7 As shown, the anti-rollover control device may include: a storage module 10 for storing computer-executable instructions; and a control module 20 for executing the computer-executable instructions to perform the following operations:

[0096] Acquiring the boom reference angle value of each boom section of the construction machinery;

[0097] Establishing the functional relationship between the safety factor of the whole vehicle and the reference included angle value of the boom, and obtaining the partial derivative value obtained by calculating the partial derivative of the safety factor of the whole vehicle with respect to the reference included angle value of the boom of the cur...

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Abstract

The invention relates to the field of construction machinery, and discloses an anti-rollover control method and device for construction machinery and the construction machinery. The anti-rollover control method includes the steps that a cantilever crane reference inclined angle value of each cantilever crane of the construction machinery is obtained; a function relationship between a vehicle safety factor and the cantilever crane reference angle values is established, a partial derivative value is obtained by calculating the partial derivative of the vehicle safety factor from the cantilever crane reference inclined angle value of the currently moving cantilever crane, wherein the vehicle safety factor is used for indicating the stability of the vehicle anti-rollover; and it is determinedwhether to limit the movement of the cantilever crane based on the partial derivative value and the change trend of the cantilever crane reference inclined angle value of the currently moving cantilever crane affected by the movement. According to the anti-rollover control method and device for construction machinery and the construction machinery, "the partial derivative value of the vehicle safety factor with respect to the cantilever crane reference inclined angle values" and "change trend of the cantilever crane reference inclined angle values " are combined to be used for rollover judgment, the movement of the cantilever cranes before the movement of any cantilever crane is performed is limited, and significant foresight and universal correctness are achieved.

Description

technical field [0001] The present invention relates to the field of construction machinery, in particular to an anti-overturn control method and device for construction machinery and the construction machinery. Background technique [0002] Construction machinery and equipment that raises the boom are prone to tipping, so corresponding anti-tipping control is required, and engineering equipment with folding arms, such as boom pump trucks, lifting machinery with folding arms, and folding arm fire trucks etc. The attitude of the boom is more complex and usually pursues extreme operations (areas), which have higher requirements for anti-rollover control. [0003] The existing anti-rollover control technology mainly has the following two types: [0004] The first is to focus on the influence of the position of the center of gravity of the vehicle on tipping, and determine whether there is a risk of tipping by judging whether a certain operation has a favorable or adverse effec...

Claims

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Application Information

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IPC IPC(8): G05D3/10
CPCG05D3/10G05D1/0055G05D1/0891E04G21/0463E04G21/0436
Inventor 曾中炜付新宇聂一彪尹君
Owner ZOOMLION HEAVY IND CO LTD
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