CN-121974252-A - Free-falling hook hydraulic control method, device, system and storage medium

CN121974252ACN 121974252 ACN121974252 ACN 121974252ACN-121974252-A

Abstract

The invention relates to the technical field of hoisting equipment and discloses a free-falling hook hydraulic control method, a device, a system and a storage medium, wherein the original control current converted by an electric control proportional pedal output voltage signal is directly input into an electric proportional pressure reducing valve, so that the quick feedforward control of the pressure of a braking cavity is realized, the response delay problem caused by the reciprocating motion of a valve core of the electric proportional pressure reducing valve is solved, and the brake moment regulation and control can quickly follow pedal operation; meanwhile, the current brake cavity pressure is collected and converted into feedback current based on a first preset mapping relation, the target control current is obtained by combining the original control current and the feedback current, and then the electric proportional pressure reducing valve is driven to form pressure closed-loop control, so that the static hysteresis characteristic of the electric proportional pressure reducing valve is effectively compensated, the brake cavity pressure is accurately matched with pedal operation of a user, and the brake regulation accuracy in the free falling hooking process is improved.

Inventors

GONG XINGHUA
WANG CHUNYI
YU XIAOBIN
ZHU MINGQIANG

Assignees

浙江三一装备有限公司

Dates

Publication Date: 20260505
Application Date: 20260323

Claims (10)

1. The free-falling hook hydraulic control method is characterized by being applied to a free-falling hook hydraulic control system, wherein the free-falling hook hydraulic control system comprises an electric control proportional pedal, an electric proportional pressure reducing valve, an oil source, a clutch and a winding drum, the electric control proportional pedal is connected with the electric proportional pressure reducing valve, the oil source is connected with the clutch through the electric proportional pressure reducing valve, the clutch is connected with the winding drum, the electric proportional pressure reducing valve is used for adjusting the pressure of a braking cavity of the clutch so as to control the free-falling hook process of the winding drum, and the method comprises the following steps: Acquiring an output voltage signal of the electric control proportional pedal, obtaining an original control current based on the output voltage signal, and inputting the original control current to the electric proportional pressure reducing valve; Collecting the current braking cavity pressure of the clutch, and converting the current braking cavity pressure into feedback current according to a first preset mapping relation between the braking cavity pressure and control current; And obtaining a target control current according to the original control current and the feedback current, and inputting the target control current to the electro-proportional pressure reducing valve to control a free hook falling process.
2. The free-falling hook hydraulic control method according to claim 1, characterized in that before inputting the target control current to the electro-proportional pressure reducing valve, the method further comprises: acquiring a target rotating speed of the winding drum and acquiring an actual rotating speed of the winding drum; obtaining a speed compensation current based on a rotational speed error between the target rotational speed and the actual rotational speed; updating the target control current based on the speed compensation current.
3. The free-falling hook hydraulic control method according to claim 2, wherein the obtaining the target rotational speed of the hoisting drum includes: Determining the current pedal angle of the electric control proportional pedal; And determining a target rotating speed corresponding to the current pedal angle according to a second preset mapping relation between the pedal angle and the rotating speed.
4. The free-falling hook hydraulic control method of claim 2, wherein the acquiring the actual rotational speed of the winding drum comprises: acquiring the wire rope linear displacement of the winding drum corresponding to any two moments; and calculating the actual rotating speed of the winding drum according to the wire rope linear displacement corresponding to any two moments.
5. The free-falling hook hydraulic control method according to claim 1, characterized in that before inputting the target control current to the electro-proportional pressure reducing valve, the method further comprises: acquiring a target hoisting torque of the hoisting drum, and acquiring an actual hoisting torque of the hoisting drum; Based on the torque error between the target hoisting torque and the actual hoisting torque, obtaining a torque compensation current; updating the target control current based on the torque compensation current.
6. The free-fall hook hydraulic control method of claim 5, wherein the acquiring the actual winding torque of the winding drum comprises: collecting the actual tension of the steel wire rope of the winding drum; And calculating the actual hoisting torque of the hoisting drum according to the actual pulling force of the steel wire rope and the drum radius of the hoisting drum.
7. The free-falling hook hydraulic control method of claim 5, wherein the obtaining the target hoisting torque of the hoisting drum comprises: Determining the current pedal angle of the electric control proportional pedal; and determining a target hoisting torque corresponding to the current pedal angle according to a third preset mapping relation between the pedal angle and the hoisting torque.
8. The free-falling hook hydraulic control device is characterized by being applied to a free-falling hook hydraulic control system, wherein the free-falling hook hydraulic control system comprises an electric control proportional pedal, an electric proportional pressure reducing valve, an oil source, a clutch and a winding drum, the electric control proportional pedal is connected with the electric proportional pressure reducing valve, the oil source is connected with the clutch through the electric proportional pressure reducing valve, the clutch is connected with the winding drum, the electric proportional pressure reducing valve is used for adjusting the pressure of a braking cavity of the clutch so as to control the free-falling hook process of the winding drum, and the device comprises: The first processing module is used for collecting an output voltage signal of the electric control proportional pedal, obtaining an original control current based on the output voltage signal, and inputting the original control current to the electric control proportional pressure reducing valve; The second processing module is used for collecting the current braking cavity pressure of the clutch and converting the current braking cavity pressure into feedback current according to a first preset mapping relation between the braking cavity pressure and the control current; And the third processing module is used for obtaining a target control current according to the original control current and the feedback current, inputting the target control current into the electric proportional pressure reducing valve and controlling a free hook falling process.
9. The lifting device is characterized by comprising a free-falling hook hydraulic control system for lifting an object, the free-falling hook hydraulic control system comprises a controller, an electric control proportional pedal, an electric proportional pressure reducing valve, an oil source, a clutch and a winding drum, wherein the electric control proportional pedal is connected with the electric proportional pressure reducing valve, the oil source is connected with the clutch through the electric proportional pressure reducing valve, the clutch is connected with the winding drum, the electric proportional pressure reducing valve is used for adjusting the pressure of a braking cavity of the clutch so as to control the free-falling hook process of the winding drum, and the controller comprises: A memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the free-falling hook hydraulic control method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the free-falling hook hydraulic control method according to any one of claims 1 to 7.

Description

Free-falling hook hydraulic control method, device, system and storage medium Technical Field The invention relates to the technical field of hoisting equipment, in particular to a free-falling hook hydraulic control method, a free-falling hook hydraulic control device, a free-falling hook hydraulic control system and a storage medium. Background The free falling hook is a mode for realizing quick falling of a winch or a lifting hook by utilizing the weight of goods or a grab bucket, and is mainly used in a scene that the hoisting equipment needs to frequently and quickly put in goods, such as grab bucket falling, non-unhooking dynamic compaction and the like in continuous wall construction, so that the working efficiency can be greatly improved. At present, an electric proportional valve free-falling control scheme is commonly adopted in the industry to realize the braking regulation of a free-falling hook. According to the scheme, a control signal is generated according to the depth of an operator stepping on a pedal, the output pressure (namely the pressure of a braking cavity) of the electric proportional pressure reducing valve is regulated, the braking moment during free hook falling is changed, and the control of the speed of the winch hook falling is realized. However, in the reciprocating motion process of the valve core, the output pressure of the electric proportional pressure reducing valve has obvious response delay relative to a control signal, and the electric proportional pressure reducing valve has static hysteresis characteristics, so that the linearity of the control signal and the actual output pressure after the valve is poor, the pedal operation of an operator is asynchronous with the actual braking moment adjustment, the user equipment has hard control hand feeling and is not in contact with the hand, and the accuracy of falling hook braking is easily affected. Disclosure of Invention The invention provides a free-falling hook hydraulic control method, device and system and a storage medium, which are used for solving the problem that the output pressure of an electric proportional pressure reducing valve and a control signal have poor linearity and influence the braking accuracy of a free-falling hook. The invention provides a free-falling hook hydraulic control method, which is applied to a free-falling hook hydraulic control system, wherein the free-falling hook hydraulic control system comprises an electric control proportional pedal, an electric proportional pressure reducing valve, an oil source, a clutch and a winding drum, the electric control proportional pedal is connected with the electric proportional pressure reducing valve, the oil source is connected with the clutch through the electric proportional pressure reducing valve, the clutch is connected with the winding drum, the electric proportional pressure reducing valve is used for adjusting the pressure of a brake cavity of the clutch so as to control the free-falling hook process of the winding drum, and the method comprises the following steps: Acquiring an output voltage signal of an electric control proportional pedal, obtaining an original control current based on the output voltage signal, and inputting the original control current to an electric proportional pressure reducing valve; collecting the current brake cavity pressure of the clutch, and converting the current brake cavity pressure into feedback current according to a first preset mapping relation between the brake cavity pressure and control current; And obtaining a target control current according to the original control current and the feedback current, inputting the target control current into the electric proportional pressure reducing valve, and controlling the free hooking process. According to the invention, the original control current converted by the output voltage signal of the electric control proportional pedal is directly input into the electric proportional pressure reducing valve, so that the quick feedforward control of the pressure of the braking cavity is realized, the response delay problem caused by the reciprocating motion of the valve core of the electric proportional pressure reducing valve is improved, the brake moment regulation and control can quickly follow pedal operation, meanwhile, the current pressure of the braking cavity is collected and converted into feedback current based on a first preset mapping relation, the target control current is obtained by combining the original control current and the feedback current, and then the electric proportional pressure reducing valve is driven, so that the pressure closed-loop control is formed, the static hysteresis characteristic of the electric proportional pressure reducing valve is effectively compensated, the pressure of the braking cavity is accurately matched with the pedal operation of a user, and the brake regulation and control accuracy in the free falling process is imp