CN-121979286-A - Method and device for controlling erection of erection vehicle based on decoupling control

CN121979286ACN 121979286 ACN121979286 ACN 121979286ACN-121979286-A

Abstract

The application provides a decoupling control-based method and device for controlling the erection of an erection vehicle. The method comprises the steps of receiving a standing target instruction, determining whether a standing vehicle is interlocked or not according to the current signal state of the standing vehicle, carrying out decoupling calculation on target parameters according to the posture of the standing vehicle under the condition that the standing vehicle is not interlocked to obtain a target standing angle and a target turning angle, wherein the target parameters comprise a standing vehicle pitch angle, a standing vehicle roll angle, a standing vehicle orientation angle, a current vehicle turning angle and a current vehicle standing angle, respectively judging whether the target standing angle exceeds a standing limit angle or not and whether the target turning angle exceeds a turning limit angle or not, and carrying out PID control standing action under the condition that the target standing angle does not exceed the standing limit angle and the target turning angle does not exceed the turning limit angle. Therefore, through a decoupling control algorithm, the erection parameters under the geodetic coordinates are converted into the erection vehicle coordinate system, so that the accurate control of the action of the erection vehicle is realized.

Inventors

LIU QINGYA
JIANG ZHIKAI
FAN ZHIYONG
LI YI
DENG CHUFEI
LIANG GENGSHENG
LI YAOYI

Assignees

中联恒通机械有限公司

Dates

Publication Date: 20260505
Application Date: 20251211

Claims (9)

1. A method for controlling an erection of an erection vehicle based on decoupling control, the method comprising: responsive to receiving a upstand target instruction, determining whether the upstand vehicle is upstand interlocked according to a current signal state of the upstand vehicle; Under the condition that the erection vehicles are not interlocked, decoupling calculation is carried out on target parameters according to the posture of the erection vehicles to obtain a target erection angle and a target rotation angle, wherein the target parameters comprise a longitudinal inclination angle of the erection vehicles, a transverse inclination angle of the erection vehicles, an orientation angle of the erection vehicles, a current vehicle body rotation angle and a current vehicle body erection angle; Respectively judging whether the target erection angle exceeds an erection limit angle or not, and judging whether the target rotation angle exceeds a rotation limit angle or not; And under the condition that the target erection angle does not exceed the erection limiting angle and the target revolving angle does not exceed the revolving limiting angle, PID control erection action is carried out.
2. The method of claim 1, wherein said decoupling calculation from the pose of the erecting vehicle comprises: Constructing a coordinate transformation matrix of a geodetic coordinate system and a vehicle coordinate system; and converting the target parameters in the geodetic coordinate system into the execution parameters in the vehicle coordinate system based on the coordinate conversion matrix, wherein the execution parameters comprise the target erection angle and the target revolution angle.
3. The method of claim 2, wherein the converting the target parameters in the geodetic coordinate system to the execution parameters in the vehicle coordinate system based on the coordinate conversion matrix comprises: Acquiring a target erection angle under a geodetic coordinate system; Converting a target rising angle under the geodetic coordinate system into a vector form; mapping the vector of the target erection angle to a vehicle coordinate system based on the coordinate transformation matrix to obtain an erection vector under the vehicle coordinate system; And determining an included angle between the erection vector and the reference horizontal plane of the vehicle body as the target erection angle.
4. The method of claim 2, wherein the converting the target parameters in the geodetic coordinate system to the execution parameters in the vehicle coordinate system based on the coordinate conversion matrix comprises: acquiring a target azimuth angle under a geodetic coordinate system; subtracting the orientation angle of the body of the erection vehicle from the target azimuth angle under the geodetic coordinate system to obtain a theoretical gyration compensation angle; And determining the difference value between the theoretical turning compensation angle and the current turning angle of the vehicle body as the target turning angle.
5. The method of claim 1, wherein performing PID control erection actions if the target erection angle does not exceed a erection limit angle and the target swivel angle does not exceed a swivel limit angle comprises: determining a first difference between the target riser angle and the current vehicle body riser angle; Determining a second difference between the target turning angle and the current vehicle body turning angle; And taking the first difference value and the second difference value as system excitation of position closed-loop PID control.
6. An erection control device for an erection vehicle based on decoupling control, the device comprising: The determining module is used for determining whether the erecting vehicle is interlocked vertically according to the current signal state of the erecting vehicle in response to receiving the erecting target instruction; The decoupling module is used for carrying out decoupling calculation on target parameters according to the posture of the erection vehicle under the condition that the erection vehicle is not interlocked, so as to obtain a target erection angle and a target rotation angle, wherein the target parameters comprise a erection vehicle longitudinal inclination angle, a erection vehicle transverse inclination angle, an erection vehicle orientation angle, a current vehicle body rotation angle and a current vehicle body erection angle; The judging module is used for judging whether the target erection angle exceeds an erection limit angle or not and whether the target rotation angle exceeds a rotation limit angle or not respectively; And the control module is used for performing PID control erection action under the condition that the target erection angle does not exceed the erection limit angle and the target revolution angle does not exceed the revolution limit angle.
7. An electronic device, comprising: a memory configured to store instructions; A processor configured to invoke the instructions from the memory and when executing the instructions enable the decoupling control-based lift vehicle lift control method according to any one of claims 1 to 5.
8. A machine-readable storage medium having instructions stored thereon for causing a machine to perform the decoupling control-based erection control method of the erection vehicle of any one of claims 1 to 5.
9. A computer program product, characterized in that instructions in the computer program product, when executed by a processor of an electronic device, cause the electronic device to perform the decoupling control based erection vehicle erection control method according to any one of claims 1 to 5.

Description

Method and device for controlling erection of erection vehicle based on decoupling control Technical Field The invention relates to the technical field of mechanical control, in particular to a method and a device for controlling the erection of an erection vehicle based on decoupling control. Background The traditional erection device adopts two erection oil cylinders as an erection power execution part, one end of the erection oil cylinder is hinged with the base, the other end of the erection oil cylinder is hinged with the erection frame, the aim of driving the erection frame to act is achieved through synchronous expansion and contraction of the two erection oil cylinders, and then the catapult is erected to a specified angle. The inclined ground will cause the erection vehicle to have coupling between the two subsystems of erection and swing, resulting in inaccurate erection of the erection vehicle. Disclosure of Invention The application aims to provide a method and a device for controlling the erection of an erection vehicle based on decoupling control, which realize the accurate control of the action of the erection vehicle. In a first aspect, there is provided a method for controlling erection of an erection vehicle based on decoupling control, the method comprising: responsive to receiving a upstand target instruction, determining whether the upstand vehicle is upstand interlocked according to a current signal state of the upstand vehicle; Under the condition that the erection vehicles are not interlocked, decoupling calculation is carried out on target parameters according to the posture of the erection vehicles to obtain a target erection angle and a target rotation angle, wherein the target parameters comprise a longitudinal inclination angle of the erection vehicles, a transverse inclination angle of the erection vehicles, an orientation angle of the erection vehicles, a current vehicle body rotation angle and a current vehicle body erection angle; Respectively judging whether the target erection angle exceeds an erection limit angle or not, and judging whether the target rotation angle exceeds a rotation limit angle or not; And under the condition that the target erection angle does not exceed the erection limiting angle and the target revolving angle does not exceed the revolving limiting angle, PID control erection action is carried out. Optionally, the decoupling calculation according to the posture of the standing vehicle includes: Constructing a coordinate transformation matrix of a geodetic coordinate system and a vehicle coordinate system; and converting the target parameters in the geodetic coordinate system into the execution parameters in the vehicle coordinate system based on the coordinate conversion matrix, wherein the execution parameters comprise the target erection angle and the target revolution angle. Optionally, the converting, based on the coordinate conversion matrix, the target parameter in the geodetic coordinate system to the execution parameter in the vehicle coordinate system includes: Acquiring a target erection angle under a geodetic coordinate system; Converting a target rising angle under the geodetic coordinate system into a vector form; mapping the vector of the target erection angle to a vehicle coordinate system based on the coordinate transformation matrix to obtain an erection vector under the vehicle coordinate system; And determining an included angle between the erection vector and the reference horizontal plane of the vehicle body as the target erection angle. Optionally said converting, based on said coordinate conversion matrix, a target parameter in said geodetic coordinate system into an execution parameter in a vehicle coordinate system, comprising: acquiring a target azimuth angle under a geodetic coordinate system; subtracting the orientation angle of the body of the erection vehicle from the target azimuth angle under the geodetic coordinate system to obtain a theoretical gyration compensation angle; And determining the difference value between the theoretical turning compensation angle and the current turning angle of the vehicle body as the target turning angle. Optionally, the performing PID control erection action when the target erection angle does not exceed the erection limit angle and the target rotation angle does not exceed the rotation limit angle includes: determining a first difference between the target riser angle and the current vehicle body riser angle; Determining a second difference between the target turning angle and the current vehicle body turning angle; And taking the first difference value and the second difference value as system excitation of position closed-loop PID control. In a second aspect, there is provided an erection control device for an erection vehicle based on decoupling control, the device comprising: The determining module is used for determining whether the erecting vehicle is interlocked vertically acc