基于主-从模式的正面吊垂直升降协调控制方法

Coordinated control method for reachstacker's vertical hoisting based on master-slave mode

针对正面吊的垂直升降控制,通过建立正面吊吊具运动模型,分析了垂直升降时大臂与变幅臂的伸出长度曲线与速度曲线,结合正面吊液压系统的基本组成,提出了基于主-从模式的协调控制方法,以变幅缸运动为主运动,伸缩缸运动为从运动,对变幅缸比例阀开度按照参考开度曲线进行开环控制,而对变幅缸比例阀开度按照吊具半径误差采用比例-积分-微分(PID)方法进行闭环调节,通过在合力RS4532型正面吊上的实际实验,验证了本方法的有效性.

By establishing a hanger kinematical model for reachstakers,the extended length and velocity curves of main and luffing booms are analyzed during vertical hoisting.With integration of the basic components of reachstacker＇s hydraulic system,a coordinated control method is proposed via the master-slave mode.In this regard,the master motion is associated with luffing boom,whereas the slave motion is related to telescoping boom.Referring to the proportional valve opening curve,an open-loop control is conducted on luffing booms.Meanwhile,a close-loop adjustment using Proportion Integration Differentiation（PID） control is applied for the valve opening based on hanger radius errors.Therein,the effectiveness of this approach is verified through actual experiments on the RS4532 Heli Reachstacker.