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发明公开
CN109375585A 臂架末端位置控制方法及系统及包含该系统的工程机械 无效 - 驳回

臂架末端位置控制方法及系统及包含该系统的工程机械
摘要：
本发明实施例提供一种臂架末端位置控制方法、系统及工程机械，该方法包括：接收用于操控臂架末端位置的操控机构所指示的方向及幅度；接收臂架末端的实际速度及位置；根据方向及幅度、臂架末端的实际速度、以及加速度上限约束和/或速度上限约束，确定臂架末端在加速度上限约束和/或速度上限约束下的期望运动速度；根据操控机构指示方向及幅度的持续时间，对期望运动速度进行积分，得出臂架末端的位移增量；根据位移增量及臂架末端的所述实际位置，确定臂架末端的目标位置；以及控制臂架的驱动机构，以使得臂架末端运动至目标位置。通过该方案，可使得操作人员直接控制臂架末端位置，而无需经由对臂架每一关节进行单独操控而控制臂架末端位置。
摘要（英）：

The embodiment of the invention provides a cantilever crane end position control method and system, and a construction machine. The method comprises the following steps that: a direction and an amplitude that are indicated by a control mechanism for controlling the position of the tail end of a cantilever crane are received; an actual speed and position of the tail end of the cantilever crane arereceived; according to the direction and amplitude, the actual speed of the tail end of the cantilever crane, an accelerated speed upper limit constraint and/or speed upper limit constraint, a desiredmovement speed of the tail end of the cantilever crane under the accelerated speed upper limit constraint and/or speed upper limit constraint is determined; according to the lasting time of the indication direction and amplitude of the control mechanism, integration of the desired movement speed is carried out to obtain a displacement increment of the tail end of the cantilever crane is obtained;on the basis of the displacement increment and the actual position of the tail end of the cantilever crane, a target position of the tail end of the cantilever crane is determined; and a driving mechanism of the cantilever crane is controlled, so that the tail end of the cantilever crane moves to the target position. Therefore, the operator can control the position of the tail end of the cantilever crane directly without the need to control the position of the tail end of the cantilever crane by controlling each joint of the cantilever crane.

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