CN105539056A - Air suspension control system and method for crane and crane - Google Patents
Air suspension control system and method for crane and crane Download PDFInfo
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- CN105539056A CN105539056A CN201510993422.8A CN201510993422A CN105539056A CN 105539056 A CN105539056 A CN 105539056A CN 201510993422 A CN201510993422 A CN 201510993422A CN 105539056 A CN105539056 A CN 105539056A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0525—Height adjusting or levelling valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0528—Pressure regulating or air filling valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/06—Cranes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an air suspension control system and method for a crane and the crane and relates to the field of engineering machinery. The air suspension control system comprises an altitude sensor, a pressure sensor and a controller. The altitude sensor transmits a measured height of suspension airbag to the controller; the pressure sensor transmits a measured pressure of the suspension airbag to the controller; and the controller outputs a control signal to an executing component according to the height and pressure of the suspension airbag and a selected mode to control the attitude and pressure of the suspension airbag and respectively maintain the attitude and pressure of the suspension airbag within an attitude range and a pressure range in the selected mode, and when mode switching is needed, the controller controls the executing component to execute switching among modes, wherein the modes include a highway driving mode, an off-road driving model and a hoisting operation mode. The invention realizes control of the different modes of the air suspension and switching among the modes.
Description
Technical field
The present invention relates to engineering machinery field, particularly for the air suspension control system of hoisting crane, method and hoisting crane.
Background technology
The suspension that current hoisting crane is generally applied has Leaf Spring Suspension (hereinafter referred to as plate spring suspension brackets) and hydro pneumatic suspension.Plate spring suspension brackets, because of features such as its structure is simple, easy to manufacture, advantage of lower cost, is widely used on car hosit.Hydro pneumatic suspension is because highly regulating within the specific limits, and traveling comfort is widely used in by the higher full Terrain Cranes of performance requriements compared with high.
The plate spring suspension brackets of the existing application of hoisting crane, although a period of time in the past can meet the user demand of hoisting crane, but there is following shortcoming: automobile ride and traveling comfort more poor, unsprung weight is large, heavily card weight-saving development cannot be adapted to, and traveling comfort and the road-holding property of hoisting crane can not be taken into account simultaneously.Therefore, along with the lifting of crane job operating mode and performance, and user is to the raising of ride comfort demand, and plate spring suspension brackets can not meet the requirement of multi-state and traveling comfort.
Although hydro pneumatic suspension can meet the means suitable of user, but hydraulic efficiency pressure system exists, and high leakproofness requires, high, the hydraulic oil of parts cost easily pollutes and the shortcoming such as system maintenance difficulty, if popularity on car hosit, cost of product and maintenance cost thereof will improve in the lump.
Summary of the invention
The present inventor finds to have problems in above-mentioned prior art, and therefore proposes new technical scheme at least one problem in described problem.
Air suspension is applied on hoisting crane by the present inventor, thus can improve travelling comfort and manipulation stability, and alleviates the weight of vehicle.
Air suspension is elastic element with air bellow, does elastic medium with air, is filled with pressurized air, utilizes the compressibility of gas, realize its elastic reaction in the container of a sealing.The variable rigidity of this air bellow, has comparatively ideal elastic behavior.Air suspension then takes full advantage of the characteristic that air bellow becomes rigidity, can improve travelling comfort and manipulation stability, meet again vehicle weight-saving development tendency.
One of object of one embodiment of the invention is: provide a kind of air suspension control system for hoisting crane.One of object of one embodiment of the invention is: provide a kind of hoisting crane.One of object of one embodiment of the invention is: provide a kind of air suspension control method for hoisting crane.
According to a first aspect of the invention, provide a kind of air suspension control system for hoisting crane, comprising: height sensor, for measuring the height of suspension bags, and by described high transmission to controller; Pressure sensor, for measuring the pressure of described suspension bags, and by described pressure transmission to described controller; Controller, for according to the described height of described suspension bags and described pressure and selected pattern, control signal is exported to execution unit, controlling the height of described suspension bags and pressure maintains in altitude range under selected mould-fixed and range of pressure respectively, and when needs carry out pattern switching, control the switching between execution unit execution pattern; Wherein, described pattern comprises: its road-driving mode, land locomotion pattern and hoisting operation pattern.
In certain embodiments, described controller is used for when described hoisting operation pattern being switched to described its road-driving mode or described land locomotion pattern, the inflation of described suspension bags is controlled in the first predetermined amount of time, and when the pressure of described suspension bags does not reach the relevant pressure of setting, the rotating speed and the moment of torsion that control driving engine export, and make vehicle maintain low-speed running state.
In certain embodiments, described controller is used for when described its road-driving mode or described land locomotion pattern being switched to described hoisting operation pattern, the venting of described suspension bags is controlled in the second predetermined amount of time, and when detecting that hoisting operation pattern is opened, judge whether described suspension bags exits complete, what after venting, perform supporting leg vertically stretches action.
In certain embodiments, when described controller is used for switching between described its road-driving mode and described land locomotion pattern, the moving velocity of vehicle is coordinated to control to adjust the pressure of described suspension bags, so that the pressure of described suspension bags is adjusted to the pressure corresponding with corresponding pattern.
In certain embodiments, the described air suspension control system for hoisting crane also comprises: panalarm, for performing warning when receiving alerting signal from described controller; Wherein, described controller is detecting that the components and parts of Vehicular system occur extremely, or outside the altitude range of the height of described suspension bags under selected mould-fixed, or after outside the range of pressure of the pressure of described suspension bags under selected mould-fixed, send alerting signal to described panalarm.
According to a second aspect of the invention, provide a kind of hoisting crane, comprising: air suspension and as previously mentioned for the air suspension control system of hoisting crane.
According to a third aspect of the invention we, provide a kind of air suspension control method for hoisting crane, comprising: the height and the pressure that gather suspension bags; According to the described height of described suspension bags and described pressure and selected pattern, export control signal to execution unit, control the height of described suspension bags and pressure and maintain in altitude range under selected mould-fixed and range of pressure respectively; And when needs carry out pattern switching, control the switching between execution unit execution pattern; Wherein, described pattern comprises: its road-driving mode, land locomotion pattern and hoisting operation pattern.
In certain embodiments, when needs carry out pattern switching, the step controlling the switching between execution unit execution pattern comprises: when described hoisting operation pattern being switched to described its road-driving mode or described land locomotion pattern, the inflation of described suspension bags is controlled in the first predetermined amount of time, and when the pressure of described suspension bags does not reach the relevant pressure of setting, the rotating speed and the moment of torsion that control driving engine export, and make vehicle maintain low-speed running state.
In certain embodiments, when needs carry out pattern switching, the step controlling the switching between execution unit execution pattern comprises: when described its road-driving mode or described land locomotion pattern being switched to described hoisting operation pattern, the venting of described suspension bags is controlled in the second predetermined amount of time, and when detecting that hoisting operation pattern is opened, judge whether described suspension bags exits complete, what after venting, perform supporting leg vertically stretches action.
In certain embodiments, when needs carry out pattern switching, the step controlling the switching between execution unit execution pattern comprises: when switching between described its road-driving mode and described land locomotion pattern, the moving velocity of vehicle is coordinated to control to adjust the pressure of described suspension bags, so that the pressure of described suspension bags is adjusted to the pressure corresponding with corresponding pattern.
In certain embodiments, the described air suspension control method for hoisting crane also comprises: detecting that the components and parts of Vehicular system occur extremely, or outside the altitude range of the height of described suspension bags under selected mould-fixed, or after outside the range of pressure of the pressure of described suspension bags under selected mould-fixed, perform warning.
The present invention can be realized the switching between the control of the different mode of air suspension and each pattern by closed loop control.Not only can the various pressure of adjustable suspension air bag, lifting vehicle carrying capacity and travelling comfort, and in mode handover procedure, protection suspension bags because gas overcharges or cross and put and damage, does not realize long-term failure-free again and runs.
By referring to the detailed description of accompanying drawing to exemplary embodiment of the present invention, further feature of the present invention and advantage thereof will become clear.
Accompanying drawing explanation
What form a part for specification sheets drawings describes embodiments of the invention, and together with the description for explaining principle of the present invention.
With reference to accompanying drawing, according to detailed description below, clearly the present invention can be understood, wherein:
Fig. 1 is the structural representation of the air suspension control system for hoisting crane schematically shown according to some embodiments of the invention.
Fig. 2 is the structural representation of the air suspension control system for hoisting crane schematically shown according to other embodiments of the present invention.
Fig. 3 is the diagram of circuit of the air suspension control method for hoisting crane illustrated according to some embodiments of the invention.
Fig. 4 is the diagram of circuit of the air suspension control method for hoisting crane illustrated according to other embodiments of the present invention.
Detailed description of the invention
Various exemplary embodiment of the present invention is described in detail now with reference to accompanying drawing.It should be noted that: unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts of setting forth in these embodiments and step and numerical value do not limit the scope of the invention.
Meanwhile, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not draw according to the proportionate relationship of reality.
Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.
May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in the appropriate case, described technology, method and apparatus should be regarded as a part of authorizing specification sheets.
In all examples with discussing shown here, any occurrence should be construed as merely exemplary, instead of as restriction.Therefore, other example of exemplary embodiment can have different values.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to be further discussed it in accompanying drawing subsequently.
Air suspension is applied on hoisting crane by the present inventor, thus can improve travelling comfort and manipulation stability, and alleviates the weight of vehicle.This air suspension can adopt structure well known by persons skilled in the art, such as, can comprise: suspension bags and other execution units.Such as, other execution units can comprise charge valve and aie escape valve etc.It will be understood by those skilled in the art that and known mounting means can be adopted to be arranged on hoisting crane by air suspension.
Air suspension is elastic element with air bellow, does elastic medium with air, is filled with pressurized air, utilizes the compressibility of gas, realize its elastic reaction in the container of a sealing.The variable rigidity of this air bellow, has comparatively ideal elastic behavior.Air suspension then takes full advantage of the characteristic that air bellow becomes rigidity, can improve travelling comfort and manipulation stability, meet again vehicle weight-saving development tendency.
The invention provides a kind of air suspension control system for hoisting crane, such as shown in Figure 1.Fig. 1 is the structural representation of the air suspension control system for hoisting crane schematically shown according to some embodiments of the invention.
As shown in Figure 1, the air suspension control system 10 for hoisting crane can comprise: height sensor 11, pressure sensor 12 and controller 13.For illustrative purposes, also show execution unit 31 in Fig. 1.This execution unit 31 such as can comprise: charge valve and/or aie escape valve etc.
Height sensor 11 for measuring the height of suspension bags, and by this high transmission to controller 13.Such as, height sensor can be arranged between axletree and vehicle frame lower plane, for detecting the relative height of plane and vehicle frame lower plane on axletree, by calculating the change in elevation of suspension bags.It will be understood by those skilled in the art that height sensor also can be arranged on other positions, as long as the height of energy Measurement accuracy suspension bags.
Pressure sensor 12 for measuring the pressure of suspension bags, and by this pressure transmission to controller 13.Such as, pressure sensor can be arranged on the pipeline that is communicated with suspension bags, for measuring the pressure of suspension bags.
Controller 13 is for according to the height of suspension bags and pressure and selected pattern, control signal is exported to execution unit, controlling the height of suspension bags and pressure maintains in altitude range under selected mould-fixed and range of pressure respectively, and when needs carry out pattern switching, control the switching between execution unit execution pattern.Wherein, this pattern comprises: its road-driving mode, land locomotion pattern and hoisting operation pattern.Such as, this controller can be PLC (ProgrammableLogicController, programmable logic controller (PLC)), can be arranged on vehicle, receive the input of various kinds of sensors, detector switch on vehicle body, after carrying out logic operation, control all kinds of electromagnetic valve on vehicle body and perform an action.
In an embodiment; air suspension control system for hoisting crane passes through closed loop control; not only can the various pressure of adjustable suspension air bag; lifting vehicle carrying capacity and travelling comfort; and in mode handover procedure; protection suspension bags because gas overcharges or cross and put and damage, does not realize long-term failure-free again and runs.
Air suspension for part axletree, when multiaxis (such as three shaft couplings) balances, can solve the axle load change problems of too of part axletree on hoisting crane.Three kinds of work patterns are divided into, i.e. its road-driving mode, land locomotion pattern (or also can be called place driving mode) and hoisting operation pattern according to the operating mode of hoisting crane.
In one embodiment, select switch can being set for selecting the work pattern needed, controller also can be utilized automatically to carry out work pattern selection according to the work information of current acquisition.In one embodiment, can switch according to vehicle real-world operation condition adjudgement pattern and whether perform, and trigger mode switching can be carried out by carrying out operation to select switch.
In certain embodiments, the range of pressure of the suspension bags under its road-driving mode can be 0.6 to 0.65MPa (MPa), makes air suspension axletree and other axletrees divide equally complete vehicle weight.Such as, the preferred pressure under this its road-driving mode can be 0.63MPa.It will be understood by those skilled in the art that for different vehicles, the range of pressure of the suspension bags adopted under its road-driving mode can be different, and therefore scope of the present invention is not limited in the range of pressure under its road-driving mode disclosed herein.
In certain embodiments, the range of pressure of the suspension bags under land locomotion pattern can be 0.4 to 0.45MPa, and axle load is shifted on other axle drive shafts, increases the positive pressure of axle drive shaft, the carrying capacity of lifting vehicle.Such as, the preferred pressure under this land locomotion pattern can be 0.42MPa.It will be understood by those skilled in the art that for different vehicles, the range of pressure of the suspension bags adopted under land locomotion pattern can be different, and therefore scope of the present invention is not limited in the range of pressure under land locomotion pattern disclosed herein.
In certain embodiments, when hoisting operation, hoisting crane all tire is liftoff, and by supporting leg support works, now suspension bags does not bear axle load, and therefore, the range of pressure of the suspension bags under hoisting operation pattern can be 0.02 to 0.08MPa.Such as, the preferred pressure under this hoisting operation pattern can be 0.05MPa.It will be understood by those skilled in the art that for different vehicles, the range of pressure of the suspension bags adopted under hoisting operation pattern can be different, and therefore scope of the present invention is not limited in the range of pressure under hoisting operation pattern disclosed herein.
For its road-driving mode, when detecting that the pressure of the suspension bags under this its road-driving mode is less than set range of pressure, controller will send ventilating control signal to charge valve (as execution unit), to perform inflation to suspension bags, in above-mentioned range of pressure predetermined under making its pressure can rise to this pattern.Again such as, when detecting that the pressure of the suspension bags under its road-driving mode is greater than set range of pressure, controller will send venting control signal to aie escape valve (as execution unit), to perform venting to suspension bags, in above-mentioned range of pressure predetermined under making its pressure can drop to this pattern.
In an embodiment of the present invention, the elastic medium of air suspension is air, aeroseal can only bear positive pressure in air bag, and transverse force, pulling force can not be born, operating needs under the various mode of operation of hoisting crane air suspension demand fulfillment: when its road-driving mode, needs and the equal separate loading of other axletrees; When land locomotion pattern, need to reduce gasbag pressure, reduce own load and increase the positive pressure of axle drive shaft simultaneously, lifting vehicle pass through performance; When hoisting operation pattern, need to hang the very little pressure of air bag maintenance to maintain its profile, if now keep very large pressure, the damage of suspension miscellaneous part can be caused.From analysis, the air suspension control system for hoisting crane of the embodiment of the present invention can meet the operating needs of the multiple gasbag pressure of crane control suspension.
In certain embodiments, controller 13 is for when switching to its road-driving mode or land locomotion pattern by hoisting operation pattern, suspension bags inflation is controlled in the first predetermined amount of time, and when the pressure of suspension bags does not reach the relevant pressure of setting, the rotating speed and the moment of torsion that control driving engine export, and make vehicle maintain low-speed running state.
In this embodiment, when hoisting operation pattern switches to its road-driving mode or land locomotion pattern, suspension bags is inflated from very little pressure, but gas replenishment process is a time period, i.e. the first predetermined amount of time, the axle load that each bearing is subject in this first predetermined amount of time is widely different.When gasbag pressure does not return to the pressure of setting, system can control engine speed voluntarily and moment of torsion exports, and make vehicle maintain low-speed running state, the axletree avoiding axle load to overload damages because the speed of a motor vehicle is excessive.
In certain embodiments, controller 13 is for when switching to hoisting operation pattern by its road-driving mode or land locomotion pattern, suspension bags venting is controlled in the second predetermined amount of time, and when detecting that hoisting operation pattern is opened, judge whether suspension bags exits complete, what after venting, perform supporting leg vertically stretches action.
In this embodiment, when its road-driving mode or land locomotion pattern switch to hoisting operation pattern, because hoisting operation pattern lower suspension does not play a supportive role, again because suspension bags can only bear positive pressure, if now exit not in time, the gas of wheel when leaving ground inside suspension bags will become the power that suspension bags elongates, instead of bears the elastic medium of positive pressure.Moreover suspension bags has stroke range, will damage when going beyond the scope.When control system detects that hoisting operation pattern is opened, can judge whether air bag exits complete, what after venting, perform supporting leg vertically stretches action, otherwise vertically the stretching action and will be delayed by of supporting leg.
In certain embodiments, when controller 13 for switching between its road-driving mode and land locomotion pattern, coordinate the pressure of the moving velocity control and regulation suspension bags of vehicle, so that the pressure of suspension bags is adjusted to the pressure corresponding with corresponding pattern.In this embodiment, when switching between its road-driving mode and land locomotion pattern, the force value difference of suspension bags is less, coordinates the moving velocity of vehicle to control, can complete the conversion of two kinds of patterns.
Such as, can be switched by on-off signal between its road-driving mode and land locomotion pattern.Such as, under open state, default mode is its road-driving mode, and when after the on-off signal having land locomotion pattern, control system performs the switching of its road-driving mode to land locomotion pattern.This mode handover procedure can occur under steam, the pressure of vehicle adjustable suspension air bag while travelling, and the speed of vehicle is faster, and the process that gasbag pressure regulates is slower.
Similarly, hoisting operation pattern also can be switched by the input of another on-off signal.When the on-off signal of hoisting operation pattern and land locomotion pattern does not all have, above-mentioned control system is defaulted as its road-driving mode.
In an embodiment of the present invention; Three models switching is carried out at hoisting crane; namely when its road-driving mode, land locomotion pattern and hoisting operation pattern Three models switch; all protection can be had to inflation and deflation course in control policy; can not when pattern switches; because of overinflation or excessive venting, cause balloon burst or the transition of air bag pressurized and damage.Such as, suspension bags, in mode handover procedure, is protected by logical constraint and condition, and chaufeur carries out switch triggering, is one of condition of pattern switching.Whether pattern switches to perform needs vehicle existing condition to allow just can carry out, and is not operating as basis with the subjectivity of people.
In an embodiment of the present invention, control system 10 electric after, controller 13 can detect all element states of this suspension system, judges whether vehicle body air feed air pressure meets the operating needs of air suspension simultaneously.At initial runtime, control system 10 can judge current residing pattern, and within the scope that whether sets in this pattern of the pressure automatically detecting suspension bags, fault detection real time execution at the whole working process of vehicle, the state of monitoring airsuspension system when vehicle operating.
Fig. 2 is the structural representation of the air suspension control system for hoisting crane schematically shown according to other embodiments of the present invention.As shown in Figure 2, the air suspension control system 20 for hoisting crane comprises: height sensor 11, pressure sensor 12 and controller 13.For illustrative purposes, also show execution unit 31 in Fig. 2.
In an embodiment of the present invention, as shown in Figure 2, the air suspension control system 20 for hoisting crane can also comprise: panalarm 21, for performing warning when receiving alerting signal from controller 13.Wherein, controller 13 is detecting that the components and parts of Vehicular system occur extremely, or outside the altitude range of the height of suspension bags under selected mould-fixed, or outside the range of pressure of the pressure of suspension bags under selected mould-fixed after, send alerting signal to panalarm 21.Such as panalarm can be indicator lamp, voice guard and/or telltale etc.Being reported to the police when detecting fault by fault detection here, to travel again after the timely trouble-shooting of chaufeur or car load stable gas pressure can be reminded.
Such as, the process fault detection of this air suspension control system may operate in the whole service process of system initialization or system, thus the running state of real-time detecting system.Such as when any components and parts generation exception of system or supply gas pressure low time, system can send fault alarm, travels after reminding the timely trouble-shooting of chaufeur or car load stable gas pressure again.
In an embodiment of the present invention, control system 20 electric after, controller 13 starts ceaselessly Received signal strength (such as about 10ms), carry out logic operation, judge whether the components and parts of Vehicular system exception occur, or outside the altitude range of the height of suspension bags whether under selected mould-fixed, or outside the range of pressure of the pressure of suspension bags whether under selected mould-fixed, and when et out of order being detected output alarm signal.In certain embodiments, the signal that controller receives comprises: driving engine operation information (comprising cooling-liquid temperature, rotating speed and lubricating oil pressure etc.), vehicle body air pressure and the speed of a motor vehicle, mode switching signal and sensor information (comprising suspension bags elevation information and pressure information) etc.
Such as, controller detects vehicle body air pressure in real time, if suspension bags pressure requirements when vehicle body air pressure out of reach travels, then reports to the police.Vehicle body air pressure is low can occur in vehicle when just starting, and also can occur in vehicle body gas circuit when breaking, and in a word, air pressure is low to be needed to report to the police when not meeting the demands, and monitors in real time.
Again such as, the range of pressure of the suspension bags of its road-driving mode is 0.6 to 0.65MPa, when pressure sensor detects that gasbag pressure is not within the scope of this, then reports to the police.This is because do not meet the requirement that this range of pressure just not meets its road-driving mode.
Present invention also offers a kind of hoisting crane to comprise: air suspension and the air suspension control system (such as air suspension control system 10 or air suspension control system 20) for hoisting crane.
Fig. 3 is the diagram of circuit of the air suspension control method for hoisting crane illustrated according to some embodiments of the invention.
In step S301, gather height and the pressure of suspension bags.
In step S302, according to the height of suspension bags and pressure and selected pattern, export control signal to execution unit, control the height of suspension bags and pressure and maintain respectively in altitude range under selected mould-fixed and range of pressure.Wherein, above-mentioned pattern can comprise: its road-driving mode, land locomotion pattern and hoisting operation pattern.
In step S303, when needs carry out pattern switching, control the switching between execution unit execution pattern.
In an embodiment; air suspension control method for hoisting crane not only can the various pressure of adjustable suspension air bag, lifting vehicle carrying capacity and travelling comfort, and in mode handover procedure; protection air bag because gas overcharges or cross and put and damage, does not realize long-term failure-free again and runs.
In certain embodiments, air suspension is divided into its road-driving mode, land locomotion pattern and hoisting operation pattern Three models according to vehicle operation and driving cycle, when detecting that vehicle mode changes, control execution unit voluntarily to perform an action, such as, charge valve, the aie escape valve of suspension bags open or close, make suspension bags maintain corresponding modes setting altitude range and range of pressure in, realize regulate voluntarily.
In certain embodiments, when needs carry out pattern switching, the step controlling the switching between execution unit execution pattern can comprise: when hoisting operation pattern being switched to its road-driving mode or land locomotion pattern, suspension bags inflation is controlled in the first predetermined amount of time, and when the pressure of suspension bags does not reach the relevant pressure of setting, the rotating speed and the moment of torsion that control driving engine export, and make vehicle maintain low-speed running state.
In certain embodiments, when needs carry out pattern switching, the step controlling the switching between execution unit execution pattern can comprise: when its road-driving mode or land locomotion pattern being switched to hoisting operation pattern, suspension bags venting is controlled in the second predetermined amount of time, and when detecting that hoisting operation pattern is opened, judge whether suspension bags exits complete, what after venting, perform supporting leg vertically stretches action.
In certain embodiments, when needs carry out pattern switching, the step controlling the switching between execution unit execution pattern can comprise: when switching between its road-driving mode and land locomotion pattern, coordinate the pressure of the moving velocity control and regulation suspension bags of vehicle, so that the pressure of suspension bags is adjusted to the pressure corresponding with corresponding pattern.
In certain embodiments, air suspension control method for hoisting crane can also comprise: detecting that the components and parts of Vehicular system occur extremely, or outside the altitude range of the height of suspension bags under selected mould-fixed, or after outside the range of pressure of the pressure of suspension bags under selected mould-fixed, perform warning.
Fig. 4 is the diagram of circuit of the air suspension control method for hoisting crane illustrated according to other embodiments of the present invention.
In step S401, data input initialization.When control system obtain electric after, controller obtains all element state data of this airsuspension system.
In step S402, judge whether et out of order.Namely controller can detect all element states of this suspension system, and judges whether vehicle body air feed air pressure meets the operating needs of air suspension.If et out of order, enter step S408 in process, else process enters step S403.
In step S403, obtain current residing pattern.Such as, hoisting operation pattern and land locomotion pattern respectively have an on-off signal input, and when both not having, system default is its road-driving mode.When obtain current be in its road-driving mode time, process enters step S404; When obtain current be in land locomotion pattern time, process enters step S405; When obtain current be in hoisting operation pattern time, process enters step S406.
In step S404, perform the operation of its road-driving mode.Such as, the height of suspension bags and pressure are adjusted in altitude range under this its road-driving mode and range of pressure.
In step S405, perform the operation of land locomotion pattern.Such as, the height of suspension bags and pressure are adjusted in altitude range under this land locomotion pattern and range of pressure.
In step S406, perform the operation of hoisting operation pattern.Such as, the height of suspension bags and pressure are adjusted in altitude range under this hoisting operation pattern and range of pressure.
In step S407, judge whether that emergence pattern switches.Such as, can judge whether that pattern switches according to vehicle existing condition.When emergence pattern switches, process returns step S402, namely performs fault detection; Else process enters step S408.
In step S408, fault alarm information displaying.Such as, current residing pattern can be shown, and/or the components and parts etc. of et out of order.
This embodiment offers the air suspension control method for hoisting crane, when needing to carry out blocked operation when pattern switches between automatic control mode, and in the process that control system is run, in real time to whether et out of order detects, thus can chaufeur be reminded in time to keep in repair etc. when a failure occurs it.
So far, the present invention is described in detail.In order to avoid covering design of the present invention, details more known in the field are not described.Those skilled in the art, according to description above, can understand how to implement technical scheme disclosed herein completely.
Method and system of the present invention may be realized in many ways.Such as, any combination by software, hardware, firmware or software, hardware, firmware realizes method and system of the present invention.Said sequence for the step of described method is only to be described, and the step of method of the present invention is not limited to above specifically described order, unless specifically stated otherwise.In addition, in certain embodiments, can be also record program in the recording medium by the invention process, these programs comprise the machine readable instructions for realizing according to method of the present invention.Thus, the present invention also covers the recording medium stored for performing the program according to method of the present invention.
Although be described in detail specific embodiments more of the present invention by example, it should be appreciated by those skilled in the art, above example is only to be described, instead of in order to limit the scope of the invention.It should be appreciated by those skilled in the art, can without departing from the scope and spirit of the present invention, above embodiment be modified.Scope of the present invention is limited by claims.
Claims (11)
1. for an air suspension control system for hoisting crane, it is characterized in that, comprising:
Height sensor, for measuring the height of suspension bags, and by described high transmission to controller;
Pressure sensor, for measuring the pressure of described suspension bags, and by described pressure transmission to described controller;
Controller, for according to the described height of described suspension bags and described pressure and selected pattern, control signal is exported to execution unit, controlling the height of described suspension bags and pressure maintains in altitude range under selected mould-fixed and range of pressure respectively, and when needs carry out pattern switching, control the switching between execution unit execution pattern;
Wherein, described pattern comprises: its road-driving mode, land locomotion pattern and hoisting operation pattern.
2., according to claim 1 for the air suspension control system of hoisting crane, it is characterized in that,
Described controller is used for when described hoisting operation pattern being switched to described its road-driving mode or described land locomotion pattern, the inflation of described suspension bags is controlled in the first predetermined amount of time, and when the pressure of described suspension bags does not reach the relevant pressure of setting, the rotating speed and the moment of torsion that control driving engine export, and make vehicle maintain low-speed running state.
3., according to claim 1 for the air suspension control system of hoisting crane, it is characterized in that,
Described controller is used for when described its road-driving mode or described land locomotion pattern being switched to described hoisting operation pattern, the venting of described suspension bags is controlled in the second predetermined amount of time, and when detecting that hoisting operation pattern is opened, judge whether described suspension bags exits complete, what after venting, perform supporting leg vertically stretches action.
4., according to claim 1 for the air suspension control system of hoisting crane, it is characterized in that,
When described controller is used for switching between described its road-driving mode and described land locomotion pattern, the moving velocity of vehicle is coordinated to control to adjust the pressure of described suspension bags, so that the pressure of described suspension bags is adjusted to the pressure corresponding with corresponding pattern.
5., according to claim 1 for the air suspension control system of hoisting crane, it is characterized in that, also comprise:
Panalarm, for performing warning when receiving alerting signal from described controller;
Wherein, described controller is detecting that the components and parts of Vehicular system occur extremely, or outside the altitude range of the height of described suspension bags under selected mould-fixed, or after outside the range of pressure of the pressure of described suspension bags under selected mould-fixed, send alerting signal to described panalarm.
6. a hoisting crane, is characterized in that, comprising:
Air suspension and as arbitrary in claim 1 to 5 as described in for the air suspension control system of hoisting crane.
7., for an air suspension control method for hoisting crane, it is characterized in that, comprising:
Gather height and the pressure of suspension bags;
According to the described height of described suspension bags and described pressure and selected pattern, export control signal to execution unit, control the height of described suspension bags and pressure and maintain in altitude range under selected mould-fixed and range of pressure respectively; And
When needs carry out pattern switching, control the switching between execution unit execution pattern;
Wherein, described pattern comprises: its road-driving mode, land locomotion pattern and hoisting operation pattern.
8., according to claim 7 for the air suspension control method of hoisting crane, it is characterized in that,
When needs carry out pattern switching, the step controlling the switching between execution unit execution pattern comprises:
When described hoisting operation pattern being switched to described its road-driving mode or described land locomotion pattern, the inflation of described suspension bags is controlled in the first predetermined amount of time, and when the pressure of described suspension bags does not reach the relevant pressure of setting, the rotating speed and the moment of torsion that control driving engine export, and make vehicle maintain low-speed running state.
9., according to claim 7 for the air suspension control method of hoisting crane, it is characterized in that,
When needs carry out pattern switching, the step controlling the switching between execution unit execution pattern comprises:
When described its road-driving mode or described land locomotion pattern being switched to described hoisting operation pattern, the venting of described suspension bags is controlled in the second predetermined amount of time, and when detecting that hoisting operation pattern is opened, judge whether described suspension bags exits complete, what after venting, perform supporting leg vertically stretches action.
10., according to claim 7 for the air suspension control method of hoisting crane, it is characterized in that,
When needs carry out pattern switching, the step controlling the switching between execution unit execution pattern comprises:
When switching between described its road-driving mode and described land locomotion pattern, the moving velocity of vehicle is coordinated to control to adjust the pressure of described suspension bags, so that the pressure of described suspension bags is adjusted to the pressure corresponding with corresponding pattern.
11., according to claim 7 for the air suspension control method of hoisting crane, is characterized in that, also comprise:
Detecting that the components and parts of Vehicular system occur abnormal, or outside the altitude range of the height of described suspension bags under selected mould-fixed, or outside the range of pressure of the pressure of described suspension bags under selected mould-fixed after, perform warning.
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