CN117166909A - A multi-source load overload operation control method and system for a ladder fire truck ladder frame - Google Patents
A multi-source load overload operation control method and system for a ladder fire truck ladder frame Download PDFInfo
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Abstract
本发明公开了一种云梯消防车梯架多源负载超载作业控制方法及系统，采用应变传感器实时检测出由臂架自重、平台载荷、风载、加速度惯性载荷、水炮反力、搭桥反力等多源负载产生的应变值，再由应变值计算出梯架的实时弯矩。当梯架实时弯矩小于最大弯矩时，即使超载，梯架仍可以继续进行幅度增大动作，否则，梯架将停止动作；当梯架实时弯矩接近最大弯矩时进行比例减速，直至动作停止。本发明能够实现云梯消防车安全作业范围内的超载控制，有效提升救援效率。
The invention discloses a multi-source load overload operation control method and system for a ladder fire truck ladder frame. The strain sensor is used to detect in real time the weight of the boom, platform load, wind load, acceleration inertia load, water cannon reaction force, and bridge reaction force. Wait for the strain values generated by multi-source loads, and then calculate the real-time bending moment of the ladder frame based on the strain values. When the real-time bending moment of the ladder frame is less than the maximum bending moment, even if it is overloaded, the ladder frame can still continue to increase the amplitude. Otherwise, the ladder frame will stop moving; when the real-time bending moment of the ladder frame is close to the maximum bending moment, it will decelerate proportionally until Action stops. The invention can realize overload control within the safe operation range of the aerial ladder fire truck and effectively improve the rescue efficiency.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a control method and a system for multi-source load overload operation of a ladder frame of an aerial ladder fire truck.
Background
The aerial ladder fire truck is an important component of a high-rise fire truck, is called as the aerial ladder truck for short, mainly takes rescue work and has the function of spraying and extinguishing fire. The ladder frame of the aerial ladder fire truck is of a telescopic straight arm structure, the bottom of the ladder frame is hinged with the boarding turntable, the front end of the ladder frame is connected with the operation platform, and rescue work in different amplitudes and different operation ranges is realized through different actions such as revolving of the turntable, amplitude variation of the ladder frame, expansion of the ladder frame and the like.
In the rescue process of the aerial ladder fire truck, the uniform distribution control of the distribution force is realized through the support of the landing leg of the getting-off truck, so that the stability of work in different operation range of getting-on truck is realized. At present, the domestic aerial ladder fire truck can only realize that the fixed landing leg span supports the back and allows the operation of getting on the bus, and the ladder frame is operated in fixed operation range curve, and the platform bearing capacity is fixed, can't realize the operation control when the platform is overloaded, can't promote the operation space, influences rescue operation efficiency.
The existing domestic aerial ladder fire truck comprises two working conditions of full extension of the horizontal supporting legs or full extension of one side and half extension of one side, when the horizontal extension and vertical supporting stress of the landing legs of the landing truck are completed, the available stable moment can be calculated according to the horizontal length of the landing legs of the landing truck and the stress condition of each vertical landing leg, and the loading safety operation curve can be determined according to the stable moment. The get-on operation mode is also limited because the get-off mode is fixed. The boarding mode is switched, and the ladder frame can only work in an absolute safety operation amplitude curve without overload of the platform. At present, the source of multi-source load on the ladder frame is limited to the dead weight of the ladder frame and the load of the platform, and when the load of the platform is overloaded, the movement of the platform is immediately limited even in a set safe operation amplitude curve. The prior art has the following problems: (1) In the prior art, a whole car safety operation curve is obtained by theoretical calculation, and the bending moment of the ladder frame generated by different loads of the ladder frame cannot be monitored in real time; (2) In the prior art, the load of the platform is strictly limited in the safety load carrying capacity range, and when the platform is overloaded, the action of the ladder frame is limited even if the load is far smaller than the safety operation curve range.
Disclosure of Invention
The invention aims to provide a control method and a system for multi-source load overload operation of an aerial ladder fire truck ladder frame, wherein a strain sensor is adopted to detect strain values generated by multi-source loads such as arm support dead weight, platform load, wind load, acceleration inertial load, water cannon counter force, bridging counter force and the like in real time, and then the real-time bending moment of the ladder frame is calculated by the strain values; when the real-time bending moment value is smaller than the maximum bending moment value under the amplitude, the ladder frame still has enough stability margin and strength margin, and even if the ladder frame is overloaded, the amplitude increasing actions such as expansion and contraction, amplitude variation, left-right rotation and the like of the ladder frame can be realized. The invention realizes the effective control of overload action by detecting the value of the strain sensor in real time.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention provides a multi-source load overload operation control method for an aerial ladder fire truck ladder frame, which comprises the following steps:
judging the current working amplitude of the ladder frame according to the current ladder frame angle, the turntable angle and the length information of the ladder frame, and matching the current safety working curve;
based on the matched current safety operation curve, obtaining the maximum tipping moment of the whole vehicle under the current ladder frame operation amplitude according to the one-to-one correspondence of the maximum tipping moment of the whole vehicle and the safety operation curve of the whole vehicle;
according to the mapping relation between the maximum bending moment of the ladder frame and the maximum tipping moment of the whole vehicle, calculating to obtain the maximum bending moment of the ladder frame under the current working amplitude of the ladder frame;
the method comprises the steps of obtaining a strain value of a multi-source load acting on a ladder frame under the current working amplitude of the ladder frame, correcting the strain value, and calculating a real-time bending moment of the ladder frame; the multi-source load includes: ladder frame dead weight, platform load, wind load, acceleration inertial load, water cannon counter force and bridging counter force;
and carrying out multi-source load overload operation control based on the real-time ladder frame bending moment and the maximum value of the ladder frame bending moment under the current ladder frame operation amplitude in the following mode:
when kM sg ≤M sgmax When in use, the ladder frame is controlledContinuing to act; otherwise, when kM sg ＞M sgmax When the ladder frame stops acting, M sg For real-time bending moment of the ladder frame, M sgmax And k is a preset safety coefficient, and is the maximum value of the bending moment of the ladder frame under the current working amplitude of the ladder frame.
Further, the current kM sg ≤M sgmax When the ladder frame is controlled to continue to act, the method comprises the following steps:
when kM sg ≤M sgmax And kM sg ＞0.9M sgmax When the ladder frame is controlled to act into a proportional deceleration mode, the method specifically comprises the following steps:
controlling the input signal of the hydraulic valve to multiply a deceleration coefficient s;
when kM sg ≤0.9M sgmax And when the control ladder frame is in operation, the control ladder frame continues to act according to the original speed.
Further, the mapping relation between the maximum bending moment of the ladder frame and the maximum tipping moment of the whole car is determined as follows:
constructing a multi-source load simulation model of the ladder frame, and obtaining the whole vehicle tipping moment M under different ladder frame operation amplitudes through adjusting the multi-source load input in a simulation mode under different ladder frame operation amplitudes z Bending moment M of ladder frame sg The method comprises the steps of carrying out a first treatment on the surface of the The different ladder frame operation ranges refer to different ladder frame angles and different ladder frame lengths during the ladder frame operation;
according to the analysis of the simulation result, the whole car tipping moment M under different ladder frame operation amplitudes z Bending moment M of ladder frame sg The relationship being non-linearly increasing, when the tipping moment M z When reaching maximum, the bending moment M of the ladder frame sg The maximum value is reached, and the maximum value of the bending moment of the ladder frame is determined based on the maximum value of the tipping moment;
and fitting according to the maximum value of the tipping moment and the maximum value of the bending moment of the ladder frame, which are obtained by simulation, under different working amplitudes of the ladder frame, to obtain a mapping relation curve of the maximum value of the bending moment of the ladder frame and the maximum value of the tipping moment of the whole car.
Further, the step of obtaining and correcting the strain value of the multi-source load acting on the ladder frame under the current amplitude of the ladder frame and calculating the real-time bending moment of the ladder frame comprises the following steps:
the strain value of the multi-source load acting on the ladder frame under the current amplitude of the ladder frame is obtained by installing a strain sensor on the ladder frame;
the strain value is corrected as follows:
ε＝ε measure +ε adjust ；
let the strain correction term epsilon adjust Measured strain value epsilon of 0.1 times measure Then:
ε＝ε measure +ε adjust ＝1.1ε measure ；
wherein epsilon is the modified strain value, epsilon measure For the actual strain value epsilon adjust In order to provide a strain correction term,
and calculating the bending moment of the ladder frame corresponding to the corrected strain value based on the functional relation between the bending moment of the ladder frame and the strain value.
Further, the safety factor k takes a value of 1.1 to 1.3.
Further, the deceleration coefficient s is set as:
the invention also provides a control system for the multi-source load overload operation of the ladder frame of the aerial ladder fire truck, which is used for realizing the control method for the multi-source load overload operation of the ladder frame of the aerial ladder fire truck, and comprises the steps of getting off the aerial ladder fire truck, a slewing mechanism, the ladder frame, a platform and a load, and further comprises the following steps:
the displacement sensor is used for detecting the whole length of the ladder frame;
the angle sensor is used for detecting the angle of the ladder frame;
the strain sensor is used for detecting the strain value of the multi-source load acting on the ladder frame;
the displacement sensor, the angle sensor and the strain sensor are all connected with the controller;
the controller is used for acquiring the length of the ladder frame, the angle of the ladder frame and the strain value of the ladder frame, judging the operation amplitude of the current ladder frame according to the information of the angle of the current ladder frame and the length of the ladder frame, and matching the current safety operation curve; based on the matched current safety operation curve, obtaining the maximum tipping moment of the whole vehicle under the current ladder frame operation amplitude according to the one-to-one correspondence of the maximum tipping moment of the whole vehicle and the safety operation curve of the whole vehicle; according to the mapping relation between the maximum bending moment of the ladder frame and the maximum tipping moment of the whole vehicle, calculating to obtain the maximum bending moment of the ladder frame under the current working amplitude of the ladder frame; the method comprises the steps of obtaining a strain value of a multi-source load acting on a ladder frame under the current working amplitude of the ladder frame, correcting the strain value, and calculating a real-time bending moment of the ladder frame; the multi-source load includes: ladder frame dead weight, platform load, wind load, acceleration inertial load, water cannon counter force and bridging counter force; and carrying out multi-source load overload operation control based on the real-time ladder frame bending moment and the maximum value of the ladder frame bending moment under the current ladder frame operation amplitude in the following mode:
when kM sg ≤M sgmax When the ladder frame is controlled to continue to act; otherwise, when kM sg ＞M sgmax When the ladder frame stops acting, M sg For real-time bending moment of the ladder frame, M sgmax And k is a preset safety coefficient, and is the maximum value of the bending moment of the ladder frame under the current working amplitude of the ladder frame.
Further, the controller is specifically used for controlling the device,
when kM sg ≤M sgmax And kM sg ＞0.9M sgmax When the ladder frame is controlled to act into a proportional deceleration mode, the method specifically comprises the following steps:
controlling the input signal of the hydraulic valve to multiply a deceleration coefficient s;
when kM sg ≤0.9M sgmax And when the control ladder frame is in operation, the control ladder frame continues to act according to the original speed.
Further, the angle sensor is arranged at a hinge point where the ladder frame is connected with the turntable.
Further, the strain sensor is arranged at the side of the ladder frame 1m in front of the hinge point of the amplitude variable oil cylinder and the ladder frame.
Further, the displacement sensor is arranged at the tail part of the ladder frame.
The beneficial effects of the invention are as follows:
(1) The invention provides a control method for overload operation of a ladder frame of an aerial ladder fire truck, which comprises the steps of detecting a strain value through a strain sensor to calculate the bending moment of the ladder frame, feeding back the stress condition of the ladder frame in real time, better coping with complex and changeable field environments and improving the operation stability;
(2) According to the invention, the real-time bending moment of the ladder frame is obtained through detection and calculation of the strain sensor, and is compared with the maximum tipping moment under the current amplitude, so that overload control in the safe operation range of the aerial ladder fire truck is realized, and the rescue efficiency is effectively improved.
Drawings
FIG. 1 is a control system architecture for an aerial ladder fire truck ladder frame overload operation provided by the invention;
FIG. 2 is a schematic diagram of the calculation of the roll moment of the ladder of the present invention;
fig. 3 is a flow chart of a control method for overload operation of an aerial ladder fire truck ladder provided by the invention.
Detailed Description
The invention is further described below. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
The invention provides a multi-source load overload operation control system of an aerial ladder fire truck ladder frame, which is shown in figure 1, and comprises an aerial ladder fire truck getting-off 1, a slewing mechanism 2, a ladder frame 7, a platform and a load 9, and further comprises:
the displacement sensor 4 is used for detecting the whole length l of the ladder frame and is arranged at the tail part of the ladder frame;
the angle sensor 5 is used for detecting the angle alpha of the ladder frame and is arranged at the joint hinge point of the ladder frame and the turntable;
a strain sensor 6 for detecting a strain value epsilon of the multi-source load acting on the ladder frame measure The device is arranged at the side surface of the ladder frame 1m in front of the hinge point of the amplitude variation oil cylinder and the ladder frame;
the displacement sensor 4, the angle sensor 5 and the strain sensor 6 are all connected with a controller,
the controller 3 is used for collecting the length of the ladder frame, the angle of the ladder frame and the strain value of the ladder frame, calculating the bending moment of the current ladder frame, and outputting a control signal to control the opening of the hydraulic valve and control the action of the ladder frame based on the relation between the bending moment of the current ladder frame and the maximum bending moment of the ladder frame; the controller is installed at the turntable control box.
Fig. 8 shows a vehicle safety operation curve.
Based on the control system, the invention provides a control method for overload operation of an aerial ladder fire truck ladder frame, which comprises the following steps:
(1) The mapping relation between the maximum bending moment of the ladder frame and the maximum tipping moment of the whole car is calculated as follows:
the multi-source load such as the self weight of the ladder frame, the load of the platform, the wind load, the acceleration inertial load, the water cannon counter force and the bridging counter force can be equivalent to the external force F at a certain point of the ladder frame t The magnitude and direction of the combined force are changed along with the changes of the angle of the ladder frame, the length of the ladder frame and the magnitude of the multi-source load. Will combine with external force F t Moment calculation is carried out on the upper turning center to obtain the real-time tipping moment M of the whole vehicle z Moment decomposition is carried out in different directions to obtain the bending moment M of the ladder frame sg And a torque compensation term Δm. The calculation model of which is shown in figure 2,
in the figure, the point O is the center point of the upper vehicle rotation, and the point is fixed. Point P is the external force F t The center point, the P point, changes in real time with the changes of the angle of the ladder frame, the length of the ladder frame and the loads, and the S point is the vertical intersection point from the rotation center point O to the ladder frame and changes in real time with the changes of the ladder frame.
The roll moment calculation formula can be obtained according to the moment calculation principle:
wherein,for the whole car tipping moment, the driver is added with>Is to add external force->Force arm to centre of rotation O +.>External force is respectively->Force arms decomposed in the vertical direction of the ladder frame and the horizontal direction of the ladder frame.
The whole car tipping moment is decomposed to be obtained in the vertical direction of the ladder frame and the horizontal direction of the ladder frame:
finally, the relation between the whole car tipping moment and the ladder frame bending moment is obtained:
in the above-mentioned method, the step of,the bending moment of the ladder frame can be obtained through measurement and calculation of a strain sensor;The moment compensation term is related to the dead weight of the ladder frame, the length of the ladder frame, wind load, platform load, acceleration inertial load and the like.
Due to external force F t Based on the theoretical calculation principle, the invention adopts a simulation mode to simulate the whole car tipping moment and the bending moment of the ladder frame under different operation amplitudes,
constructing a multi-source load simulation model of the ladder frame, and obtaining the whole vehicle tipping moment M under different ladder frame operation amplitudes by adjusting inputs such as multi-source loads and the like through simulation and simulation solution under different ladder frame operation amplitudes z Bending moment M of ladder frame sg 。
In the present invention, the different widths of the ladder frame mean that the angles and lengths of the ladder frames are different when the ladder frame is operated.
Analyzing the whole car tipping moment M under different ladder frame operation amplitudes according to the simulation result z Bending moment M of ladder frame sg Relation, tilting moment M in tilting plane z Bending moment M at selected position of ladder frame sg In a nonlinear incremental relationship when the tipping moment M z When reaching maximum, the bending moment M of the ladder frame sg Also reaches the maximum value, and fits according to the simulation result to obtain the bending moment M of the ladder frame sg Maximum value and whole vehicle tipping moment M z Maximum value map.
Whole vehicle tipping moment M z Maximum value, i.e. maximum tipping moment M zmax The maximum tipping moment M in different postures can be reversely calculated according to the safety operation amplitudes of the ladder frame in different postures corresponding to the safety operation curve of the whole car one by one zmax Through the bending moment M of the ladder frame sg Maximum value and whole vehicle tipping moment M z The maximum bending moment M of the ladder frame under the gesture can be obtained by the maximum mapping relation curve sgmax Maximum bending moment M of ladder frame sgmax There is also a one-to-one mapping relationship with the vehicle safety operation curve.
(2) Calculating the real-time bending moment of the ladder frame, as follows:
the bending moment of the ladder frame and the strain value of the ladder frame have linear function relation and can be obtained through calculation according to the formula:
M sg ＝k(ε)；
epsilon is the ideal strain value of the ladder frame, and in practice, due to the length l of the ladder frame, the angle alpha of the ladder frame and the dead weight of the ladder framem, center of gravity position change of ladder frame, processing error, assembly error, etc., in the invention, strain value epsilon measured by strain sensor measure Adding a strain correction term epsilon adjust Obtaining a corrected strain value, calculating the bending moment of the ladder frame,
in the invention, the strain correction term epsilon is taken adjust Measured strain value epsilon of 0.1 times measure The method comprises the following steps:
ε＝ε measure +ε adjust ＝1.1ε measure ；
finally obtain the bending moment M of the ladder frame sg And the strain sensor measures the strain value epsilon measure The relation is calculated:
M sg ＝k(1.1ε measure )。
(3) Based on the calculation and the mapping curve fitting result, overload control is performed as follows, the control flow is shown in fig. 3,
when the controller receives the signals of the amplitude variation of the ladder frame, the expansion of the ladder frame or the revolving handle of the revolving table, the operation amplitude of the current ladder frame is judged according to the parameter information such as the angle of the current ladder frame, the angle of the revolving table, the length of the ladder frame and the like, and the current safe operation curve range is automatically matched;
according to the maximum tipping moment M zmax One-to-one correspondence with the whole vehicle safety operation curve and the current safety operation curve, calculating the maximum tipping moment M with the current amplitude zmax ；
According to the maximum value M of the bending moment of the ladder frame sgmax Maximum tilting moment M of whole vehicle zmax Obtaining the maximum value M of the bending moment of the ladder frame under the current amplitude sgmax ；
The handle sends out an action signal, and simultaneously obtains and corrects a strain value detected by the strain sensor, and calculates a real-time ladder frame bending moment M sg ；
The control is performed as follows:
when kM sg ≤M sgmax When the device is overloaded, the device can perform actions of completing the extension of the ladder frame, the amplitude change of the ladder frame, the rotation of the turntable and the like; otherwise, when kM sg ＞M sgmax Control ladderThe frame immediately stops acting, wherein k is a preset safety coefficient;
further, when kM sg ≤M sgmax And kM sg ＞0.9M sgmax When the ladder frame is controlled to move into a proportional deceleration mode, an input signal of the hydraulic valve is controlled to multiply a deceleration coefficient s to continue to move, the value range of the s is limited to be 0-1, and the value of the s is calculated as follows:
otherwise, when kM sg ≤0.9M sgmax When the ladder frame moves continuously according to the original speed.
The periodic operation ends and proceeds to the next cycle.
The safety factor k is 1.1 to 1.3 according to the actual situation.
Term interpretation:
multisource load: ladder frame dead weight, platform load, wind load, acceleration inertial load, water cannon counter force, bridge reaction force and other loads born by the ladder frame.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (11)
1. The utility model provides an aerial ladder fire engine ladder frame multisource load overload operation control method which is characterized in that the method comprises the following steps:
judging the current working amplitude of the ladder frame according to the current ladder frame angle, the turntable angle and the length information of the ladder frame, and matching the current safety working curve;
based on the matched current safety operation curve, obtaining the maximum tipping moment of the whole vehicle under the current ladder frame operation amplitude according to the one-to-one correspondence of the maximum tipping moment of the whole vehicle and the safety operation curve of the whole vehicle;
according to the mapping relation between the maximum bending moment of the ladder frame and the maximum tipping moment of the whole vehicle, calculating to obtain the maximum bending moment of the ladder frame under the current working amplitude of the ladder frame;
the method comprises the steps of obtaining a strain value of a multi-source load acting on a ladder frame under the current working amplitude of the ladder frame, correcting the strain value, and calculating a real-time bending moment of the ladder frame; the multi-source load includes: ladder frame dead weight, platform load, wind load, acceleration inertial load, water cannon counter force and bridging counter force;
and carrying out multi-source load overload operation control based on the real-time ladder frame bending moment and the maximum value of the ladder frame bending moment under the current ladder frame operation amplitude in the following mode:
when kM sg ≤M sgmax When the ladder frame is controlled to continue to act; otherwise, when kM sg ＞M sgmax When the ladder frame stops acting, M sg For real-time bending moment of the ladder frame, M sgmax And k is a preset safety coefficient, and is the maximum value of the bending moment of the ladder frame under the current working amplitude of the ladder frame.
2. The method for controlling multi-source load overload operation of ladder frame of aerial ladder fire truck as claimed in claim 1, wherein the current kM sg ≤M sgmax When the ladder frame is controlled to continue to act, the method comprises the following steps:
when kM sg ≤M sgmax And kM sg ＞0.9M sgmax When the ladder frame is controlled to act into a proportional deceleration mode, the method specifically comprises the following steps:
controlling the input signal of the hydraulic valve to multiply a deceleration coefficient s;
when kM sg ≤0.9M sgmax And when the control ladder frame is in operation, the control ladder frame continues to act according to the original speed.
3. The method for controlling multi-source load overload operation of the ladder frame of the aerial ladder fire truck according to claim 1, wherein the mapping relation between the maximum bending moment of the ladder frame and the maximum tipping moment of the whole truck is determined as follows:
constructing a multi-source load simulation model of the ladder frame, and obtaining the whole vehicle tipping moment M under different ladder frame operation amplitudes through adjusting the multi-source load input in a simulation mode under different ladder frame operation amplitudes z Bending moment M of ladder frame sg The method comprises the steps of carrying out a first treatment on the surface of the The different ladder frame operation ranges refer to different ladder frame angles and different ladder frame lengths during the ladder frame operation;
according to the analysis of the simulation result, the whole car tipping moment M under different ladder frame operation amplitudes z Bending moment M of ladder frame sg The relationship being non-linearly increasing, when the tipping moment M z When reaching maximum, the bending moment M of the ladder frame sg The maximum value is reached, and the maximum value of the bending moment of the ladder frame is determined based on the maximum value of the tipping moment;
and fitting according to the maximum value of the tipping moment and the maximum value of the bending moment of the ladder frame, which are obtained by simulation, under different working amplitudes of the ladder frame, to obtain a mapping relation curve of the maximum value of the bending moment of the ladder frame and the maximum value of the tipping moment of the whole car.
4. The method for controlling multi-source load overload operation of a ladder frame of an aerial ladder fire truck according to claim 1, wherein the steps of obtaining and correcting the strain value of the multi-source load on the ladder frame under the current amplitude of the ladder frame and calculating the real-time bending moment of the ladder frame comprise the following steps:
the strain value of the multi-source load acting on the ladder frame under the current amplitude of the ladder frame is obtained by installing a strain sensor on the ladder frame;
the strain value is corrected as follows:
ε＝ε measure +ε adjust ；
let the strain correction term epsilon adjust Measured strain value epsilon of 0.1 times measure Then:
ε＝ε measure +ε adjust ＝1.1ε measure ；
wherein epsilon is the modified strain value, epsilon measure For the actual strain value epsilon adjust In order to provide a strain correction term,
and calculating the bending moment of the ladder frame corresponding to the corrected strain value based on the functional relation between the bending moment of the ladder frame and the strain value.
5. The control method for multi-source load overload operation of the ladder frame of the aerial ladder fire truck according to claim 1, wherein the safety coefficient k takes a value of 1.1-1.3.
6. The method for controlling multi-source overload operation of an aerial ladder fire truck ladder according to claim 1, wherein the deceleration coefficient s is set as follows:
7. an aerial ladder fire truck ladder frame multi-source load overload operation control system for realizing the aerial ladder fire truck ladder frame multi-source load overload operation control method according to any one of claims 1 to 6, wherein the control system comprises an aerial ladder fire truck getting off, a slewing mechanism, a ladder frame, a platform and a load, and is characterized by further comprising:
the displacement sensor is used for detecting the whole length of the ladder frame;
the angle sensor is used for detecting the angle of the ladder frame;
the strain sensor is used for detecting the strain value of the multi-source load acting on the ladder frame;
the displacement sensor, the angle sensor and the strain sensor are all connected with the controller;
the controller is used for acquiring the length of the ladder frame, the angle of the ladder frame and the strain value of the ladder frame, judging the operation amplitude of the current ladder frame according to the information of the angle of the current ladder frame and the length of the ladder frame, and matching the current safety operation curve; based on the matched current safety operation curve, obtaining the maximum tipping moment of the whole vehicle under the current ladder frame operation amplitude according to the one-to-one correspondence of the maximum tipping moment of the whole vehicle and the safety operation curve of the whole vehicle; according to the mapping relation between the maximum bending moment of the ladder frame and the maximum tipping moment of the whole vehicle, calculating to obtain the maximum bending moment of the ladder frame under the current working amplitude of the ladder frame; the method comprises the steps of obtaining a strain value of a multi-source load acting on a ladder frame under the current working amplitude of the ladder frame, correcting the strain value, and calculating a real-time bending moment of the ladder frame; the multi-source load includes: ladder frame dead weight, platform load, wind load, acceleration inertial load, water cannon counter force and bridging counter force; and carrying out multi-source load overload operation control based on the real-time ladder frame bending moment and the maximum value of the ladder frame bending moment under the current ladder frame operation amplitude in the following mode:
when kM sg ≤M sgmax When the ladder frame is controlled to continue to act; otherwise, when kM sg ＞M sgmax When the ladder frame stops acting, M sg For real-time bending moment of the ladder frame, M sgmax And k is a preset safety coefficient, and is the maximum value of the bending moment of the ladder frame under the current working amplitude of the ladder frame.
8. The aerial ladder fire truck ladder multi-source load overload operation control system of claim 7, wherein the controller is specifically configured to,
when kM sg ≤M sgmax And kM sg ＞0.9M sgmax When the ladder frame is controlled to act into a proportional deceleration mode, the method specifically comprises the following steps:
controlling the input signal of the hydraulic valve to multiply a deceleration coefficient s;
when kM sg ≤0.9M sgmax And when the control ladder frame is in operation, the control ladder frame continues to act according to the original speed.
9. The multi-source overload operation control system for the ladder frame of the aerial ladder fire truck according to claim 7, wherein the angle sensor is arranged at a joint hinge point of the ladder frame and the turntable.
10. The multi-source load overload operation control system for the ladder frame of the aerial ladder fire truck according to claim 7, wherein the strain sensor is arranged at the side of the ladder frame 1m before the hinge point of the amplitude-variable oil cylinder and the ladder frame.
11. The multi-source load overload operation control system of an aerial ladder fire truck ladder of claim 7, wherein the displacement sensor is mounted at the tail of the ladder.
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| CN202311020782.0A Active CN117166909B (en) | 2023-08-14 | 2023-08-14 | A method and system for controlling multi-source overload operation of ladder frame of aerial ladder fire truck |
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| DE202004019927U1 (en) * | 2004-12-24 | 2005-03-17 | Hymer Leichtmetallbau | Multi-purpose ladder with joints |
| CN103569867A (en) * | 2013-11-15 | 2014-02-12 | 中联重科股份有限公司 | Hoisting machinery arm support side-tipping monitoring equipment, system and method and engineering machinery |
| US20160117902A1 (en) * | 2011-02-09 | 2016-04-28 | Viki Walbridge | Warning and message delivery and logging system utilizable in the monitoring of fall arresting and prevention devices and method of same |
| CN105717947A (en) * | 2014-12-18 | 2016-06-29 | 依维柯马基路斯公司 | Method for controlling an aerial apparatus, and aerial apparatus with controller implementing this method |
| CN107190643A (en) * | 2016-03-15 | 2017-09-22 | 徐工集团工程机械有限公司 | Bridge detection vehicle operation STABILITY MONITORING device, method and bridge inspection vehicle |
| CN107206262A (en) * | 2014-11-24 | 2017-09-26 | 奥斯克什公司 | The leg assembly of fire-fighting equipment |
| CN116062618A (en) * | 2022-12-30 | 2023-05-05 | 湖南中联重科应急装备有限公司 | Control method, system, storage medium and controller for ladder frame |
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| DE202004019927U1 (en) * | 2004-12-24 | 2005-03-17 | Hymer Leichtmetallbau | Multi-purpose ladder with joints |
| US20160117902A1 (en) * | 2011-02-09 | 2016-04-28 | Viki Walbridge | Warning and message delivery and logging system utilizable in the monitoring of fall arresting and prevention devices and method of same |
| CN103569867A (en) * | 2013-11-15 | 2014-02-12 | 中联重科股份有限公司 | Hoisting machinery arm support side-tipping monitoring equipment, system and method and engineering machinery |
| CN107206262A (en) * | 2014-11-24 | 2017-09-26 | 奥斯克什公司 | The leg assembly of fire-fighting equipment |
| CN105717947A (en) * | 2014-12-18 | 2016-06-29 | 依维柯马基路斯公司 | Method for controlling an aerial apparatus, and aerial apparatus with controller implementing this method |
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| CN117166909B (en) | 2025-10-10 |
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