CN117166909B - A method and system for controlling multi-source overload operation of ladder frame of aerial ladder fire truck - Google Patents
A method and system for controlling multi-source overload operation of ladder frame of aerial ladder fire truckInfo
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- CN117166909B CN117166909B CN202311020782.0A CN202311020782A CN117166909B CN 117166909 B CN117166909 B CN 117166909B CN 202311020782 A CN202311020782 A CN 202311020782A CN 117166909 B CN117166909 B CN 117166909B
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Abstract
The invention discloses a multi-source load overload operation control method and system for a ladder frame of an aerial ladder fire truck, and detecting strain values generated by multi-source loads such as dead weight of the arm support, load of a platform, wind load, acceleration inertial load, water cannon counter force, bridging counter force and the like in real time by adopting a strain sensor, and calculating real-time bending moment of the ladder frame by the strain values. When the real-time bending moment of the ladder frame is smaller than the maximum bending moment, the ladder frame can continue to perform the amplitude increasing action even if overloaded, otherwise, the ladder frame stops acting, and when the real-time bending moment of the ladder frame is close to the maximum bending moment, the proportional speed reduction is performed until the action stops. The invention can realize overload control in the safe operation range of the aerial ladder fire truck and effectively improve 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 problems that (1) a whole car safety operation curve in the prior art is obtained by theoretical calculation, a bending moment of the whole car and a tilting moment of the whole car generated by different loads of the whole car can not be monitored in real time, and (2) when the load of a platform in the prior art is strictly limited within a safety load capacity range, the action of the whole car is limited even if the load of the platform is far smaller than the safety operation curve range when the platform is overloaded.
Disclosure of Invention
The invention aims to provide a multi-source load overload operation control method and system for a ladder frame of an aerial ladder fire truck, which can be used for detecting strain values generated by multi-source loads such as a dead weight of an arm frame, a platform load, a wind load, an acceleration inertial load, a water cannon counter force, a bridging counter force and the like in real time by adopting a strain sensor, and calculating real-time bending moment of the ladder frame by the strain values. 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 and calculating a real-time bending moment of the ladder frame, wherein the multi-source load comprises the self weight of the ladder frame, the load of a platform, the load of wind, the inertial load of acceleration, the counter force of a water cannon and the counter force of bridging;
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 (when) When the ladder frame is controlled to continue to act, otherwise, whenWhen the ladder frame is controlled to stop acting, wherein, the For the real-time bending moment of the ladder frame,For the current working amplitude of the ladder frame the maximum bending moment of the lower ladder frame,Is a preset safety coefficient.
Further, the time whenWhen the ladder frame is controlled to continue to act, comprising the following steps:
When (when) And is also provided with>0.9When 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 (when) ≤0.9In the time-course of which the first and second contact surfaces, the control ladder frame will continue to act at 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 under different ladder frame operation amplitudes through adjusting the multi-source load input and simulation under different ladder frame operation amplitudes Bending moment of ladder frameThe 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 under different ladder frame operation amplitudes is obtained Bending moment of ladder frameThe relationship being non-linearly increasing, when the moment of tippingWhen the bending moment of the ladder frame reaches the maximumThe maximum value is also reached and, determining a maximum ladder bending moment based on the maximum tipping moment;
according to the maximum value of tipping moment and the maximum value of bending moment of the ladder frame under different ladder frame operation amplitudes obtained by simulation, fitting to obtain a mapping relation curve of the maximum bending moment of the ladder frame and the maximum tilting moment of the whole vehicle.
Further, the step of obtaining and correcting the strain value of the multi-source load acting on the ladder frame under the current working 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 working amplitude of the ladder frame is obtained by installing a strain sensor on the ladder frame;
the strain value is corrected as follows:
;
Let strain correction term Measured strain value of 0.1 timesThen:
;
Wherein, the In order to correct the value of the strain,In order to measure the strain value in the actual measurement,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 1.1-1.3.
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 collecting the length of the ladder frame, the angle of the ladder frame and the strain value of the ladder frame, judging the working 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, matching the current safety working curve, obtaining the maximum tipping moment of the whole ladder frame under the working amplitude of the current ladder frame according to the one-to-one correspondence between the maximum tipping moment of the whole ladder frame and the safety working curve of the whole ladder frame based on the matched current safety working curve, calculating the maximum bending moment of the ladder frame under the working amplitude of the current ladder frame according to the mapping relation between the maximum bending moment of the ladder frame and the maximum tipping moment of the whole ladder frame, obtaining the strain value of a multi-source load acting on the ladder frame under the working amplitude of the current ladder frame and correcting the strain value, and calculating the real-time bending moment of the ladder frame, wherein the multi-source load comprises the self weight of the ladder frame, the platform load, the wind load, the acceleration inertial load, the water cannon counter force and the bridge counter force, and the multi-source load overload operation control is carried out according to the real-time bending moment of the ladder frame and the maximum bending moment of the ladder frame under the working amplitude of the current ladder frame.
When (when)When the ladder frame is controlled to continue to act, otherwise, whenWhen the ladder frame is controlled to stop acting, wherein, the For the real-time bending moment of the ladder frame,For the current working amplitude of the ladder frame the maximum bending moment of the lower ladder frame,Is a preset safety coefficient.
Further, the controller is specifically used for controlling the device,
When (when)And is also provided with>0.9When 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 (when) ≤0.9In the time-course of which the first and second contact surfaces, the control ladder frame will continue to act at 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 of the multi-source load acting on the ladder frame Is arranged on the amplitude-variable oil cylinder and the ladder frame the side surface of the 1m ladder frame before the hinge point;
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, outputting a control signal to control the opening of the hydraulic valve based on the relation between the bending moment of the current ladder frame and the bending moment of the maximum ladder frame, and controlling the action of the ladder frame.
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, the bridging counter force and the like can be equivalently the external force F t at a certain point of the ladder frame, and the magnitude and the direction of the external 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. The moment calculation of the external force F t to the upper turning center can obtain the real-time tipping moment of the whole vehicle Moment decomposition is carried out in different directions to obtain the bending moment of the ladder frameAnd 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. The point P is the center point of the external force F t, the point P changes in real time along with the changes of the angle of the ladder frame, the length of the ladder frame and the loads, and the point S is the vertical intersection point between the rotation center point O and the ladder frame and changes in real time along with the changes of the ladder frame.
The roll moment calculation formula can be obtained according to the moment calculation principle:
;
;
;
Wherein, the Is the tipping moment of the whole vehicle,To be combined with external forceThe moment arm to the rotation center point O,、Respectively, external force is appliedForce 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.
Because the external force F t is complex in calculation, 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 under different ladder frame operation amplitudes by adjusting inputs such as multi-source loads and the like and performing simulation and simulation solution under different ladder frame operation amplitudesBending moment of ladder frame。
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 under different ladder frame operation amplitudes according to the simulation resultBending moment of ladder frameRelation, tilting moment in tilting planeBending moment at selected position of ladder frameIn a nonlinear incremental relationship when the moment of tippingWhen the bending moment of the ladder frame reaches the maximumThe maximum value is also reached and, fitting according to simulation results to obtain bending moment of the ladder frameMaximum value and whole vehicle tipping momentMaximum value map.
Whole vehicle tipping momentMaximum value, i.e. maximum tilting momentThe maximum tipping moment 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 oneBy bending moment of the ladder frameMaximum value and whole vehicle tipping momentThe maximum bending moment of the ladder frame under the gesture can be obtained by the maximum mapping relation curveMaximum bending moment of ladder frameThere 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:
;
is an ideal strain value for the ladder frame, in practice due to the length of the ladder Angle of ladder frameThe weight m of the ladder frame, the gravity center position change of the ladder frame, the processing error, the assembly error and other factors, in the invention, the strain value measured by a strain sensorAdding a strain correction termObtaining a corrected strain value, calculating the bending moment of the ladder frame,
In the invention, the strain correction term is takenMeasured strain value of 0.1 timesThe method comprises the following steps:
;
finally obtain the bending moment of the ladder frame And strain sensor for measuring strain valueThe relation is calculated:
。
(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 One-to-one correspondence with the whole vehicle safety operation curve and the current safety operation curve, calculating the maximum tipping moment with the current amplitude;
According to the maximum value of bending moment of the ladder frameMaximum tilting moment of the whole vehicleObtaining the maximum value of the bending moment of the ladder frame under the current amplitude;
The handle sends out an action signal, and simultaneously obtains and corrects a strain value detected by the strain sensor, and calculates the real-time bending moment of the ladder frame;
The control is performed as follows:
When (when) When overload occurs, the operation of extending the ladder frame, changing amplitude of the ladder frame, rotating the turntable, etc. can be completed, otherwise, whenWhen the ladder frame is controlled to stop action immediately, wherein,Is a preset safety coefficient;
Further, when And is also provided with>0.9When 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 ≤0.9When the ladder frame moves continuously according to the original speed.
The periodic operation ends and proceeds to the next cycle.
It should be noted that the safety coefficient k takes a value of 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 (10)
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 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 under different ladder frame operation amplitudes through adjusting the multi-source load input and simulation under different ladder frame operation amplitudes Bending moment of ladder frameThe 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 under different ladder frame operation amplitudes is obtained Bending moment of ladder frameThe relationship being non-linearly increasing, when the moment of tippingWhen the bending moment of the ladder frame reaches the maximumThe maximum value is also reached and, determining a maximum ladder bending moment based on the maximum tipping moment;
According to the maximum value of tipping moment and the maximum value of bending moment of the ladder frame under different ladder frame operation amplitudes obtained by simulation, fitting to obtain a mapping relation curve of the maximum bending moment of the ladder frame and the maximum tilting moment of the whole vehicle;
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 and calculating a real-time bending moment of the ladder frame, wherein the multi-source load comprises the self weight of the ladder frame, the load of a platform, the load of wind, the inertial load of acceleration, the counter force of a water cannon and the counter force of bridging;
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 (when) When the ladder frame is controlled to continue to act, otherwise, whenWhen the ladder frame is controlled to stop acting, wherein, the For the real-time bending moment of the ladder frame,For the current working amplitude of the ladder frame the maximum bending moment of the lower ladder frame,Is a preset safety coefficient.
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 operation is as followsWhen the ladder frame is controlled to continue to act, comprising the following steps:
When (when) And is also provided with>0.9When 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 (when) ≤0.9In the time-course of which the first and second contact surfaces, the control ladder frame will continue to act at the original speed.
3. 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 ladder frame operation amplitude and calculating the real-time ladder frame bending moment comprise the following steps:
The strain value of the multi-source load acting on the ladder frame under the current working amplitude of the ladder frame is obtained by installing a strain sensor on the ladder frame;
the strain value is corrected as follows:
;
Let strain correction term Measured strain value of 0.1 timesThen:
;
Wherein, the In order to correct the value of the strain,In order to measure the strain value in the actual measurement,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.
4. 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 is 1.1-1.3.
5. The method for controlling multi-source overload operation of the ladder frame of the aerial ladder fire truck according to claim 2, wherein the deceleration coefficient s is set as follows:
。
6. 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 5, 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 collecting the length of the ladder frame, the angle of the ladder frame and the strain value of the ladder frame, judging the working 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, matching the current safety working curve, obtaining the maximum tipping moment of the whole ladder frame under the working amplitude of the current ladder frame according to the one-to-one correspondence between the maximum tipping moment of the whole ladder frame and the safety working curve of the whole ladder frame based on the matched current safety working curve, calculating the maximum bending moment of the ladder frame under the working amplitude of the current ladder frame according to the mapping relation between the maximum bending moment of the ladder frame and the maximum tipping moment of the whole ladder frame, obtaining the strain value of a multi-source load acting on the ladder frame under the working amplitude of the current ladder frame and correcting the strain value, and calculating the real-time bending moment of the ladder frame, wherein the multi-source load comprises the self weight of the ladder frame, the platform load, the wind load, the acceleration inertial load, the water cannon counter force and the bridge counter force, and the multi-source load overload operation control is carried out according to the real-time bending moment of the ladder frame and the maximum bending moment of the ladder frame under the working amplitude of the current ladder frame.
When (when)When the ladder frame is controlled to continue to act, otherwise, whenWhen the ladder frame is controlled to stop acting, wherein, the For the real-time bending moment of the ladder frame,For the current working amplitude of the ladder frame the maximum bending moment of the lower ladder frame,Is a preset safety coefficient.
7. The aerial ladder fire truck ladder multi-source load overload operation control system of claim 6, wherein the controller is configured to,
When (when)And is also provided with>0.9When 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 (when) ≤0.9In the time-course of which the first and second contact surfaces, the control ladder frame will continue to act at the original speed.
8. The multi-source overload operation control system for the ladder frame of the aerial ladder fire truck according to claim 6, wherein the angle sensor is arranged at a joint hinge point of the ladder frame and the turntable.
9. The multi-source load overload operation control system for the ladder frame of the aerial ladder fire truck according to claim 6, 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.
10. The multi-source load overload operation control system of an aerial ladder fire truck ladder of claim 6, wherein the displacement sensor is mounted at the tail of the ladder.
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| 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 |
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