PALMROTH, MIKKO,LAITINEN, SIMO,SILTANEN, VESA,KÄPPI, TIMO
申请号：
FI20135085
公开号：
FI20135085A
申请日:
2013.01.29
申请国别(地区):
FI
年份:
2014
代理人:
摘要：
The invention relates to a method for controlling the crane (22) of a working machine (10； 44) by using boom tip control, in which method the crane (22) comprises at least two booms (24, 26, 28) connected to the working machine (10； 44) and each other in an articulated manner, which booms are moved in relation to the working machine (10； 44) and to each other by means of actuators (32, 34, 36) controlled by a control system of the working machine (10； 44), and in which method the direction and speed of motion of the head (38) of the crane, controlled by the driver applying controls (50, 52) in the working machine (10； 44), is implemented by applying speeds of the different booms (24, 26, 28) of the crane (22). In the method according to the invention the speeds of the different booms (24, 26, 28) of the crane (22) are controlled automatically in at least one of the following manners in the respective situations: -limiting the speed of motion of a boom (24, 26, 28) of the crane (22) when the boom comes closer than a predetermined distance to the extreme end of its range of motion and increasing the speed of motion of at least one other boom (24, 26, 28) when the position of at least one boom (24, 26, 28) comes closer than a predetermined distance to the extreme end of its range of motion； -weighting the share of the movement of booms (24, 26, 28) implementing the movement of the head (38) of the crane with the lowest possible energy consumption； -changing the direction of motion of the head (38) of the crane from the direction of motion steered by the driver so that the direction of motion of the head (38) of the crane deviates from the target of the driver if the movement of the head (38) of the crane controlled by the driver cannot be implemented； -if the driver steers the head (38) of the crane towards the working machine (10；44) in the horizontal direction, the head (38) of the crane is automatically lifted to a predetermined minimum height during the mov
