CN101130421A - Control method for crane with multi-lifting mechanism - Google Patents
Control method for crane with multi-lifting mechanism Download PDFInfo
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Abstract
The invention discloses a control method of lifting machine with multiple lifting mechanisms, comprising system inspection, selecting lifting mechanism participating in lifting, preloading stage of steel rope, lifting and hovering stage and linkage lifting stage. All stages are controlled step by step. Only when previous working step is right the next step can be carried out. Safety and stability of lifting work can be guaranteed and problems generated in lifting mechanism are adjusted in time. The invention is provided with all-automatic control, automatically calculating load of lifting mechanism, automatic adjusting balance, safety and reliability.
Description
Technical field
The invention belongs to weight-lifting equipment control technology field, especially relate to control method for crane with multi-lifting mechanism.
Background technology
Present weight-lifting equipment, the single independently lifting mechanism of general employing, thereby control fairly simple, only need to estimate that can the weight of suspended object in the lifting range of loop wheel machine, then suspended object is fixed on the loop wheel machine suspension hook and gets final product, the loop wheel machine that this mode can satisfy little tonnage basically uses, but when lifting large-tonnage object, in the lifting process, often because estimation is inaccurate, problem such as lack of equilibrium in the process of hoisting, cause safety misadventure, even jeopardize personal safety, do not have a kind of control method that adopts automatically controlled loop wheel machine lifting mechanism at present.
Summary of the invention
The objective of the invention is to improve the deficiency of prior art and a kind of full automatic control is provided, calculates lifting mechanism load, automatic compensation balance, safe and reliable control method for crane with multi-lifting mechanism automatically.
The object of the present invention is achieved like this, and a kind of control method for crane with multi-lifting mechanism is the loop wheel machine lifting control method with many lifting mechanisms, is characterized in that this method may further comprise the steps:
A, start-up system, electric system, PLC control system and the ancillary system of detection loop wheel machine detect normally, can begin the lifting operation;
B, the lifting mechanism number and the corresponding numbering of selecting to participate in lifting can be selected the lifting mechanism and the quantity that participate in this operation;
When c, selected lifting mechanism participation lifting, according to conventional control method control; When two above lifting mechanisms participate in lifting, start associating lifting button, connect the power supply of participating in the lifting mechanism that hoists, lifting mechanism enters the steel rope pretension stage and carries out the steel rope pretension, and with the steel rope tension, the steel rope pretension enters the hovering phase that hoists after finishing, suspended object risen rise to specified altitude assignment and hover, adjust by the state of equilibrium of lifting thing, make its degree of balance in claimed range, enter the lifting of associating lifting stage at last.
The steel rope pretension stage is that instruction control unit rises, the Different Weight of steel rope and the weight of suspension hook are transferred according to each mechanism by system, the torque value of given each lifting mechanism motor, each mechanism's motor rotation, steel rope begins to tighten up, after all lifting mechanism steel rope pretensions finish, screen displaying " end of pretension stage " indicator lamp is bright, operate the master controller handle and return zero this moment, the load value of each selected lifting mechanism is near null value at this moment, the operator confirms that to touch-screen " end of pretension stage " signal system returns key frame, and steel rope pretension stages operating finishes.
The hovering phase that hoists is after finishing in the steel rope pretension stage, system is normal, touch-screen key frame " hovering phase " indicator lamp turns green, click " hovering phase " button, enter the operation of the hovering phase that hoists, the operation master controller rises at a slow speed, by regulating command handle inclination angle control hanging piece lifting velocity, after the operation master controller action, according to the actual motion state of hanging piece 2 kinds of different situations may appear:
A, hanging piece at all can't upward movements, lifting mechanism load limiter overload warning, and it is improper that the reason that this situation occurs is that lifting mechanism is selected, and the not enough or hanging piece suspension centre of total lifting capacity distributes improper, causes lifting by crane serious unbalance loading; This situation need be returned step b and reselect lifting mechanism or adjust the hanging piece suspension centre;
B, hanging piece break away from carrier and slowly rise, in the hanging piece uphill process, control system can be according to each the lifting mechanism running velocity of parameter automatic compensation that prestores, guarantee each mechanism's steel rope linear velocity unanimity, guarantee that hanging piece steadily rises, after hanging piece broke away from the carrier certain altitude, the master controller handle returned zero, stop to rise, this moment, system can compare judgement according to lifting altitude and the load value behind the relative steel rope pretension of each lifting mechanism:
If I hanging piece aerial statue is normal, each lifting mechanism load distribution is reasonable, the load that is each selected lifting mechanism is roughly balanced, touch-screen " end of hovering hoists " green indicating lamp will be lighted, the operation of expression system is normal, and the operator confirms that to touch-screen " hovering phase end " signal system writes down the load value of current each lifting mechanism and the shift value that hoists automatically, system returns key frame, and the hovering phase end of operation hoists;
Exceed the allowed band that prestores if the II system has judged mechanism according to load and lifting altitude, touch-screen " leveling automatically " indicator lamp will glimmer, and needs this moment the operator carry out following operation:
I. confirm " leveling automatically " button, enter automatic leveling picture;
Ii. by observing hanging piece aerial statue and each lifting mechanism of touch-screen preceding lifting altitude value Δ h of lifting relatively, the lifting mechanism of selected Δ h maximum is confirmed as the leveling bench mark;
Iii. operating the master controller handle rises, system will calculate the difference of current shift value of other lifting mechanism and the current shift value of bench mark automatically, system is the addition speed given value of each lifting mechanism with the conversion of position difference, speed master is given as zero, position automatic compensation program run, other lifting mechanism makes the horizontality after hanging piece returns to the steel rope pretension by speed rising separately;
Iv. after levelling function is realized automatically, touch-screen " leveling automatically " indicator lamp stops flicker, the lifting altitude value basically identical of the selected mechanism of touch-screen, the operator is by observing, if lifting mechanism has the slack rope phenomenon, it is given to adjust the manual addition speed of this lifting mechanism by touch-screen manual regulation button, tighten until steel rope, touch-screen is confirmed " hovering phase end " signal then, and system returns key frame, and the hovering phase end of operation hoists;
When the operator confirmed " hovering phase end " signal, system can write down the load value of each lifting mechanism and the shift value that hoists automatically, and simultaneity factor can be determined the target load value of each lifting mechanism according to current load value.
After associating lifting stage hovering phase finishes, if system is without any fault or alarm message reminding, by the touch-screen key frame, click " uniting the lifting stage " button, enter the operation in associating lifting stage: at first overlap lifting mechanism as reference mechanism by touch-screen selected, other lifting mechanism will hoist displacement as the reference amount with this mechanism, system remains the horizontality of hanging piece when hovering by automatic compensation and steadily hoists, with reference to mechanism selected after, the operator rises by operation master controller handle, system will be according to the current steel rope of the every cover lifting mechanism place reel number of plies and messenger chain reduction ratio, determine the dynamic output speed of every cover lifting mechanism motor, simultaneously, by to the detection of lifting mechanism position and the monitoring of load, dynamically each mechanism's addition speed given value of switching is guaranteed every cover lifting mechanism steel rope linear velocity unanimity, hanging piece will steadily rise under system's automatic compensation control.
To observe the aerial statue of hanging piece and contact screen information prompting at any time uniting the lifting stage, it is given also can to adjust the manual addition speed of a certain lifting mechanism by touch-screen manual regulation button when automatic compensation is invalid, thus the running velocity of manually intervening this mechanism.
In the whole control process, control system also can artificially be suspended the process of hoisting at any time detecting lifting speed, when the degree of balance parameter surpasses parameter preset, can stopping at any time hoisting.
Adopt torque control at each lifting motor of steel rope pretension stage, the suspension hook group of each suspension centre and the weight sum of mechanical attachment gross weight and steel rope multiply by coefficient as inverter torque given value, calculate steel rope weight by the height of hook point and the unit weight of steel rope; When design factor, consider the steel rope number of plies of reel, i.e. the real radius of reel; When handle is pushed ascent direction to, the motor of participation work moves together, with given torque low cruise, when detecting motor speed is zero and after the numerical value of LOAD CELLS reaches the torque settings value, pre-tensioning finishes, motor is when keeping given moment, the mechanical brake braking, after treating that all motors that participate in work finish pre-tensioning, handle is retracted zero-bit, press " pretension end " button, can enter the pattern of hovering, respectively participating in the lifting mechanism height coordinate of work this moment is promptly remembered, coordinate plane when hovering the pattern leveling is in pre-tensioning process, if the steel rope slack rope occurs, take off emergency situations such as groove, can immediately handle be retracted zero-bit, mechanical brake is braked immediately.
Each lifting motor of hovering phase adopts speed control hoisting, by bus the motor torque amplitude limit value is set, this value is at unit structure rated load weight, steel rope is in top when several, 1.5 times of motor torque, push handle to ascent direction, the motor of participation work moves together, load is sling gradually, and this moment, the speed of motor was limited to 50% of command speed, at this moment the velocity setting of inverter, given after the speed calculation factor is calculated by the steel rope linear velocity, the input inverter, position correction and target force correction do not enable, and arrange unreasonable if load surpasses the crane capacity or the suspension centre of bridge machine, the load of indivedual suspension centres surpasses the maximum crane capacity of the unit structure that hoists, load can't be sling or can't be sling by integral body, and should put down load this moment, recomputates load weight or arranges the hanger position; If load sling smoothly, all leave carrier, estimating weight and whether coincide in the time of should checking gross laden weight amount and ready mode is if any checking that than large deviation LOAD CELLS also adjusts load weight again; When the coordinate plane when if system detects the pre-tensioning of coordinate plane when hovering and steel rope is not parallel, to need load is carried out the leveling operation, at first selected rest point, this lifting mechanism is motionless when being leveling, coordinate difference when putting current coordinate and pre-tensioning with this, as the leveling benchmark, the current coordinate of weighing all the other each points is the coordinate difference during with pre-tensioning, rest point is generally the highest coordinate points, all the other points are the wedge shape adjustment, press " leveling automatically " button of upper computer picture then, push handle to the direction that hoists, all the other each points except that rest point carry out automatic leveling, and this moment, the speed master of inverter was given as zero, position correction is added given enabling, and the target force correction does not enable.
After the load leveling, determine the target pulling force of each point, the lifting mechanism of the work of participation is divided into three groups, be reduced to 3 pulling force, to arrange near equilateral triangle for these 3, when determining the target pulling force, the total pulling force value of each group is at first remembered by system, then with organizing the total pulling force value divided by operating mechanism's number in the group, draw the target value of thrust of unit structure, draw the target value of thrust of each operating mechanism thus, this value will be used when uniting the lifting pattern, after finishing leveling and target pulling force and determining, press " end of hovering " button, can enter associating lifting pattern, the coordinate figure of each operating mechanism and target pulling force are used to associating lifting pattern by systematic memory at this moment.
The associating lifting stage, each lifting motor adopted speed control, the speed limit of motor is set at 100% by bus, the torque amplitude limit of motor is identical with the pattern of hovering, operating handle can be finished rising, the descending motion of load, and be 1: 10 infinite speed variation, the velocity setting of inverter is given after the speed calculation factor is calculated by the steel rope linear velocity at this moment, the input inverter.The coordinate plane that the coordinate plane that constitutes when each Heave Here is remembered when hovering pattern is not parallel, and when surpassing setting value, carries out position correction; When the value of thrust of certain lifting mechanism be lower than the target value of thrust 80% after, system carries out the target force correction, pulling force summation during correction in every group remains unchanged, the hysteresis comparative pattern is all adopted in position correction and target force correction, prevent to cause system's concussion, system is additional given as first with position correction, and the target force correction is additional given as second; If deviation is bigger, when adding given can't the correction fully automatically, can artificially add manual correction; When each lifting mechanism cooperation, after the pulling force of certain lifting mechanism surpassed 110% specified pulling force, LOAD CELLS was sent alerting signal to PLC, and all mechanisms that participate in work are braked, and can continue operation after pending fault is got rid of.
Compared with the prior art the present invention has following distinguishing feature and good effect: control method for crane with multi-lifting mechanism of the present invention adopts many cover lifting mechanisms to lift by crane simultaneously, with the whole process of hoisting of lifting mechanism be divided into that system detects, selected lifting mechanism, the steel rope pretension stage that participates in hoisting, hovering phase and uniting the lifting stage hoists, each stage is controlled step by step, only when previous algorithm is accurate, just can enter next procedure, guaranteed the safety and stability of the whole work that hoists, the problem that the mechanism that can in time adjust hoisting occurs;
The steel rope pretension stage is that steel rope is fully strained, and for later suspended object leveling lays the first stone, has avoided in the lifting process because rope capacity differs the load that causes unbalance, makes the every steel rope can average force simultaneously, has protected steel rope effectively;
The hovering phase that hoists is a state of equilibrium of adjusting suspended object, can in time find when danger occurs, and avoids various dangerous appearance, when initial weight estimation, may be because estimation be inaccurate, when selecting lifting mechanism, the lifting capacity deficiency then need be reselected lifting mechanism; Or the distribution of suspended object suspension centre is improper, the serious unbalance loading in lifting back; If so directly enter the improvement stage, will produce very serious consequence, in this phase process, system's leveling automatically, prevent from unbalance loading to occur in the lifting process, system also can determine each lifting mechanism target load value according to leveling after load value, also haves laid a good foundation smoothly for the lifting process;
The associating lifting stage is that a selected cover lifting mechanism is as reference mechanism, as reference, system remains the horizontality of hanging piece when hovering by automatic compensation and steadily hoists, and the lifting stage that guarantees to hoist hoists under a common benchmark, has guaranteed the safety of lifting process and steadily.
The specific embodiment
Embodiment, a kind of control method for crane with multi-lifting mechanism, it is loop wheel machine lifting control method with many lifting mechanisms, it is characterized in that this method may further comprise the steps: start-up system, detect electric system, PLC control system and the ancillary system of loop wheel machine, detect normally, can begin the lifting operation; Select to participate in the lifting mechanism number and the corresponding numbering of lifting, can select the lifting mechanism and the quantity that participate in this operation; When a selected lifting mechanism participates in lifting, according to conventional control method control; When two above lifting mechanisms participate in lifting, start associating lifting button, connect the power supply of participating in the lifting mechanism that hoists, lifting mechanism enters the steel rope pretension stage and carries out the steel rope pretension, steel rope is strained, the steel rope pretension enters the hovering phase that hoists after finishing, suspended object risen rise to specified altitude assignment and hover, adjust by the state of equilibrium of lifting thing, make its degree of balance in claimed range, enter the lifting of associating lifting stage at last, in the whole control process, control system is detecting lifting speed, when the degree of balance parameter surpasses parameter preset, can stop at any time hoisting, also can artificially suspend the process of hoisting at any time.
The steel rope pretension stage is that instruction control unit rises, the Different Weight of steel rope and the weight of suspension hook are transferred according to each mechanism by system, the torque value of given each lifting mechanism motor, each mechanism's motor rotation, steel rope begins to tighten up, adopt torque control at each lifting motor of this stage, the suspension hook group of each suspension centre and the weight sum of mechanical attachment gross weight and steel rope multiply by coefficient as inverter torque given value, calculate steel rope weight by the height of hook point and the unit weight of steel rope; When design factor, consider the steel rope number of plies of reel, i.e. the real radius of reel; When handle is pushed ascent direction to, the motor of participation work moves together, with given torque low cruise, when detecting motor speed is zero and after the numerical value of LOAD CELLS reaches the torque settings value, all lifting mechanism steel rope pretensions finish, the load value of each selected lifting mechanism is near null value at this moment, screen displaying " end of pretension stage " indicator lamp is bright, operate the master controller handle and return zero this moment, pre-tensioning finishes, motor is when keeping given moment, the mechanical brake braking, after treating that all motors that participate in work finish pre-tensioning, handle is retracted zero-bit, press " pretension end " button, can enter the pattern of hovering, respectively participating in the lifting mechanism height coordinate of work this moment is promptly remembered, coordinate plane when hovering the pattern leveling, in pre-tensioning process, if the steel rope slack rope occurs, take off emergency situations such as groove, can immediately handle be retracted zero-bit, mechanical brake is braked immediately, after the operator confirmed touch-screen " end of pretension stage " signal, system returned key frame, and steel rope pretension stages operating finishes.
The hovering phase that hoists is after finishing in the steel rope pretension stage, system is normal, touch-screen key frame " hovering phase " indicator lamp turns green, the hovering phase operating conditions of representing to hoist possesses, click " hovering phase " button, enter the operation of the hovering phase that hoists, by with ground control person's contact, affirmation can be lifted by crane operation, the operation master controller rises at a slow speed, by regulating command handle inclination angle control hanging piece lifting velocity, each lifting motor adopts speed control, by bus the motor torque amplitude limit value is set, this value is at unit structure rated load weight, steel rope is in top when several, 1.5 times of motor torque, push handle to ascent direction, the motor of participation work moves together, load is sling gradually, this moment, the speed of motor was limited to 50% of command speed, this moment inverter velocity setting, given after the speed calculation factor is calculated by the steel rope linear velocity, the input inverter, position correction and target force correction do not enable, and arrange unreasonable if load surpasses the crane capacity or the suspension centre of bridge machine, the load of indivedual suspension centres surpasses the maximum crane capacity of the unit structure that hoists, load can't be sling or can't be sling by integral body, and should put down load this moment, recomputates load weight or arranges the hanger position; If load sling smoothly, all leave carrier, estimating weight and whether coincide in the time of should checking gross laden weight amount and ready mode is if any checking that than large deviation LOAD CELLS also adjusts load weight again; When the coordinate plane when if system detects the pre-tensioning of coordinate plane when hovering and steel rope is not parallel, to need load is carried out the leveling operation, at first selected rest point, this lifting mechanism is motionless when being leveling, coordinate difference when putting current coordinate and pre-tensioning with this, as the leveling benchmark, the current coordinate of weighing all the other each points is the coordinate difference during with pre-tensioning, rest point is generally the highest coordinate points, all the other points are the wedge shape adjustment, press " leveling automatically " button of upper computer picture then, push handle to the direction that hoists, all the other each points except that rest point carry out automatic leveling, and this moment, the speed master of inverter was given as zero, position correction is added given enabling, and the target force correction does not enable; After the load leveling, determine the target pulling force of each point, the lifting mechanism of the work of participation is divided into three groups, be reduced to 3 pulling force, to arrange near equilateral triangle for these 3, when determining the target pulling force, the total pulling force value of each group is at first remembered by system, then with organizing the total pulling force value divided by operating mechanism's number in the group, draw the target value of thrust of unit structure, draw the target value of thrust of each operating mechanism thus, this value will be used when uniting the lifting pattern, after the operation master controller action, according to the actual motion state of hanging piece 2 kinds of different situations can appear specifically:
A, hanging piece at all can't upward movements, lifting mechanism load limiter overload warning, and it is improper that the reason that this situation occurs is that lifting mechanism is selected, and the not enough or hanging piece suspension centre of total lifting capacity distributes improper, causes lifting by crane serious unbalance loading; This situation need be returned step b and reselect lifting mechanism or adjust the hanging piece suspension centre;
B, hanging piece break away from carrier and slowly rise, in the hanging piece uphill process, control system can be according to each the lifting mechanism running velocity of parameter automatic compensation that prestores, guarantee each mechanism's steel rope linear velocity unanimity, guarantee that hanging piece steadily rises, after hanging piece broke away from the carrier certain altitude, the master controller handle returned zero, stop to rise, this moment, system can compare judgement according to lifting altitude and the load value behind the relative steel rope pretension of each lifting mechanism:
If I hanging piece aerial statue is normal, each lifting mechanism load distribution is reasonable, the load that is each selected lifting mechanism is roughly balanced, touch-screen " end of hovering hoists " green indicating lamp will be lighted, the operation of expression system is normal, and the operator confirms that to touch-screen " hovering phase end " signal system writes down the load value of current each lifting mechanism and the shift value that hoists automatically, system returns key frame, and the hovering phase end of operation hoists.
Exceed the allowed band that prestores if the II system has judged mechanism according to load and lifting altitude, touch-screen " leveling automatically " indicator lamp will glimmer, and needs this moment the operator carry out following operation:
I. confirm " leveling automatically " button, enter automatic leveling picture;
Ii. by observing hanging piece aerial statue and each lifting mechanism of touch-screen preceding lifting altitude value Δ h of lifting relatively, the lifting mechanism of selected Δ h maximum is confirmed as the leveling bench mark;
Iii. operating the master controller handle rises, system will calculate the difference of current shift value of other lifting mechanism and the current shift value of bench mark automatically, system is the addition speed given value of each lifting mechanism with the conversion of position difference, speed master is given as zero, position automatic compensation program run, other lifting mechanism makes the horizontality after hanging piece returns to the steel rope pretension by speed rising separately;
Iv. after levelling function is realized automatically, touch-screen " leveling automatically " indicator lamp stops flicker, the lifting altitude value basically identical of the selected mechanism of touch-screen, the operator is by observing, if lifting mechanism has the slack rope phenomenon, it is given to adjust the manual addition speed of this lifting mechanism by touch-screen manual regulation button, tightens until steel rope.Touch-screen is confirmed " hovering phase end " signal then, and system returns key frame, and the hovering phase end of operation hoists.
After finishing leveling and target pulling force and determining, press " end of hovering " button, can enter associating lifting pattern, the coordinate figure of each operating mechanism and target pulling force are by systematic memory at this moment, be used to associating lifting pattern, system can write down the load value of each lifting mechanism and the shift value that hoists automatically, and simultaneity factor can be determined the target load value of each lifting mechanism according to current load value.The associating lifting stage is after hovering phase finishes, if system is without any fault or alarm message reminding, by the touch-screen key frame, click " uniting the lifting stage " button, enter the operation in associating lifting stage: at first overlap lifting mechanism as reference mechanism by touch-screen selected, other lifting mechanism will hoist displacement as the reference amount with this mechanism, system remains the horizontality of hanging piece when hovering by automatic compensation and steadily hoists, with reference to mechanism selected after, the operator rises by operation master controller handle, system will be according to the current steel rope of the every cover lifting mechanism place reel number of plies and messenger chain reduction ratio, determine the dynamic output speed of every cover lifting mechanism motor, simultaneously, by to the detection of lifting mechanism position and the monitoring of load, dynamic each mechanism's addition speed given value of switching, guarantee every cover lifting mechanism steel rope linear velocity unanimity, hanging piece will be under system's automatic compensation control, steadily rise, the associating lifting stage, each lifting motor adopted speed control, the speed limit of motor is set at 100% by bus, the torque amplitude limit of motor is identical with the pattern of hovering, operating handle can be finished the rising of load, descending motion, and be 1: 10 infinite speed variation, this moment inverter velocity setting, given after the speed calculation factor is calculated by the steel rope linear velocity, the input inverter.The coordinate plane that the coordinate plane that constitutes when each Heave Here is remembered when hovering pattern is not parallel, and when surpassing setting value, carries out position correction; When the value of thrust of certain lifting mechanism be lower than the target value of thrust 80% after, system carries out the target force correction, pulling force summation during correction in every group remains unchanged, the hysteresis comparative pattern is all adopted in position correction and target force correction, prevent to cause system's concussion, system is additional given as first with position correction, and the target force correction is additional given as second; If deviation is bigger, when adding given can't the correction fully automatically, can artificially add manual correction; When each lifting mechanism cooperation, after the pulling force of certain lifting mechanism surpasses 110% specified pulling force, LOAD CELLS is sent alerting signal to PLC, and all mechanisms that participate in work are braked, after getting rid of, pending fault can continue operation, to observe the aerial statue of hanging piece and contact screen information prompting at any time uniting the lifting stage, it is given also can to adjust the manual addition speed of a certain lifting mechanism by touch-screen manual regulation button when automatic compensation is invalid, thus the running velocity of manually intervening this mechanism.
Claims (9)
1. a control method for crane with multi-lifting mechanism is the loop wheel machine lifting control method with many lifting mechanisms, it is characterized in that this method may further comprise the steps:
A, start-up system, electric system, PLC control system and the ancillary system of detection loop wheel machine detect normally, can begin the lifting operation;
B, the lifting mechanism number and the corresponding numbering of selecting to participate in lifting can be selected the lifting mechanism and the quantity that participate in this operation;
When c, selected lifting mechanism participation lifting, according to conventional control method control; When two above lifting mechanisms participate in lifting, start associating lifting button, connect the power supply of participating in the lifting mechanism that hoists, lifting mechanism enters the steel rope pretension stage and carries out the steel rope pretension, and with the steel rope tension, the steel rope pretension enters the hovering phase that hoists after finishing, suspended object risen rise to specified altitude assignment and hover, adjust by the state of equilibrium of lifting thing, make its degree of balance in claimed range, enter the lifting of associating lifting stage at last.
2. a kind of control method for crane with multi-lifting mechanism according to claim 1, it is characterized in that the described steel rope pretension stage is that instruction control unit rises, the Different Weight of steel rope and the weight of suspension hook are transferred according to each mechanism by system, the torque value of given each lifting mechanism motor, each mechanism's motor rotation, steel rope begins to tighten up, after all lifting mechanism steel rope pretensions finish, screen displaying " end of pretension stage " indicator lamp is bright, operate the master controller handle and return zero this moment, the load value of each selected lifting mechanism is near null value at this moment, the operator confirms touch-screen " end of pretension stage " signal, system returns key frame, and steel rope pretension stages operating finishes.
3. a kind of control method for crane with multi-lifting mechanism according to claim 1, it is characterized in that the described hovering phase that hoists is after finishing in the steel rope pretension stage, system is normal, touch-screen key frame " hovering phase " indicator lamp turns green, click " hovering phase " button, enter the operation of the hovering phase that hoists, the operation master controller rises at a slow speed, by regulating command handle inclination angle control hanging piece lifting velocity, after the operation master controller action, according to the actual motion state of hanging piece 2 kinds of different situations may appear:
A, hanging piece at all can't upward movements, lifting mechanism load limiter overload warning, and it is improper that the reason that this situation occurs is that lifting mechanism is selected, and the not enough or hanging piece suspension centre of total lifting capacity distributes improper, causes lifting by crane serious unbalance loading; This situation need be returned step b and reselect lifting mechanism or adjust the hanging piece suspension centre;
B, hanging piece break away from carrier and slowly rise, in the hanging piece uphill process, control system can be according to each the lifting mechanism running velocity of parameter automatic compensation that prestores, guarantee each mechanism's steel rope linear velocity unanimity, guarantee that hanging piece steadily rises, after hanging piece broke away from the carrier certain altitude, the master controller handle returned zero, stop to rise, this moment, system can compare judgement according to lifting altitude and the load value behind the relative steel rope pretension of each lifting mechanism:
If I hanging piece aerial statue is normal, each lifting mechanism load distribution is reasonable, the load that is each selected lifting mechanism is roughly balanced, touch-screen " end of hovering hoists " green indicating lamp will be lighted, the operation of expression system is normal, and the operator confirms that to touch-screen " hovering phase end " signal system writes down the load value of current each lifting mechanism and the shift value that hoists automatically, system returns key frame, and the hovering phase end of operation hoists;
Exceed the allowed band that prestores if the II system has judged mechanism according to load and lifting altitude, touch-screen " leveling automatically " indicator lamp will glimmer, and needs this moment the operator carry out following operation:
I. confirm " leveling automatically " button, enter automatic leveling picture;
Ii. by observing hanging piece aerial statue and each lifting mechanism of touch-screen preceding lifting altitude value Δ h of lifting relatively, the lifting mechanism of selected Δ h maximum is confirmed as the leveling bench mark;
Iii. operating the master controller handle rises, system will calculate the difference of current shift value of other lifting mechanism and the current shift value of bench mark automatically, system is the addition speed given value of each lifting mechanism with the conversion of position difference, speed master is given as zero, position automatic compensation program run, other lifting mechanism makes the horizontality after hanging piece returns to the steel rope pretension by speed rising separately;
Iv. after levelling function is realized automatically, touch-screen " leveling automatically " indicator lamp stops flicker, the lifting altitude value basically identical of the selected mechanism of touch-screen, the operator is by observing, if lifting mechanism has the slack rope phenomenon, it is given to adjust the manual addition speed of this lifting mechanism by touch-screen manual regulation button, tighten until steel rope, touch-screen is confirmed " hovering phase end " signal then, and system returns key frame, and the hovering phase end of operation hoists;
When the operator confirmed " hovering phase end " signal, system can write down the load value of each lifting mechanism and the shift value that hoists automatically, and simultaneity factor can be determined the target load value of each lifting mechanism according to current load value.
4. a kind of control method for crane with multi-lifting mechanism according to claim 1, it is characterized in that described the associating after the lifting stage, hovering phase finished, if system is without any fault or alarm message reminding, by the touch-screen key frame, click " uniting the lifting stage " button, enter the operation in associating lifting stage: at first overlap lifting mechanism as reference mechanism by touch-screen selected, other lifting mechanism will hoist displacement as the reference amount with this mechanism, system remains the horizontality of hanging piece when hovering by automatic compensation and steadily hoists, with reference to mechanism selected after, the operator rises by operation master controller handle, system will be according to the current steel rope of the every cover lifting mechanism place reel number of plies and messenger chain reduction ratio, determine the dynamic output speed of every cover lifting mechanism motor, simultaneously, by to the detection of lifting mechanism position and the monitoring of load, dynamic each mechanism's addition speed given value of switching, guarantee every cover lifting mechanism steel rope linear velocity unanimity, hanging piece will steadily rise under system's automatic compensation control.
5. a kind of control method for crane with multi-lifting mechanism according to claim 4, it is characterized in that to observe the aerial statue of hanging piece and contact screen information prompting at any time uniting the lifting stage, it is given also can to adjust the manual addition speed of a certain lifting mechanism by touch-screen manual regulation button when automatic compensation is invalid, thus the running velocity of manually intervening this mechanism.
6. a kind of control method for crane with multi-lifting mechanism according to claim 1, it is characterized in that in the whole control process, control system also can artificially be suspended the process of hoisting at any time detecting lifting speed, when the degree of balance parameter surpasses parameter preset, can stopping at any time hoisting.
7. a kind of control method for crane with multi-lifting mechanism according to claim 2, it is characterized in that adopting torque control at each lifting motor of steel rope pretension stage, the suspension hook group of each suspension centre and the weight sum of mechanical attachment gross weight and steel rope multiply by coefficient as inverter torque given value, calculate steel rope weight by the height of hook point and the unit weight of steel rope; When design factor, consider the steel rope number of plies of reel, i.e. the real radius of reel; When handle is pushed ascent direction to, the motor of participation work moves together, with given torque low cruise, when detecting motor speed is zero and after the numerical value of LOAD CELLS reaches the torque settings value, pre-tensioning finishes, motor is when keeping given moment, the mechanical brake braking, after treating that all motors that participate in work finish pre-tensioning, handle is retracted zero-bit, press " pretension end " button, can enter the pattern of hovering, respectively participating in the lifting mechanism height coordinate of work this moment is promptly remembered, coordinate plane when hovering the pattern leveling is in pre-tensioning process, if the steel rope slack rope occurs, take off emergency situations such as groove, can immediately handle be retracted zero-bit, mechanical brake is braked immediately.
8. a kind of control method for crane with multi-lifting mechanism according to claim 3, it is characterized in that adopting speed control at each lifting motor of hovering phase that hoists, by bus the motor torque amplitude limit value is set, this value is at unit structure rated load weight, steel rope is in top when several, 1.5 times of motor torque, push handle to ascent direction, the motor of participation work moves together, load is sling gradually, this moment, the speed of motor was limited to 50% of command speed, the velocity setting of inverter is given after the speed calculation factor is calculated by the steel rope linear velocity at this moment, the input inverter, position correction and target force correction do not enable, the crane capacity or the suspension centre layout of bridge machine are unreasonable if load surpasses, and the load of indivedual suspension centres surpasses the maximum crane capacity of the unit structure that hoists, and load can't be sling or can't be sling by integral body, should put down load this moment, recomputates load weight or arrange the hanger position; If load sling smoothly, all leave carrier, estimating weight and whether coincide in the time of should checking gross laden weight amount and ready mode is if any checking that than large deviation LOAD CELLS also adjusts load weight again; When the coordinate plane when if system detects the pre-tensioning of coordinate plane when hovering and steel rope is not parallel, to need load is carried out the leveling operation, at first selected rest point, this lifting mechanism is motionless when being leveling, coordinate difference when putting current coordinate and pre-tensioning with this, as the leveling benchmark, the current coordinate of weighing all the other each points is the coordinate difference during with pre-tensioning, rest point is generally the highest coordinate points, all the other points are the wedge shape adjustment, press " leveling automatically " button of upper computer picture then, push handle to the direction that hoists, all the other each points except that rest point carry out automatic leveling, and this moment, the speed master of inverter was given as zero, position correction is added given enabling, and the target force correction does not enable.
After the load leveling, determine the target pulling force of each point, the lifting mechanism of the work of participation is divided into three groups, be reduced to 3 pulling force, to arrange near equilateral triangle for these 3, when determining the target pulling force, the total pulling force value of each group is at first remembered by system, then with organizing the total pulling force value divided by operating mechanism's number in the group, draw the target value of thrust of unit structure, draw the target value of thrust of each operating mechanism thus, this value will be used when uniting the lifting pattern, after finishing leveling and target pulling force and determining, press " end of hovering " button, can enter associating lifting pattern, the coordinate figure of each operating mechanism and target pulling force are used to associating lifting pattern by systematic memory at this moment.
9. according to claim 4 or 5 described a kind of control method for crane with multi-lifting mechanism, it is characterized in that each lifting motor of associating lifting stage adopts speed control, the speed limit of motor is set at 100% by bus, the torque amplitude limit of motor is identical with the pattern of hovering, operating handle can be finished rising, the descending motion of load, and is 1: 10 infinite speed variation, at this moment the velocity setting of inverter, given after the speed calculation factor is calculated by the steel rope linear velocity, the input inverter.The coordinate plane that the coordinate plane that constitutes when each Heave Here is remembered when hovering pattern is not parallel, and when surpassing setting value, carries out position correction; When the value of thrust of certain lifting mechanism be lower than the target value of thrust 80% after, system carries out the target force correction, pulling force summation during correction in every group remains unchanged, the hysteresis comparative pattern is all adopted in position correction and target force correction, prevent to cause system's concussion, system is additional given as first with position correction, and the target force correction is additional given as second; If deviation is bigger, when adding given can't the correction fully automatically, can artificially add manual correction; When each lifting mechanism cooperation, after the pulling force of certain lifting mechanism surpassed 110% specified pulling force, LOAD CELLS was sent alerting signal to PLC, and all mechanisms that participate in work are braked, and can continue operation after pending fault is got rid of.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2007100149232A CN101130421A (en) | 2007-06-12 | 2007-06-12 | Control method for crane with multi-lifting mechanism |
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| CNA2007100149232A CN101130421A (en) | 2007-06-12 | 2007-06-12 | Control method for crane with multi-lifting mechanism |
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