CN102923577A - Control method, equipment and system for slewing jib of tower crane - Google Patents
Control method, equipment and system for slewing jib of tower crane Download PDFInfo
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Abstract
The invention provides a control method, equipment and system for a slewing jib of a tower crane. The method comprises the following steps: acquiring an angular difference of a jib root and a jib tip of the slewing jib in the operating process of the slewing jib of the tower crane; determining the position relation of the jib root and the jib tip according to the angular difference, and adjusting the running speed of the slewing jib according to the position relation so as to reduce the angular deviation degree between the jib root and the jib tip. According to the control method, the equipment and the system, the running stability of the slewing jib is improved, the problem of significant twisted arm swing existing in the slewing jib control mode in the associated technology is solved, and the safety of the system is enhanced.
Description
Technical field
The present invention relates to engineering machinery field, more specifically, relate to a kind of control method, equipment and system of tower machine revolution jib.
Background technology
In tower machine rotary system, because the revolution jib is very long, in the speed transmittance process, each position of jib is different to the response time of velocity variations, and the root response is the fastest, and the response of arm point is the slowest.When accelerating, the arm point lags behind, and root is leading.When slowing down, the arm point is leading, and root lags behind.Like this, can cause the jib mechanical deformation, cause that turning round arm puts imperial phenomenon.At present, the tower crane rotation mode has coiling electric motor to add fluid coupling control, coiling electric motor adds eddy current control, RCV(Rotation Control Voltage, the revolution voltage controller) adds moment eddy current electric machine control etc., but the large inertia crane arm existence in the revolution of tower machine startup, operation and stopped process of these modes is turned round arm and is put imperial phenomenon, especially 80 meters and above long-armed, have a strong impact on turnability and safety, even the folding arm accident occurs.
No matter be variable frequency control in the existing tower machine revolution control technology, or Fuel Pressure Regulator Control all only limits to rotating speed is controlled, and the common existence of this mode is significantly turned round arm and is put imperial problem.
There is the problem of obviously turning round arm pendulum dragon for revolution jib mode in the correlation technique, not yet proposes at present effective solution.
Summary of the invention
In order to improve revolution jib traveling comfort, the invention provides a kind of control method, equipment and system of tower machine revolution jib.
According to an aspect of the present invention, provide a kind of control method of tower machine revolution jib, the method may further comprise the steps: in the revolution jib operational process of tower machine, obtain the arm root of revolution jib and the differential seat angle of arm point; Determine the position relationship of arm root and arm point according to differential seat angle; Regulate the running velocity of revolution jib according to the position relationship of arm root and arm point, to reduce the angle deviating degree between arm root and arm point.
Above-mentioned arm root and the differential seat angle of arm point that obtains the revolution jib comprises: according to the angle information that is arranged on the angle detection device feedback on the revolution jib, the differential seat angle of calculating arm root and arm point.
Above-mentioned basis is arranged on the angle information of the angle detection device feedback on the revolution jib, and the differential seat angle that calculates arm root and arm point comprises: the arm wedge angle degree of the angle detection device feedback that reception arm point place arranges; Cireular frequency and time of run to the revolution jib carry out integration, obtain the arm root angle of arm root; Arm root angle and arm wedge angle degree are carried out difference operation, obtain the differential seat angle of arm root and arm point.
Above-mentioned basis is arranged on the angle information of the angle detection device feedback on the revolution jib, and the differential seat angle that calculates arm root and arm point comprises: the arm wedge angle degree of the first angle detection device feedback that reception arm point place arranges; Receive the arm root angle of the second angle detection device feedback of arm root place setting; Arm root angle and arm wedge angle degree are carried out difference operation, obtain the differential seat angle of arm root and arm point.
Above-mentioned basis is arranged on the angle information of the angle detection device feedback on the revolution jib, and the differential seat angle that calculates arm root and arm point comprises: the arm wedge angle speed of the angle detection device feedback that reception arm point place arranges in the sampling duration of setting; Arm wedge angle speed and sampling duration are carried out integration, obtain arm wedge angle degree; Cireular frequency and sampling duration to the revolution jib carry out integration, obtain the arm root angle of arm root; Arm root angle and arm wedge angle degree are carried out difference operation, obtain the differential seat angle of arm root and arm point.
Above-mentioned basis is arranged on the angle information of the angle detection device feedback on the revolution jib, and the differential seat angle that calculates arm root and arm point comprises: the arm wedge angle speed of the angle detection device feedback that reception arm point place arranges in the sampling duration of setting; In the sampling duration of setting, receive the arm root cireular frequency of the angle detection device feedback of arm root place setting; Arm wedge angle speed and sampling duration are carried out integration, obtain arm wedge angle degree, arm root cireular frequency and sampling duration are carried out integration, obtain arm root angle; Arm root angle and arm wedge angle degree are carried out difference operation, obtain the differential seat angle of arm root and arm point.
Above-mentionedly determine that according to differential seat angle the position relationship of arm root and arm point comprises: if the angle of arm root deducts differential seat angle that the angle of arm point obtains less than the first setting value, determine that the arm point is ahead of the arm root along sense of motion; If the angle of arm root deducts differential seat angle that the angle of arm point obtains greater than the second setting value, determine that the arm point lags behind the arm root along sense of motion.
The running velocity that above-mentioned position relationship according to arm root and arm point is regulated the revolution jib comprises: if the arm point is ahead of the arm root along sense of motion, improve the running velocity of revolution jib according to the accelerated mode of setting; If the arm point lags behind the arm root along sense of motion, reduce the running velocity of revolution jib according to the ways of deceleration of setting.
The accelerated mode of above-mentioned setting is for improving piecemeal the running velocity of revolution jib according to the first time gap of setting; The ways of deceleration of above-mentioned setting is for reducing piecemeal the running velocity of revolution jib according to the second time gap of setting.
The running velocity that above-mentioned time gap according to the first setting improves the revolution jib piecemeal comprises: improve the running velocity that turns round jib according to every section adjusting range corresponding to time in the first time gap of setting; The ways of deceleration of above-mentioned setting is to reduce piecemeal the running velocity that turns round jib according to the second time gap of setting to comprise: reduce the running velocity that turns round jib according to every section adjusting range corresponding to time in the second time gap of setting.
According to a further aspect in the invention, provide a kind of control convenience of tower machine revolution jib, having comprised: the differential seat angle deriving means, for the revolution jib operational process of tower machine, obtain the arm root of revolution jib and the differential seat angle of arm point; Position relationship is determined device, is used for determining according to the differential seat angle that the differential seat angle deriving means obtains the position relationship of arm root and arm point; The running velocity control apparatus is used for determining that according to position relationship device determines that position relationship regulates the running velocity of revolution jib, to reduce the angle deviating degree between arm root and arm point.
Above-mentioned differential seat angle deriving means is used for calculating the differential seat angle of arm root and arm point according to the angle information that is arranged on the angle detection device feedback on the revolution jib.
Above-mentioned position relationship determines that device is used for determining that the arm point is ahead of the arm root along sense of motion when arm root angle deducts differential seat angle that arm wedge angle degree obtains less than the first setting value; When arm root angle deducts differential seat angle that arm wedge angle degree obtains greater than the second setting value, determine that the arm point lags behind the arm root along sense of motion.
Determine that device determines that the arm point is ahead of the arm root along sense of motion if above-mentioned running velocity control apparatus is used for position relationship, improve the running velocity of revolution jib according to the accelerated mode of setting; And if position relationship determines that device determines that the arm point lags behind the arm root along sense of motion, reduce the running velocity of revolution jib according to the ways of deceleration of setting.
According to another aspect of the invention, provide a kind of control system of tower machine revolution jib, this system comprises: angle detection device and controller; Wherein, angle detection device for the revolution jib operational process of tower machine, feeds back to the angle information of pivoted arm frame to controller; Controller, be used for obtaining the arm root of revolution jib and the differential seat angle of arm point according to angle information, determine the position relationship of arm root and arm point according to differential seat angle, and regulate the running velocity of revolution jib according to the position relationship of arm root and arm point, to reduce the angle deviating degree between arm root and arm point.
Above-mentioned angle detection device is two, is respectively the first angle detection device that arm point place arranges, for detection of and the arm wedge angle speed of feedback arm point; And the second angle detection device of arranging of arm root place, for detection of and the arm root cireular frequency of feedback arm root; Above-mentioned controller is used for receiving arm wedge angle speed and arm root cireular frequency in the sampling duration of setting, arm wedge angle speed and sampling duration are carried out integration, obtains arm wedge angle degree; Arm root cireular frequency and sampling duration are carried out integration, obtain arm root angle; Arm root angle and arm wedge angle degree are carried out difference operation, obtain the differential seat angle of arm root and arm point.
Above-mentioned controller also is used for determining that the arm point is ahead of the arm root along sense of motion when arm root angle deducts differential seat angle that arm wedge angle degree obtains less than the first setting value; When arm root angle deducts differential seat angle that arm wedge angle degree obtains greater than the second setting value, determine that the arm point lags behind the arm root along sense of motion; When the arm point is ahead of the arm root along sense of motion, improve the running velocity of revolution jib according to the accelerated mode of setting; When the arm point lags behind the arm root along sense of motion, reduce the running velocity of revolution jib according to the ways of deceleration of setting.
Said system also comprises the frequency converter that is connected with controller; Correspondingly, above-mentioned controller sends to frequency converter for the control information of the running velocity that will improve or reduce the revolution jib; This frequency converter is used for receiving control information, turns round the running velocity of the motor of jib according to the control information adjustment.
The present invention determines the position relationship of arm root and arm point by the differential seat angle that obtains the revolution arm root of jib and arm point, and according to this position relationship regulating rotary jib running velocity to reduce the angle deviating degree between arm root and arm point, and then the power of rocking between reduction arm root and arm point, improved revolution jib traveling comfort, solve the revolution jib mode in the correlation technique and had the problem of obviously turning round arm pendulum dragon, strengthened Security of the system.
Description of drawings
The accompanying drawing that consists of the application's a part is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the diagram of circuit according to the control method of the tower machine revolution jib of the embodiment of the invention;
Fig. 2 is the schematic diagram that accelerates the control curve according to the segmentation of the embodiment of the invention;
Fig. 3 is the schematic diagram according to the sectional deceleration control curve of the embodiment of the invention;
Fig. 4 is the structured flowchart according to the control convenience of the tower machine revolution jib of the embodiment of the invention;
Fig. 5 is the structured flowchart according to the control system of the tower machine revolution jib of the embodiment of the invention; And
Fig. 6 is the control system structural representation according to the tower machine of the large inertia crane arm of the embodiment of the invention.
The specific embodiment
Hereinafter also describe in conjunction with the embodiments the present invention in detail with reference to accompanying drawing.Need to prove, in the situation that do not conflict, embodiment and the feature among the embodiment among the application can make up mutually.
The embodiment of the invention considers that the revolution jib that may occur between arm point and arm root in the tower machine revolution jib operational process occurs crooked, in order to reduce as far as possible the power of rocking between arm point and the arm root, the embodiment of the invention provides a kind of control method, equipment and system of tower machine revolution jib.Be described below by specific embodiment.
Turn round the diagram of circuit of the control method of jib referring to tower machine shown in Figure 1, the method describes to be applied as example in the controller of tower machine, specifically may further comprise the steps:
Step S102, in the revolution jib operational process of tower machine, controller obtains the arm root of revolution jib and the differential seat angle of arm point;
Step S104, controller determine the position relationship of arm root and arm point according to above-mentioned differential seat angle; This position relationship comprises: the arm point is ahead of the arm root and the arm point lags behind the arm root along sense of motion along sense of motion;
Step S106, controller regulate the running velocity of revolution jib according to the position relationship of above-mentioned arm root and arm point, to reduce the angle deviating degree between arm root and arm point.
The present embodiment is determined the position relationship of arm root and arm point by the differential seat angle that obtains the revolution arm root of jib and arm point, and according to this position relationship regulating rotary jib running velocity to reduce the angle deviating degree between arm root and arm point, and then the power of rocking between reduction arm root and arm point, improved revolution jib traveling comfort, solve the revolution jib mode in the correlation technique and had the problem of obviously turning round arm pendulum dragon, strengthened Security of the system.
For the ease of operation, the embodiment of the invention adopts the angle that mode detection arm point and/or the arm root of angle detection device are set at the revolution jib, based on this, above-mentioned controller obtains the arm root of revolution jib and the differential seat angle of arm point can comprise: according to the angle information that is arranged on the angle detection device feedback on the revolution jib, calculate the differential seat angle of arm root and arm point.During specific implementation, can adopt at arm point place an angle detection device is set, also can adopt at arm point and arm root place an angle detection device respectively is set.
For the mode that an angle detection device is set at arm point place, above-mentioned controller can receive the arm wedge angle degree of the angle detection device feedback of arm point place's setting; Cireular frequency and time of run to the setting of revoliving arm frame carry out integration, obtain the arm root angle of arm root; Then this arm root angle and arm wedge angle degree are carried out difference operation (for example: arm root angle is deducted arm wedge angle degree), can obtain the differential seat angle of arm root and arm point.There is certain little error in this mode because arm root angle does not directly measure, and this error is not too large on the calculating impact of follow-up differential seat angle, and the operation of control revolution jib is tended to be steady.
The mode of an angle detection device respectively is set for and arm root place sharp at arm, and above-mentioned controller can receive the arm wedge angle degree of the first angle detection device feedback of arm point place's setting; And the arm root angle that receives the second angle detection device feedback of arm root place setting; Then this arm root angle and arm wedge angle degree are carried out difference operation (for example: arm root angle is deducted arm wedge angle degree), obtain the differential seat angle of arm root and arm point.This mode is higher than the accuracy of the differential seat angle that the above-mentioned mode that an angle detection device is set at arm point place obtains, and can guarantee better control revolution jib traveling comfort.
In addition, above-mentioned angle detection device can also be the device of measured angular speed, and based on this, the differential seat angle of above-mentioned arm root and arm point can also adopt following manner to obtain:
Mode one: the arm wedge angle speed that in the sampling duration of setting, receives the angle detection device feedback of arm point place's setting; Arm wedge angle speed and sampling duration are carried out integration, obtain arm wedge angle degree; Cireular frequency and this sampling duration to the revolution jib carry out integration, obtain the arm root angle of arm root; Arm root angle and arm wedge angle degree are carried out difference operation, obtain the differential seat angle of arm root and arm point.
Mode two: the arm wedge angle speed that in the sampling duration of setting, receives the angle detection device feedback of arm point place's setting; In the sampling duration of setting, receive the arm root cireular frequency of the angle detection device feedback of arm root place setting; Arm wedge angle speed and sampling duration are carried out integration, obtain arm wedge angle degree; Arm root cireular frequency and this sampling duration are carried out integration, obtain arm root angle; Arm root angle and described arm wedge angle degree are carried out difference operation, obtain the differential seat angle of arm root and arm point.
The controller of the present embodiment can also according to above-mentioned differential seat angle and the current service direction of revolution jib, be determined the position relationship of arm root and arm point; In the present embodiment, if arm root angle deducts differential seat angle that arm wedge angle degree obtains less than the first setting value, determine that the arm point is ahead of the arm root along sense of motion; If arm root angle deducts differential seat angle that arm wedge angle degree obtains greater than the second setting value, determine that the arm point lags behind the arm root along sense of motion.Wherein, the first setting value and the second setting value can rule of thumb be set.If the arm point is ahead of the arm root along sense of motion, controller improves the running velocity of revolution jib according to the accelerated mode of setting; If the arm point lags behind the arm root along sense of motion, controller reduces the running velocity of revolution jib according to the ways of deceleration of setting.The below arranges respectively angle detection device and describes as example take arm root and arm point place.
The revolution jib is in the stable speed operation, and controller can draw ω by the running frequency f of given frequency converter by relational expression ω=2 π f.By formula d θ=ω dt, to first the arm root speed omega that detects in real time by angular speed detecting apparatus (being above-mentioned the second angle detection device)
T1Carry out time integral and calculate the angular displacement of jib
T1The second point arm point speed omega that detects in real time by angular speed detecting apparatus (being above-mentioned the first angle detection device) simultaneously
T2The integrating meter of time is calculated the angular displacement of arm root
T2Wherein integration is the operational method that adopts the discretization summation, i.e. θ=ω
1t
1+ ω
2t
2+ ω
3t
3+ ..., work as t
1, t
2... when replacing with sampling period t, sum formula can be changed into θ=(ω
1+ ω
2+ ω
3+ ...) t.Then obtain angular transposition deviation (the being above-mentioned differential seat angle) e that calculates arm root and arm point
1=Δ θ=θ
T1-θ
T2
In the present embodiment, the accelerated mode of setting is for improving piecemeal the running velocity of revolution jib according to the first time gap of setting; The ways of deceleration of setting is for reducing piecemeal the running velocity of revolution jib according to the second time gap of setting.During specific implementation, can improve the running velocity that turns round jib according to every section adjusting range corresponding to time in the first time gap of setting; And the running velocity that reduces the revolution jib according to every section adjusting range corresponding to time in the second time gap of setting.For example: as angular transposition deviation e
1Value can be equivalent to above-mentioned the first setting value less than-0.5rad() time, show that the arm point is ahead of the arm root, adopt segmentation to accelerate the control curve adjustment.As angular transposition deviation e
1Value greater than 0.5rad when (can be equivalent to above-mentioned the second setting value), show arm point lagging leg root, adopt sectional deceleration control curve adjustment.Like this, the anti-arm of turning round of realizing tower machine level attitude is put dragon control.Wherein, the schematic diagram that the control curve is accelerated in segmentation as shown in Figure 2, the schematic diagram of sectional deceleration control curve as shown in Figure 3, Fig. 2 and Fig. 3 medium frequency are to be f with 1HZ(
2-f
1) be an acceleration and deceleration difference on the frequency, the acceleration, deceleration time is (to be t with 1 second
3-t
2) Acceleration and deceleration time be the refinement grade.Acceleration, deceleration interval wait time be 1 second (be t
2-t
1) be the interval grade.
Corresponding to said method, the embodiment of the invention also provides a kind of control convenience of tower machine revolution jib, and this control convenience can be arranged on the controller of tower machine; Turn round the structured flowchart of the control convenience of jib referring to tower machine shown in Figure 4, this equipment comprises with lower device:
Differential seat angle deriving means 42 for the revolution jib operational process of tower machine, obtains the arm root of revolution jib and the differential seat angle of arm point;
Position relationship is determined device 44, is used for determining according to the differential seat angle that differential seat angle deriving means 42 obtains the position relationship of arm root and arm point;
Running velocity control apparatus 46 is for the running velocity of determining device 44 definite described position relationships adjusting revolution jibs according to position relationship, to reduce the angle deviating degree between arm root and arm point.
The present embodiment is determined the position relationship of arm root and arm point by the differential seat angle that obtains the revolution arm root of jib and arm point, and according to this position relationship regulating rotary jib running velocity to reduce the angle deviating degree between arm root and arm point, and then the power of rocking between reduction arm root and arm point, improved revolution jib traveling comfort, solve the revolution jib mode in the correlation technique and had the problem of obviously turning round arm pendulum dragon, strengthened Security of the system.
Wherein, differential seat angle deriving means 42 is used for calculating the differential seat angle of arm root and arm point according to the angle information that is arranged on the angle detection device feedback on the revolution jib.Based on this, this differential seat angle deriving means 42 can comprise: the differential seat angle acquiring unit is used for calculating the differential seat angle of arm root and arm point according to the angle information that is arranged on the angle detection device feedback on the revolution jib.During specific implementation, can adopt the set-up mode of above-mentioned angle detection device to carry out, the obtain manner of concrete differential seat angle is identical with the mode among the said method embodiment, repeats no more here.
Above-mentioned position relationship determines that device 44 is used for determining that the arm point is ahead of described arm root along sense of motion when arm root angle deducts differential seat angle that described arm wedge angle degree obtains less than the first setting value; When arm root angle deducts differential seat angle that described arm wedge angle degree obtains greater than the second setting value, determine that the arm point lags behind the arm root along sense of motion.Based on this: determine that device 44 determines that the arm points are ahead of the arm root along sense of motion if above-mentioned running velocity control apparatus 46 is used for position relationship, improve the running velocity of revolution jib according to the accelerated mode of setting; And if position relationship determines that device 44 definite arm points lag behind the arm root along sense of motion, reduce the running velocity of revolution jib according to the ways of deceleration of setting.
The embodiment of the invention also provides a kind of control system of tower machine revolution jib, and referring to Fig. 5, this system comprises: controller 40 and angle detection device 50; Wherein, angle detection device 50 for the revolution jib operational process of tower machine, feeds back to the angle information of pivoted arm frame to controller 40; Controller 40, be used for obtaining the arm root of revolution jib and the differential seat angle of arm point according to above-mentioned angle information, determine the position relationship of arm root and arm point according to this differential seat angle, and regulate the running velocity of revolution jib according to the position relationship of arm root and arm point, to reduce the angle deviating degree between arm root and arm point.
Native system is determined the position relationship of arm root and arm point by the differential seat angle that obtains the revolution arm root of jib and arm point, according to this position relationship regulating rotary jib running velocity to reduce the angle deviating degree between arm root and arm point, and then the power of rocking between reduction arm root and arm point, improved revolution jib traveling comfort, solve the revolution jib mode in the correlation technique and had the problem of obviously turning round arm pendulum dragon, strengthened Security of the system.
As mentioned above, the angle detection device 50 of the present embodiment is preferably two, is respectively the first angle detection device that arm point place arranges, for detection of and the arm wedge angle speed of feedback arm point; And the second angle detection device of arranging of arm root place, for detection of and the arm root cireular frequency of feedback arm root; Correspondingly, controller 40 is used for receiving above-mentioned arm wedge angle speed and arm root cireular frequency in the sampling duration of setting, and arm wedge angle speed and sampling duration are carried out integration, obtains arm wedge angle degree; Arm root cireular frequency and described sampling duration are carried out integration, obtain arm root angle; Arm root angle and described arm wedge angle degree are carried out difference operation, obtain the differential seat angle of arm root and arm point.Can make like this controller calculate the differential seat angle of arm root and arm point more accurately, improve the control accuracy to the revolution jib.
The controller 40 of the present embodiment also is used for according to above-mentioned differential seat angle and the current service direction of revolution jib, determine the position relationship of arm root and arm point, for example: when arm root angle deducts differential seat angle that arm wedge angle degree obtains less than the first setting value, determine that the arm point is ahead of described arm root along sense of motion; When arm root angle deducts differential seat angle that described arm wedge angle degree obtains greater than the second setting value, determine that the arm point lags behind the arm root along sense of motion; When the arm point is ahead of the arm root along sense of motion, improve the running velocity of revolution jib according to the accelerated mode of setting; When the arm point lags behind the arm root along sense of motion, reduce the running velocity of revolution jib according to the ways of deceleration of setting.
This system also comprises the frequency converter that is connected with above-mentioned controller 40; Correspondingly, controller 40 sends to this frequency converter for the control information of the running velocity that will improve or reduce the revolution jib; This frequency converter is used for receiving this control information, turns round the running velocity of the motor of jib according to this control information adjustment.This frequency converter is connected by bus usually with controller, and this mode realizes simply, precise control.
During the specific implementation said system, controller 40 also can adopt the structure of the control convenience of above-mentioned tower machine revolution jib to realize, for example: structure shown in Figure 4.
In the above-mentioned implementation, if the differential seat angle of arm root and arm point between the first setting value and the second setting value the time, could be according to the operation of original mode control revolution jib.
In the embodiment of the invention, with tower machine swing type mechanism (being above-mentioned revolution jib) as control object, adopt angular speed detecting apparatus that jib is detected, and the aim parameter of detection limit as the control motor speed, to the closed loop control that crane arm realization speed is followed the tracks of, reach the anti-control effect of turning round arm.
The below describes as an example of the tower machine of large inertia crane arm example, and the revolution jib of the tower machine of large inertia crane arm is long, and in the speed transmittance process, each position of jib is different to the response time of velocity variations, and the root response is the fastest, and the response of arm point is the slowest.Therefore, when accelerating, the arm point lags behind, and root is leading.When slowing down, the arm point is leading, and root lags behind.Like this, than being easier to cause the jib mechanical deformation, the differential seat angle that above-mentioned arm root and arm point namely occur is the phenomenon between the first setting value and the second setting value not, causes turning round jib and turns round arm pendulum dragon.According to the implementation method in above-described embodiment, the present embodiment adopts programmable logic controller (PLC) (Programmable Logic Controller, PLC) and the control program that combines with advanced detecting element of frequency converter, realize that the revolution of tower machine is in service and stop stationary performance when in place, what prevent large inertia crane arm turns round the motion of arm pendulum dragon.The control system structural representation of the tower machine of large inertia crane arm as shown in Figure 6, this control system is comprised of PLC, frequency converter, electro-magnetic braking device, the given module of gear, motor, speed reduction gearing, revolution supporting mechanism, revolution jib, speed detector etc.Wherein, motor (i.e. M13 among the figure～) is actuating unit; PLC sends control signal and order as the one-level controller; Frequency converter carries out serial communication as two-level controller and PLC, direction and the speed of control motor; Speed detector detects the level run speed of revolution jib in real time; The braking that electro-magnetic braking device is used in emergency circumstances stops.
In the present embodiment, the PLC among Fig. 6 comprises: the gear processing module that links to each other with the given module of gear, the speed adjustment module that links to each other with frequency converter, the speed signal processing module that links to each other with speed detector and the brake control module that links to each other with electro-magnetic braking device.Based on this, the control program specific implementation principle of system shown in Figure 6 is as follows: arrange two speed detectors at jib, first point is not yielding near arm root place at jib, and second point is arranged in the arm point, and the speed of 2 of jibs is detected.When different gear signal is given regularly, after the gear processing module of PLC is processed gear signal, the speed adjustment module is carried out serial communication by MODBUS agreement and frequency converter, and the running velocity of given transducer drive motor and the control signal of direction are realized motor speed is controlled.Speed detector detects the speed of revolution jib in real time, feeds back to PLC, and PLC carries out serial communication acquisition angle speed signal by MODBUS agreement and speed detector.In PLC, utilize the speed of Real-time Feedback by control algorithm the motor running velocity to be regulated, realize jib speed to jib speed follow in real time control, thereby reach the anti-effect of turning round arm pendulum dragon.
Wherein, the algorithm processed that PLC adopts is based on to be determined the mechanical analysis of tower machine revoliving arm, and the present embodiment adopts segmentation to accelerate control in accelerator, adopts sectional deceleration control in moderating process, makes arm point speed to arm root speed the individual procedure of adaptation be arranged.
Above-mentioned PLC and frequency converter and the control program that advanced detecting element (being speed detector) combines take full advantage of the advantage of PLC and frequency converter, realize the anti-arm pendulum dragon control of turning round; The mode that adopts PLC to communicate by letter with frequency converter make control system become more flexible and intelligent, and wiring is simple, and maintenance is convenient; The operation of tower machine is more steady, starts, stops performance in place better, reduces the folding arm accident that causes because turning round arm pendulum dragon.
Above-described embodiment is based on the research and development of tower machine rotary control system and forms, and is applicable to lift heavy revolution or the anti-arm control system of turning round of horizontal motion that various employing PLC and frequency converter combine with speed detector.
From above description, can find out that the above embodiment of the present invention is by obtaining the revolution arm root of jib and the differential seat angle of arm point, and at this differential seat angle during greater than predetermined value, regulating rotary jib running velocity is to reduce the differential seat angle of arm root and arm point, and then the power of rocking between reduction arm root and arm point, improved revolution jib traveling comfort, solve the revolution jib mode in the correlation technique and had the problem of obviously turning round arm pendulum dragon, adopt the control policy of segmentation acceleration and moderating process sectional deceleration in accelerator, make arm point speed to arm root speed the individual procedure of adaptation be arranged, strengthened Security of the system.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general computer device, they can concentrate on the single computer device, perhaps be distributed on the network that a plurality of computer devices form, alternatively, they can be realized with the executable program code of computer device, thereby, they can be stored in the memory storage and be carried out by computer device, and in some cases, can carry out step shown or that describe with the order that is different from herein, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (18)
1. the control method of a tower machine revolution jib is characterized in that, comprising:
In the revolution jib operational process of tower machine, obtain the arm root of described revolution jib and the differential seat angle of arm point;
Determine the position relationship of described arm root and arm point according to described differential seat angle;
Regulate the running velocity of described revolution jib according to the position relationship of described arm root and arm point, to reduce the angle deviating degree between described arm root and arm point.
2. method according to claim 1 is characterized in that, obtains the arm root of described revolution jib and the differential seat angle of arm point and comprises:
According to the angle information that is arranged on the angle detection device feedback on the described revolution jib, calculate the differential seat angle of described arm root and arm point.
3. method according to claim 2 is characterized in that, according to the angle information that is arranged on the angle detection device feedback on the described revolution jib, the differential seat angle that calculates described arm root and arm point comprises:
Receive the arm wedge angle degree of the angle detection device feedback of described arm point place's setting;
Cireular frequency and time of run to described revolution jib carry out integration, obtain the arm root angle of described arm root;
Described arm root angle and described arm wedge angle degree are carried out difference operation, obtain the differential seat angle of described arm root and arm point.
4. method according to claim 2 is characterized in that, according to the angle information that is arranged on the angle detection device feedback on the described revolution jib, the differential seat angle that calculates described arm root and arm point comprises:
Receive the arm wedge angle degree of the first angle detection device feedback of described arm point place's setting;
Receive the arm root angle of the second angle detection device feedback of described arm root place setting;
Described arm root angle and described arm wedge angle degree are carried out difference operation, obtain the differential seat angle of described arm root and arm point.
5. method according to claim 2 is characterized in that, according to the angle information that is arranged on the angle detection device feedback on the described revolution jib, the differential seat angle that calculates described arm root and arm point comprises:
In the sampling duration of setting, receive the arm wedge angle speed of the angle detection device feedback of described arm point place's setting;
Described arm wedge angle speed and described sampling duration are carried out integration, obtain arm wedge angle degree; Cireular frequency and described sampling duration to described revolution jib carry out integration, obtain the arm root angle of described arm root;
Described arm root angle and described arm wedge angle degree are carried out difference operation, obtain the differential seat angle of described arm root and arm point.
6. method according to claim 2 is characterized in that, according to the angle information that is arranged on the angle detection device feedback on the described revolution jib, the differential seat angle that calculates described arm root and arm point comprises:
In the sampling duration of setting, receive the arm wedge angle speed of the angle detection device feedback of described arm point place's setting;
In the sampling duration of described setting, receive the arm root cireular frequency of the angle detection device feedback of described arm root place setting;
Described arm wedge angle speed and described sampling duration are carried out integration, obtain arm wedge angle degree, described arm root cireular frequency and described sampling duration are carried out integration, obtain arm root angle;
Described arm root angle and described arm wedge angle degree are carried out difference operation, obtain the differential seat angle of described arm root and arm point.
7. each described method in 6 according to claim 1 is characterized in that, determines that according to described differential seat angle the position relationship of described arm root and arm point comprises:
If the angle of described arm root deducts differential seat angle that the angle of described arm point obtains less than the first setting value, determine that described arm point is ahead of described arm root along sense of motion;
If the angle of described arm root deducts differential seat angle that the angle of described arm point obtains greater than the second setting value, determine that described arm point lags behind described arm root along sense of motion.
8. method according to claim 7 is characterized in that, the running velocity of regulating described revolution jib according to the position relationship of described arm root and arm point comprises:
If described arm point is ahead of described arm root along sense of motion, improve the running velocity of described revolution jib according to the accelerated mode of setting;
If described arm point lags behind described arm root along sense of motion, reduce the running velocity of described revolution jib according to the ways of deceleration of setting.
9. method according to claim 8 is characterized in that, the accelerated mode of described setting is for improving piecemeal the running velocity of described revolution jib according to the first time gap of setting;
The ways of deceleration of described setting is for reducing piecemeal the running velocity of described revolution jib according to the second time gap of setting.
10. method according to claim 9, it is characterized in that, the described running velocity that improves piecemeal described revolution jib according to the first time gap of setting comprises: the running velocity that improves described revolution jib according to every section adjusting range corresponding to time in the first time gap of setting;
The ways of deceleration of described setting comprises for the running velocity that reduces piecemeal described revolution jib according to the second time gap of setting: the running velocity that reduces described revolution jib according to every section adjusting range corresponding to time in the second time gap of setting.
11. the control convenience of a tower machine revolution jib is characterized in that, comprising:
The differential seat angle deriving means, the revolution jib operational process for the tower machine obtains the arm root of described revolution jib and the differential seat angle of arm point;
Position relationship is determined device, is used for determining according to the described differential seat angle that described differential seat angle deriving means obtains the position relationship of described arm root and arm point;
The running velocity control apparatus is used for determining that according to described position relationship device determines that described position relationship regulates the running velocity of described revolution jib, to reduce the angle deviating degree between described arm root and arm point.
12. equipment according to claim 11 is characterized in that, described differential seat angle deriving means is used for calculating the differential seat angle of described arm root and arm point according to the angle information that is arranged on the angle detection device feedback on the described revolution jib.
13. equipment according to claim 11, it is characterized in that, described position relationship determines that device is used for determining that described arm point is ahead of described arm root along sense of motion when described arm root angle deducts differential seat angle that described arm wedge angle degree obtains less than the first setting value; When described arm root angle deducts differential seat angle that described arm wedge angle degree obtains greater than the second setting value, determine that described arm point lags behind described arm root along sense of motion.
14. equipment according to claim 13, it is characterized in that, determine that device determines that described arm point is ahead of described arm root along sense of motion if described running velocity control apparatus is used for described position relationship, improve the running velocity of described revolution jib according to the accelerated mode of setting; And if described position relationship determines that device determines that described arm point lags behind described arm root along sense of motion, reduce the running velocity of described revolution jib according to the ways of deceleration of setting.
15. the control system of a tower machine revolution jib is characterized in that, comprising: angle detection device and controller; Wherein, described angle detection device for the revolution jib operational process of tower machine, feeds back the angle information of described revolution jib to described controller;
Described controller, be used for obtaining the arm root of described revolution jib and the differential seat angle of arm point according to described angle information, determine the position relationship of described arm root and arm point according to described differential seat angle, and regulate the running velocity of described revolution jib according to the position relationship of described arm root and arm point, to reduce the angle deviating degree between described arm root and arm point.
16. system according to claim 15 is characterized in that, described angle detection device is two, is respectively the first angle detection device that described arm point place arranges, for detection of and feed back the arm wedge angle speed of described arm point; And the second angle detection device of arranging of described arm root place, for detection of and feed back the arm root cireular frequency of described arm root;
Described controller is used for receiving described arm wedge angle speed and described arm root cireular frequency in the sampling duration of setting, and described arm wedge angle speed and described sampling duration are carried out integration, obtains arm wedge angle degree; Described arm root cireular frequency and described sampling duration are carried out integration, obtain arm root angle; Described arm root angle and described arm wedge angle degree are carried out difference operation, obtain the differential seat angle of described arm root and arm point.
17. system according to claim 15 is characterized in that,
Described controller also is used for determining that described arm point is ahead of described arm root along sense of motion when described arm root angle deducts differential seat angle that described arm wedge angle degree obtains less than the first setting value; When described arm root angle deducts differential seat angle that described arm wedge angle degree obtains greater than the second setting value, determine that described arm point lags behind described arm root along sense of motion; When described arm point is ahead of described arm root along sense of motion, improve the running velocity of described revolution jib according to the accelerated mode of setting; When described arm point lags behind described arm root along sense of motion, reduce the running velocity of described revolution jib according to the ways of deceleration of setting.
18. system according to claim 15 is characterized in that, described system also comprises the frequency converter that is connected with described controller; Described controller sends to described frequency converter for the control information that will improve or reduce the running velocity of described revolution jib;
Described frequency converter is used for receiving described control information, adjusts the running velocity of the motor of described revolution jib according to described control information.
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| CN103552928A (en) * | 2013-11-20 | 2014-02-05 | 山东科能电气设备有限公司 | Frequency converting control system of tower crane |
| CN105353776A (en) * | 2014-08-20 | 2016-02-24 | 湖南中联重科智能技术有限公司 | System, method and device for controlling arm frame and engineering machinery |
| CN109019341A (en) * | 2018-08-14 | 2018-12-18 | 苏州汇川技术有限公司 | Tower crane rotation control system and method |
| CN112623945A (en) * | 2020-12-11 | 2021-04-09 | 中联重科股份有限公司 | Stability evaluation system, method and device for tower crane boom and control system |
| CN112665885A (en) * | 2020-12-11 | 2021-04-16 | 中联重科股份有限公司 | Stability evaluation method and device for hoisting equipment, hoisting equipment and storage medium |
| CN112811330A (en) * | 2019-11-15 | 2021-05-18 | 湖南沃森电气科技有限公司 | Control method and system for slewing mechanism of tower crane |
| CN113928991A (en) * | 2021-09-09 | 2022-01-14 | 山东建筑大学 | Method and device for monitoring arm end track of tower crane boom |
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| CN113928991A (en) * | 2021-09-09 | 2022-01-14 | 山东建筑大学 | Method and device for monitoring arm end track of tower crane boom |
| CN113928991B (en) * | 2021-09-09 | 2023-09-01 | 山东建筑大学 | Method and device for monitoring arm end track of crane boom of tower crane |
| CN115650068A (en) * | 2022-10-31 | 2023-01-31 | 徐州建机工程机械有限公司 | Novel system and method for slewing braking and vane control of tower crane |
| CN115650068B (en) * | 2022-10-31 | 2023-09-29 | 徐州建机工程机械有限公司 | Novel tower crane rotary braking and wind vane control system and method |
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