CN102923577B - 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 a system for a slewing jib of a tower crane. Wherein, the method comprises the following steps: acquiring an angle difference between a root and a tip of a rotary arm support of a tower crane in the operation process of the rotary arm support; and determining the position relation between the arm root and the arm tip according to the angle difference, and adjusting the running speed of the rotary arm support according to the position relation so as to reduce the angle deviation degree between the arm root and the arm tip. The invention improves the running stability of the rotary arm support, solves the problem that the rotary arm support control mode in the related technology has obvious torsion swing, and enhances the safety of the system.
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 revolution jib is very long, in speed transmittance process, the each position of jib is different to the response time of velocity variations, and root response is the fastest, and the response of arm point is the slowest.In the time accelerating, arm point lags behind, and root is leading.In the time slowing down, arm point is leading, and root lags behind.Like this, can cause jib mechanical deformation, cause that turning round arm puts imperial phenomenon.At present, tower crane rotation mode has coiling electric motor to add fluid coupling control, coiling electric motor adds eddy current control, RCV(Rotation Control Voltage, revolution voltage controller) add 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, folding arm accident even occurs.
In existing tower machine revolution control technology, no matter be variable frequency control, or Fuel Pressure Regulator Control all only limits to rotating speed to control, and the common existence of this mode is significantly turned round arm and is put imperial problem.
Exist and obviously turn round arm and put imperial problem for turning round jib mode in correlation technique, not yet propose 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 comprises the following steps: in the revolution jib operational process of tower machine, obtain the revolution arm root of 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 revolution the arm root of jib and the differential seat angle of arm point of obtaining comprises: according to the angle information that is arranged on the angle detection device feedback on 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 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 revolution jib carry out integration, obtain the arm root angle of arm root; Arm root angle and arm wedge angle degree are carried out to 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 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 to difference operation, obtain the differential seat angle of arm root and arm point.
Above-mentioned basis is arranged on the angle information that the angle detection device on revolution jib feeds back, and the differential seat angle that calculates arm root and arm point comprises: the arm wedge angle speed that receives the angle detection device feedback of arm point place's setting in the sampling duration of setting; Arm wedge angle speed and sampling duration are carried out to integration, obtain arm wedge angle degree; Cireular frequency to revolution jib and sampling duration carry out integration, obtain the arm root angle of arm root; Arm root angle and arm wedge angle degree are carried out to difference operation, obtain the differential seat angle of arm root and arm point.
Above-mentioned basis is arranged on the angle information that the angle detection device on revolution jib feeds back, and the differential seat angle that calculates arm root and arm point comprises: the arm wedge angle speed that receives the angle detection device feedback of arm point place's setting 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 to integration, obtain arm wedge angle degree, arm root cireular frequency and sampling duration are carried out to integration, obtain arm root angle; Arm root angle and arm wedge angle degree are carried out to 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: be less than the first setting value if the angle of arm root deducts the differential seat angle that the angle of arm point obtains, determine that arm point is ahead of arm root along sense of motion; Be greater than the second setting value if the angle of arm root deducts the differential seat angle that the angle of arm point obtains, determine that arm point lags behind arm root along sense of motion.
The above-mentioned position relationship according to arm root and arm point regulates the running velocity of revolution jib to comprise: if arm point is ahead of arm root along sense of motion, improve the running velocity of revolution jib according to the accelerated mode of setting; If arm point lags behind 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 the running velocity that improves piecemeal revolution jib according to the time gap of the first setting; The ways of deceleration of above-mentioned setting is the running velocity that reduces piecemeal revolution jib according to the time gap of the second setting.
The above-mentioned running velocity that improves piecemeal revolution jib according to the time gap of the first setting comprises: the running velocity that improves revolution jib according to adjusting range corresponding to every period in the time gap of the first setting; The ways of deceleration of above-mentioned setting is that the running velocity that reduces piecemeal revolution jib according to the time gap of the second setting comprises: the running velocity that reduces revolution jib according to adjusting range corresponding to every period in the time gap of the second setting.
According to a further aspect in the invention, provide a kind of control convenience of tower machine revolution jib, having comprised: differential seat angle acquisition device, for the revolution jib operational process of tower machine, obtains the revolution arm root of jib and the differential seat angle of arm point; Position relationship determining device, determines the position relationship of arm root and arm point for the differential seat angle obtaining according to differential seat angle acquisition device; Running velocity control apparatus, for determining that according to position relationship determining device 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 acquisition device, for according to the angle information that is arranged on the angle detection device feedback on revolution jib, calculates the differential seat angle of arm root and arm point.
When above-mentioned position relationship determining device is less than the first setting value for deduct differential seat angle that arm wedge angle degree obtains in arm root angle, determine that arm point is ahead of arm root along sense of motion; In the time that arm root angle deducts differential seat angle that arm wedge angle degree obtains and is greater than the second setting value, determine that arm point lags behind arm root along sense of motion.
If above-mentioned running velocity control apparatus determines that for position relationship determining device arm point is ahead of arm root along sense of motion, improve the running velocity of revolution jib according to the accelerated mode of setting; And if position relationship determining device determines that arm point lags behind 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, for obtain the revolution arm root of 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, for receive arm wedge angle speed and arm root cireular frequency in the sampling duration of setting, carries out integration to arm wedge angle speed and sampling duration, obtains arm wedge angle degree; Arm root cireular frequency and sampling duration are carried out to integration, obtain arm root angle; Arm root angle and arm wedge angle degree are carried out to difference operation, obtain the differential seat angle of arm root and arm point.
Above-mentioned controller also when deducting differential seat angle that arm wedge angle degree obtains in arm root angle and be less than the first setting value, determines that arm point is ahead of arm root along sense of motion; In the time that arm root angle deducts differential seat angle that arm wedge angle degree obtains and is greater than the second setting value, determine that arm point lags behind arm root along sense of motion; In the time that arm point is ahead of arm root along sense of motion, improve the running velocity of revolution jib according to the accelerated mode of setting; In the time that arm point lags behind 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 being connected with controller; Correspondingly, above-mentioned controller is for sending to frequency converter by the control information of the running velocity that improves or reduce revolution jib; This frequency converter is for receiving control information, according to the running velocity of the motor of control information adjustment revolution jib.
The present invention determines the position relationship of arm root and arm point by obtaining the revolution arm root of jib and the differential seat angle of 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 reduce the power of rocking between arm root and arm point, improve revolution jib traveling comfort, solve revolution jib mode in correlation technique and existed and obviously turn round arm and put imperial problem, strengthened the safety of system.
Brief description of the drawings
The accompanying drawing that forms the application's a part is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is according to the diagram of circuit of the control method of the tower machine revolution jib of the embodiment of the present invention;
Fig. 2 is the schematic diagram that accelerates to control curve according to the segmentation of the embodiment of the present invention;
Fig. 3 is according to the schematic diagram of the sectional deceleration control curve of the embodiment of the present invention;
Fig. 4 is according to the structured flowchart of the control convenience of the tower machine revolution jib of the embodiment of the present invention;
Fig. 5 is according to the structured flowchart of the control system of the tower machine revolution jib of the embodiment of the present invention; And
Fig. 6 is according to the control system structural representation of the tower machine of the large inertia crane arm of the embodiment of the present invention.
Detailed description of the invention
Hereinafter also describe the present invention in detail with reference to accompanying drawing in conjunction with the embodiments.It should be noted that, in the situation that not conflicting, the feature in embodiment and embodiment in the application can combine mutually.
The embodiment of the present invention is considered in tower machine revolution jib operational process may occur that the revolution jib between arm point and arm root occurs bending, in order to reduce as far as possible the power of rocking between arm point and arm root, the embodiment of the present invention provides a kind of control method, equipment and system of tower machine revolution jib.Be described below by specific embodiment.
The diagram of circuit of the control method of tower machine revolution jib shown in Figure 1, the method describes to be applied as example in the controller of tower machine, specifically comprises the following steps:
Step S102, in the revolution jib operational process of tower machine, controller obtains the revolution arm root of jib and the differential seat angle of arm point;
Step S104, controller is determined the position relationship of arm root and arm point according to above-mentioned differential seat angle; This position relationship comprises: arm point is ahead of arm root and arm point lags behind arm root along sense of motion along sense of motion;
Step S106, controller regulates 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 obtaining the revolution arm root of jib and the differential seat angle of 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 reduce the power of rocking between arm root and arm point, improve revolution jib traveling comfort, solve revolution jib mode in correlation technique and existed and obviously turn round arm and put imperial problem, strengthened the safety of system.
For the ease of operation, the embodiment of the present invention adopts the angle that mode detection arm point and/or the arm root of angle detection device are set on revolution jib, based on this, above-mentioned controller obtains the revolution arm root of 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 revolution jib, calculate the differential seat angle of arm root and arm point.When 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 is respectively 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 to difference operation (for example: arm root angle is deducted to arm wedge angle degree), can obtain the differential seat angle of arm root and arm point.Because arm root angle does not directly measure, there is certain little error in this mode, this error is not too large on the calculating impact of follow-up differential seat angle, can make to control the operation of revolution jib and tend to be steady.
The mode of an angle detection device is respectively 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 of the second angle detection device feedback of reception arm root place setting; Then this arm root angle and arm wedge angle degree are carried out to difference operation (for example: arm root angle is deducted to arm wedge angle degree), obtain the differential seat angle of arm root and arm point.The accuracy of the differential seat angle that this mode obtains than the above-mentioned mode that an angle detection device is set at arm point place is higher, can ensure better to 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 receives the angle detection device feedback of arm point place's setting in the sampling duration of setting; Arm wedge angle speed and sampling duration are carried out to integration, obtain arm wedge angle degree; Cireular frequency and this sampling duration to revolution jib carry out integration, obtain the arm root angle of arm root; Arm root angle and arm wedge angle degree are carried out to difference operation, obtain the differential seat angle of arm root and arm point.
Mode two: the arm wedge angle speed that receives the angle detection device feedback of arm point place's setting 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 to integration, obtain arm wedge angle degree; Arm root cireular frequency and this sampling duration are carried out to integration, obtain arm root angle; Arm root angle and described arm wedge angle degree are carried out to 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, be less than the first setting value if arm root angle deducts the differential seat angle that arm wedge angle degree obtains, determine that arm point is ahead of arm root along sense of motion; Be greater than the second setting value if arm root angle deducts the differential seat angle that arm wedge angle degree obtains, determine that arm point lags behind arm root along sense of motion.Wherein, the first setting value and the second setting value can rule of thumb be set.If arm point is ahead of arm root along sense of motion, controller improves the running velocity of revolution jib according to the accelerated mode of setting; If arm point lags behind arm root along sense of motion, controller reduces the running velocity of revolution jib according to the ways of deceleration of setting.Angle detection device is set respectively taking arm root and arm point place below to be described as example.
Revolution jib is in stable speed operation, and controller is by the running frequency f of given frequency converter, and by relational expression ω=2, π f can draw ω.By formula d θ=ω dt, to first the arm root speed omega detecting 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
t1; The second point arm point speed omega simultaneously detecting in real time by angular speed detecting apparatus (being above-mentioned the first angle detection device)
t2the integrating meter of time is calculated to the angular displacement of arm root
t2.Wherein integration is the operational method that adopts discretization summation, i.e. θ=ω
1t
1+ ω
2t
2+ ω
3t
3+ ..., work as t
1, t
2... while replacement 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 the running velocity that improves piecemeal revolution jib according to the time gap of the first setting; The ways of deceleration of setting is the running velocity that reduces piecemeal revolution jib according to the time gap of the second setting.When specific implementation, can improve the running velocity that turns round jib according to every section of adjusting range corresponding to time in the time gap of the first setting; And reduce according to every section of adjusting range corresponding to time in the time gap of the second setting the running velocity that turns round jib.For example: as angular transposition deviation e
1be less than-0.5rad(of value can be equivalent to above-mentioned the first setting value) time, show that arm point is ahead of arm root, adopt segmentation accelerate control curve adjustment.As angular transposition deviation e
1value while being greater than 0.5rad (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, as shown in Figure 2, as shown in Figure 3, Fig. 2 and Fig. 3 medium frequency are to be f with 1HZ(to the schematic diagram of sectional deceleration control curve to the schematic diagram of segmentation acceleration control curve
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 refinement grade.Acceleration, deceleration interval wait time be 1 second (be t
2-t
1) be interval grade.
Corresponding to said method, the embodiment of the present 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; The structured flowchart of the control convenience of tower machine revolution jib shown in Figure 4, this equipment comprises with lower device:
Differential seat angle acquisition device 42, for the revolution jib operational process of tower machine, obtains the revolution arm root of jib and the differential seat angle of arm point;
Position relationship determining device 44, determines the position relationship of arm root and arm point for the differential seat angle obtaining according to differential seat angle acquisition device 42;
Running velocity control apparatus 46, for determining that according to position relationship determining device 44 described position relationship regulates the running velocity of revolution jib, 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 obtaining the revolution arm root of jib and the differential seat angle of 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 reduce the power of rocking between arm root and arm point, improve revolution jib traveling comfort, solve revolution jib mode in correlation technique and existed and obviously turn round arm and put imperial problem, strengthened the safety of system.
Wherein, differential seat angle acquisition device 42, for according to the angle information that is arranged on the angle detection device feedback on revolution jib, calculates the differential seat angle of arm root and arm point.Based on this, this differential seat angle acquisition device 42 can comprise: differential seat angle acquiring unit, for according to the angle information that is arranged on the angle detection device feedback on revolution jib, calculates the differential seat angle of arm root and arm point.When 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 in said method embodiment, repeats no more here.
When above-mentioned position relationship determining device 44 is less than the first setting value for the differential seat angle that deducts described arm wedge angle degree in arm root angle and obtain, determine that arm point is ahead of described arm root along sense of motion; In the time that arm root angle deducts differential seat angle that described arm wedge angle degree obtains and is greater than the second setting value, determine that arm point lags behind arm root along sense of motion.Based on this: if above-mentioned running velocity control apparatus 46 determines that for position relationship determining device 44 arm point is ahead of arm root along sense of motion, improve the running velocity of revolution jib according to the accelerated mode of setting; And if position relationship determining device 44 determines that arm point lags behind 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 present 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, for obtain the revolution arm root of 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 that turns round 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 obtaining the revolution arm root of jib and the differential seat angle of 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 reduce the power of rocking between arm root and arm point, improve revolution jib traveling comfort, solve revolution jib mode in correlation technique and existed and obviously turn round arm and put imperial problem, strengthened the safety of 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, for receive above-mentioned arm wedge angle speed and arm root cireular frequency in the sampling duration of setting, carries out integration to arm wedge angle speed and sampling duration, obtains arm wedge angle degree; Arm root cireular frequency and described sampling duration are carried out to integration, obtain arm root angle; Arm root angle and described arm wedge angle degree are carried out to 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 revolution jib.
The controller 40 of the present embodiment is also for according to above-mentioned differential seat angle and revolution jib current service direction, determine the position relationship of arm root and arm point, for example: in the time that arm root angle deducts differential seat angle that arm wedge angle degree obtains and is less than the first setting value, determine that arm point is ahead of described arm root along sense of motion; In the time that arm root angle deducts differential seat angle that described arm wedge angle degree obtains and is greater than the second setting value, determine that arm point lags behind arm root along sense of motion; In the time that arm point is ahead of arm root along sense of motion, improve the running velocity of revolution jib according to the accelerated mode of setting; In the time that arm point lags behind 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 being connected with above-mentioned controller 40; Correspondingly, controller 40 is for sending to this frequency converter by the control information of the running velocity that improves or reduce revolution jib; This frequency converter is used for receiving this control information, according to the running velocity of the motor of this control information adjustment revolution jib.This frequency converter is connected by bus conventionally with controller, and this mode realizes simply, precise control.
When 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: the structure shown in Fig. 4.
In above-mentioned implementation, if the differential seat angle of arm root and arm point between the first setting value and the second setting value time, could be according to the operation of original mode control revolution jib.
In the embodiment of the present invention, using tower machine swing type mechanism (being above-mentioned revolution jib) as control object, adopt angular speed detecting apparatus to detect jib, and using detection limit as the aim parameter of controlling motor speed, crane arm is realized to the closed loop control that speed is followed the tracks of, reach the anti-control effect of turning round arm.
Describe as an example of the tower machine of large inertia crane arm example below, the revolution jib of the tower machine of large inertia crane arm is long, and in speed transmittance process, the each position of jib is different to the response time of velocity variations, and root response is the fastest, and the response of arm point is the slowest.Therefore, in the time accelerating, arm point lags behind, and root is leading.In the time slowing down, arm point is leading, and root lags behind.Like this, than being easier to cause jib mechanical deformation, there is the not phenomenon between the first setting value and the second setting value of differential seat angle of above-mentioned arm root and arm point, cause turning round jib and turn round arm pendulum dragon.According to the implementation method in above-described embodiment, the present embodiment adopts programmable logic controller (PLC) (Programmable Logic Controller, and the control program that combines with advanced detecting element of frequency converter PLC), realize tower machine revolution in service and stop stationary performance time 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 made up 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 in figure～) is actuating unit; PLC sends control signal and order as one-level controller; Frequency converter carries out serial communication as two-level controller and PLC, controls direction and the speed of motor; Speed detector detects the level run speed of revolution jib in real time; Electro-magnetic braking device stops for braking in emergency circumstances.
In the present embodiment, the PLC in Fig. 6 comprises: the gear processing module being connected with the given module of gear, the speed adjustment module being connected with frequency converter, the speed signal processing module being connected with speed detector and the brake control module being connected with electro-magnetic braking device.Based on this, the control program specific implementation principle of system shown in Figure 6 is as follows: on jib, arrange two speed detectors, first point is at the not yielding arm root place that approaches of jib, and second point is arranged in arm point, and the speed of 2 of jibs is detected.When different gear signal is given timing, after the gear processing module of PLC is processed gear signal, 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 control.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, motor running velocity to be regulated, realize jib speed to jib speed follow in real time control, turn round arm and put imperial effect thereby reach anti-.
Wherein, the algorithm processed that PLC adopts is based on the mechanical analysis of tower machine revoliving arm is determined, the present embodiment adopts segmentation to accelerate to control in accelerator, adopts sectional deceleration control in moderating process, makes arm point speed have the individual procedure of adaptation to arm root speed.
Above-mentioned PLC and frequency converter and the control program that advanced detecting element (being speed detector) combines, make full use of the advantage of PLC and frequency converter, realizes anti-ly turning round arm pendulum dragon and controlling; 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 causing because turning round arm pendulum dragon.
Based on tower machine rotary control system, research and development form above-described embodiment, are 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 in the time that this differential seat angle is greater than predetermined value, regulating rotary jib running velocity is to reduce the differential seat angle of arm root and arm point, and then reduce the power of rocking between arm root and arm point, improve revolution jib traveling comfort, having solved revolution jib mode in correlation technique exists and obviously turns round arm and put imperial problem, adopt the control policy of segmentation acceleration and moderating process sectional deceleration in accelerator, make arm point speed have the individual procedure of adaptation to arm root speed, strengthen the safety of system.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general computer device, they can concentrate on single computer device, or be distributed on the network that multiple computer devices form, alternatively, they can be realized with the executable program code of computer device, thereby, they can be stored in memory storage and be carried out by computer device, and in some cases, can carry out shown or described step with the order being different from herein, or they are made into respectively to each integrated circuit modules, or the multiple modules in them or step are made into single integrated circuit module to be realized.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, 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 amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (18)
1. a control method for 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 comprises:
According to the angle information that is arranged on the angle detection device feedback on 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 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 to described revolution jib and time of run 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 to 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 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 to 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 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 to integration, obtain arm wedge angle degree; Cireular frequency to described revolution jib and described sampling duration 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 to 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 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 to integration, obtain arm wedge angle degree, described arm root cireular frequency and described sampling duration are carried out to integration, obtain arm root angle;
Described arm root angle and described arm wedge angle degree are carried out to difference operation, obtain the differential seat angle of described arm root and arm point.
7. according to the method described in any one in claim 1 to 6, it is characterized in that, determine that according to described differential seat angle the position relationship of described arm root and arm point comprises:
Be less than the first setting value if the angle of described arm root deducts the differential seat angle that the angle of described arm point obtains, determine that described arm point is ahead of described arm root along sense of motion;
Be greater than the second setting value if the angle of described arm root deducts the differential seat angle that the angle of described arm point obtains, determine that described arm point lags behind described arm root along sense of motion.
8. method according to claim 7, is characterized in that, regulates the running velocity of described revolution jib to comprise according to the position relationship of described arm root and arm point:
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 the running velocity that improves piecemeal described revolution jib according to the time gap of the first setting;
The ways of deceleration of described setting is the running velocity that reduces piecemeal described revolution jib according to the time gap of the second 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 time gap of the first setting comprises: the running velocity that improves described revolution jib according to every section of adjusting range corresponding to time in the time gap of the first setting;
The ways of deceleration of described setting is that the running velocity that reduces piecemeal described revolution jib according to the time gap of the second setting comprises: the running velocity that reduces described revolution jib according to every section of adjusting range corresponding to time in the time gap of the second setting.
The control convenience of 11. 1 kinds of tower machine revolution jibs, is characterized in that, comprising:
Differential seat angle acquisition device, for the revolution jib operational process of tower machine, obtains the arm root of described revolution jib and the differential seat angle of arm point;
Position relationship determining device, determines the position relationship of described arm root and arm point for the described differential seat angle obtaining according to described differential seat angle acquisition device;
Running velocity control apparatus, for regulate the running velocity of described revolution jib according to the definite described position relationship of described position relationship determining device, 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 acquisition device, for according to the angle information that is arranged on the angle detection device feedback on described revolution jib, calculates the differential seat angle of described arm root and arm point.
13. equipment according to claim 11, is characterized in that, when described position relationship determining device is less than the first setting value for deduct differential seat angle that arm wedge angle degree obtains in arm root angle, determine that described arm point is ahead of described arm root along sense of motion; In the time that described arm root angle deducts differential seat angle that described arm wedge angle degree obtains and is 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, if described running velocity control apparatus determines that for described position relationship determining device 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; And if described position relationship determining 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.
The control system of 15. 1 kinds of tower machine revolution jibs, 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, 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. systems according to claim 15, is characterized in that, described angle detection device is two, are 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, for receive described arm wedge angle speed and described arm root cireular frequency in the sampling duration of setting, carries out integration to described arm wedge angle speed and described sampling duration, obtains arm wedge angle degree; Described arm root cireular frequency and described sampling duration are carried out to integration, obtain arm root angle; Described arm root angle and described arm wedge angle degree are carried out to difference operation, obtain the differential seat angle of described arm root and arm point.
17. systems according to claim 16, is characterized in that,
Described controller also when deducting differential seat angle that described arm wedge angle degree obtains in described arm root angle and be less than the first setting value, determines that described arm point is ahead of described arm root along sense of motion; In the time that described arm root angle deducts differential seat angle that described arm wedge angle degree obtains and is greater than the second setting value, determine that described arm point lags behind described arm root along sense of motion; In the time that 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; In the time 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.
18. systems according to claim 15, is characterized in that, described system also comprises the frequency converter being connected with described controller;
Described controller is for sending to described frequency converter by the control information that improves 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 |
| CN105353776B (en) * | 2014-08-20 | 2018-04-13 | 湖南中联重科智能技术有限公司 | Control system, method and device of arm support and engineering machinery |
| CN109019341B (en) * | 2018-08-14 | 2020-07-28 | 苏州汇川技术有限公司 | Rotation control system and method for tower crane |
| CN112811330B (en) * | 2019-11-15 | 2023-06-23 | 湖南沃森电气科技有限公司 | Control method and system for slewing mechanism of tower crane |
| CN112665885B (en) * | 2020-12-11 | 2023-01-24 | 中联重科股份有限公司 | Stability evaluation method and device for hoisting equipment, hoisting equipment and storage medium |
| CN112623945B (en) * | 2020-12-11 | 2021-10-01 | 中联重科股份有限公司 | Stability evaluation system, method and device for tower crane boom and control system |
| 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 |
| 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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