CN104760889A - Control method for constant-moment-arm crane taking vector variable-voltage variable-frequency frequency converter as power supply - Google Patents
Control method for constant-moment-arm crane taking vector variable-voltage variable-frequency frequency converter as power supply Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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Abstract
The invention belongs to the field of crane control, and particularly relates to a control method for a constant-moment-arm crane taking a vector variable-voltage variable-frequency frequency converter as a power supply. The control method comprises: measuring the output direct-current power and the output frequency of the frequency converter after a lifting variable frequency motor is started and is stable; indirectly measuring the torque of a lifting weight load; taking the torque and the rated power of the lifting motor as limited conditions to obtain the maximum operation frequency of the lifting motor; and determining the operation frequency of the lifting motor via speed control shifts. According to the invention, the crane system not only can work in a rated torque, but also can work in a rated power, so that double purposes of safety assurance and improved frequency are achieved. According to the invention, inner parameters of the frequency converter are measured; a sensor in a conventional crane system is omitted; the measurement accuracy is improved; and the system complexity and cost are reduced. The crane system is simple, accurate, high-efficient, and reliable.
Description
Technical field
The invention belongs to crane control field, be specifically related to that a kind of to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method.
Background technology
Along with technological advance and market demands improve, in recent years, converter technique is more and more introduced into crane system, as its electrical source of power, play advanced technology, be easy to control, speed-regulating range width, stable working, structure is simple, the advantages such as maintenance cost is low, and integration degree is high, become the most important electrical source of power of crane system gradually.Hoisting crane is a kind of mechanical equipment conventional in modern production, and different use occasions has different user demands, generally can design and manufacture the hoisting crane that can be adapted to these occasions for different use occasions.In the course of the work, if crane system hoists, the arm of force does not change hoisting crane, is only the hoist rising of weight or decline, or weight and crane system integral translation, as transfer crane, crane in bridge type etc., this kind of hoisting crane is defined as arm of force hoisting crane.Hoisting crane also can drive weight to do certain displacement and rotation around hoisting crane gravity fulcrum in the horizontal direction or in pitch orientation except driving weight to rise or declining, the crane system arm of force that hoists changes, as tower crane, harbour handling hoisting cranes etc., this kind of hoisting crane is defined as variable arm hoisting crane.In order to ensure lifting safety, operationally can not there is tumbling, cave in or overloading of hoisting crane self in hoisting crane, that is: can not be overweight, can not exceed the speed limit, and the unexpected whereabouts of weight can not occur namely: be commonly called as " hook of sauntering " simultaneously.In order to adapt to lifting operating mode complicated and changeable, hoisting crane all needs manual operation in the course of the work.In current hoisting crane, be generally all provided with multiple detecting sensor, in order to feed back to operating personal, make operating personal when manipulating crane, conveniently can understand crane operating status, to guarantee lifting safety.The detecting sensor arranged in current crane system, usual detection the quality of the weight that hoists, the arm of force, torque, and lifting motor actual speed etc., and lifting machine system is only the key of decision systems work safety and efficiency, to its actual service condition by the final actual loading torque of speed reduction gearing and working speed, current equipment is only artificially judged by operating personal, and this judgement only relies on practical operation experience and the sensation of operating personal; In current crane control system, control for hoisting crane only only considered the safety measure limited hoisting crane landing weight quality, and do not consider the restriction of crane safety work speed, simultaneously also cannot the raising of work efficiency under it guarantees safe prerequisite.And lack safety automation control way targetedly.In addition, the sensor that makes be all external installation, therefore hardware cost, mounting means and the accuracy measured all bring a series of problem; There is obvious sensor additional firmware with high costs, install difficulty, measurement affects greatly to cause by installation site and mode measures many drawbacks that difficult result is inaccurate and automatic safe control is vacant.
Summary of the invention
The present invention is directed to above-mentioned weak point and the one provided determines arm of force Crane control method, adding while safety factor takes into full account lifting safety, hoisting crane work efficiency can be significantly improved.Control method of the present invention is with vector variable voltage variable frequency frequency converter, and namely VT-VVVF frequency converter is the crane system of power supply is the control method of object.
Hoisting crane is when the weight that starts to hoist, and weight is at upward movement from static, and need an acceleration/accel a upwards, the power putting on weight needs the gravity m × g being greater than weight, tensile force f=m that the weight that just hoists is subject to × (a+g).Hoisting crane is when starting to hoist simultaneously, in order to ensure enough detent torques and start steadily, need a maximum starting torque and a lower rotating speed, this just most important characteristics of possessing of VT-VVVF frequency converter and we select it as the reason of hoisting crane power supply.
Of the present inventionly determine in arm of force Crane control method,
S1 walks, and lifting motor VT-VVVF Frequency Converter Control lifting motor is pressed starting frequency fqd and run starting;
VT-VVVF Frequency Converter Control bridge motor is when hoisting, different manufacturers, its frequency that hoists exported is not quite similar, common feature is: when starting, export the low-down frequency f qd that hoists of lifting motor one, export a detent torque close to lifting motor maximum output torque, Tqd=T during perfect condition simultaneously
m, obtain a maximum starting torque smooth starting to make system.
Determining in arm of force hoisting crane, lifting mechanism motor output torque Tfz is identical with the load torque size that weight produces, and direction is contrary, i.e. numerically Tfz=m × g × R.Wherein, lifting mechanism motor output torque Tfz is lifting motor after speed reduction gearing slows down, and the torque that speed reduction gearing winch exports, R is lifting speed reducing structure winch radius, and m × g is by the gravity of the weight that hoists.Following analysis is all carry out the load torque of hoisting crane reality with lifting mechanism motor output torque Tfz.For rotary machine system, the torque derivation of equation of its broad sense is as follows:
Power required when weight hoists;
Amassing as power of P=F × V and power and speed.
When T=F × R steel cable is applied on the reel that radius is R, required torque.
P=F × V=F × ω × R=F × (2 × π × n/60) × R=(T/R) × (2 × π × n/60) × R both sides are after taking advantage of 1000 to be converted into kW:
P＝(T×n)/9550 P-(kW)............(2-1)；
Or: P=(T × n)/9.55 P-(W) ... ... (2-1);
Broad sense rotary machine system torque formula;
Wherein, rotating speed n unit is that namely r/min turns per minute, and power P unit is kW; Torque T unit Nm; In vector variable voltage variable frequency frequency converter, it is P that rectifying device exports DC power
d, P
1for vector variable voltage variable frequency frequency converter frequency conversion output AC power is equal with lifting motor stator power, P
2for lifting motor rotor power, speed reduction gearing horsepower output is Pfz, then have following relation:
for IGBT switching valve efficiency factor;
λ=P
2/ P
1; λ is lifting motor electromagnetic conversion efficiency factor;
ε=Pfz/P
2; ε is the gear reducer mechanism coefficient of mechanical efficiency;
δ=n
2/ nfz; n
2lifting motor or lifting mechanism input speed, nfz lifting mechanism output speed, δ is lifting motor speed reduction gearing transmitting ratio;
N
2=60 × (1-S) × f/ ρ; Asynchronous dynamo asynchronous speed; S is asynchronous dynamo revolutional slip, and ρ is asynchronous dynamo magnetic pole logarithm; F is that asynchronous dynamo frequency of operation equals VT-VVVF frequency converter output frequency;
then have:
Order: Kdj=160 × ρ/(1-S); Electric machine rotation parameter;
electrical efficiency parameter;
Kjs=ε × δ=(Pfz/P
2) × (n
2/ nfz)=(Pfz/nfz)/(P
2/ n
2)=Tfz/T
2; Reductor parameter;
∴Tfz＝Kdj×Kdx×Kjs×P
d/f＝Kdj×Kdx×Kjs×U
d×I
d/f...(2-2)；
Wherein, the domain of definition: fqd (Hz)≤f≤2 × f
0;
Codomain: TK≤Tfz (Nm) <Kjs × Tn;
Fqd is the starting frequency of lifting motor vector frequency converter,
2 × f
0for the maximum operation frequency of current lifting motor,
F
0for work frequency 50Hz;
TK is no-load torque;
Tn is Rated motor torque;
When measuring lifting motor, running frequency f corresponding to lifting motor is at vector variable voltage variable frequency inverter start up frequency f qd and maximum output frequency 2 × f
0between.P
1Nfor lifting motor nominal rating power, P
d≤ P
1N× λ/Kdx ensure that lifting motor can not exceed nominal rating Power operation.By to frequency converter commutating DC power P
dwith the measurement of corresponding output frequency f, and judge accordingly: if Tfz>Tfz
max, Torque Overload, the weight that hoists is greater than hoisting crane and allows lifting maximum weight; If P
d>P
1N× λ/Kdx, power overloads, and hoisting crane power is greater than lifting motor nominal rating power; All belong to crane system overload, if during system overcharge, make U
0=0 that is frequency converter output voltage set to 0, hoisting crane alarm stop, forward locking, oppositely opening, failure to the safe side.
Tfz＝Kdj×Kdx×Kjs×P
d/f＝Kdj×Kdx×Kjs×U
d×I
d/f......(2-2)；
Of the present inventionly determine in arm of force Crane control method,
S2 walks, and after lifting motor starts, measures lifting motor vector variable voltage variable frequency frequency converter rectification output dc voltage U
ddC current I is exported with rectification
d, when frequency converter rectification exports DC power fluctuating range is less than 5-10% within 1-2 second, its rectification output dc voltage of survey record U
d, rectification export DC current I
dwith the output frequency f that hoists, formula (2-2) is utilized to calculate lifting mechanism motor output torque Tfz.
Formula 2-2 has drawn lifting mechanism motor output torque Tfz calculated relationship.Same hoisting crane, electric machine rotation parameter Kdj, electrical efficiency parameter Kdx in operational process, the parameters such as reductor parameter Kjs can not change; The Driving Torque Tfz of lifting mechanism and the rectification of vector variable voltage variable frequency frequency converter export DC power P
dthere is direct contact with output frequency f, i.e. load and dynamic relation, it is actually the concrete manifestation form of formula (2-1) in vector variable voltage variable frequency frequency converter crane system.For certain process that specifically hoists, can not be changed by the weight quality of lifting, namely lifting motor load can not change, and is constant torque load; After lifting motor operates steadily, export DC power P by measuring frequency converter rectification
d=U
d× I
dwith output frequency f, namely to obtain lifting mechanism motor output torque Tfz.Formula (2-2), mainly according to the real work principle of vector variable voltage variable frequency frequency converter crane system, have chosen the P being easy to the most measure
dthe strict quantitative relation with lifting mechanism motor output torque Tfz three is established as measuring object with f; It is the concrete manifestation form that broad sense rotary machine system torque formula (2-1) is easy to Survey control in vector variable voltage variable frequency frequency converter crane system.
Calculate lifting motor maximum frequency of operation f
max,
∵Tfz＝Kdj×Kdx×Kjs×P
d/f
＝Kdj×Kdx×Kjs×U
d×I
d/f......(2-2)；
P
d=P
2/ Kdx electrical efficiency parameter;
∴f＝Kdj×Kdx×Kjs×P
d/Tfz＝Kdj×Kdx×Kjs×(P
2/Kdx)/Tfz
Make P
2=P
2N=P
1N× λ, then obtain corresponding to the running frequency upper limit-maximum frequency of operation f of system load torque Tfz under lifting motor nominal rating Power Limitation
max:
∴f
max＝Kdj×Kjs×(P
2N/Tfz)＝Kdj×Kjs×(P
1N×λ/Tfz)......(2-3)；
Substitute into (2-3) by (2-2) to obtain:
In formula, P
2Nfor lifting motor rotor-side nominal rating power, P
1Nfor lifting motor nominal rating power, λ is lifting motor electromagnetic conversion efficiency factor.
Thus, under a specific lifting mechanism motor output torque Tfz, lifting motor nominal rating power P
1Nas limiting condition, limit the maximum frequency of operation f of lifting motor
max.Specifically hoist for certain, in the process of hoisting, can not be changed by the weight quality of lifting, namely lifting motor load torque can not change, and the weight that namely hoists is a constant torque load for lifting motor.After lifting motor operates steadily, measure the rectification of lifting motor vector variable voltage variable frequency frequency converter and export DC power P
dwith lifting motor running frequency f, lifting mechanism motor output torque Tfz required when namely can obtain hoisting weight.For certain specific lifting mechanism motor output torque Tfz, the maximum frequency of operation f of lifting motor
maxby the nominal rating power P of lifting motor
1Ndetermine.In hoisting crane working process, frequency converter output frequency f≤f
max, guaranteeing that lifting motor frequency of operation controls all the time can not more than f
max; This is another safety precautions of system is again clearly strict quantity basis of increasing work efficiency simultaneously.
Of the present inventionly determine in arm of force Crane control method,
S3 walks, and calculates lifting motor maximum frequency of operation f
max,
When hoisting weight, likely there is overloading in hoisting crane, of the present inventionly determines in arm of force Crane control method;
S4 walks, and judges whether lifting motor overloads,
If Tfz>Tfz
max, or P
1max>P
1N; Be defined as system overcharge.
Tfz
max=m
max× g × R is the maximum permission load torque of crane system,
In formula: m
maxfor the maximum lifting quality of system, g is acceleration due to gravity, and R is lifting mechanism winch radius;
In formula: P
1maxfor at load torque Tfz and lifting motor maximum frequency of operation f
maxunder lifting motor power demand, Tfz
maxfor the maximum permission load torque of crane system; If crane system is once occur overload, namely lifting motor power exceedes its nominal rating power or the weight quality that hoists exceedes the maximum lifted load of hoisting crane, then automatically enter U
0=0 that is frequency converter output voltage set to 0, hoisting crane stop, report to the police signal, forward locking, oppositely opening, the overload mode of operation of failure to the safe side; Obtaining the lifting motor maximum frequency of operation f of hoisting crane under certain load that specifically hoists
maxafter, the real-world operation frequency of lifting motor is determined by the gear number residing for lifting motor speed control handle.Lifting motor maximum frequency of operation f
maxthe most high tap position running frequency of corresponding is lifting motor speed control handle.Lowest gear running frequency is zero, namely during deep low gear, and lifting motor is in stopped status.Crane operator is when operating, and handle lifting motor speed control handle to suitable gear, lifting motor vector variable voltage variable frequency frequency converter to convert output frequency, can adapt with the gear residing for lifting motor speed control handle.When lifting motor speed control handle gear changes, lifting motor vector variable voltage variable frequency frequency converter output frequency can make corresponding conversion.
Of the present inventionly determine in arm of force Crane control method;
S5 walks, and detects lifting motor speed control handle current gear kdw;
Wherein kdw gear is by 0,1,2......k
maxform; k
maxfor the total gear number of hoisting speed of crane;
S6 walks, and calculates adjacent speed stage lifting motor vector variable voltage variable frequency frequency converter output gap frequency values Δ f, Δ f=f
max/ k
max;
S7 walks, and calculates the lifting motor vector variable voltage variable frequency frequency converter output frequency fk that current gear kdw is corresponding,
fk＝f
max×kdw/k
max＝kdw×Δf；.........(2-15)；
S8 walks, and lifting motor vector variable voltage variable frequency frequency converter is Δ t by interval time
d, take spacing frequency as Δ f
Increase or reduce frequency, namely with frequency/time rate of change being: Δ f/ Δ t
dspeed, make output frequency transform to fk, and keep fk to run, return after running time T y S5 step circulation or process interrupt.
Δt
d＝Δt
0+Kt×(Tfz/(Kjs×Tn)).........(2-16)；
T in formula
nfor lifting motor nominal rated torque, Kt is change of frequency time coefficient, Δ t
0for change of frequency basal latency.
Ratio=Δ f/ Δ the t of frequency increase and decrease speed=frequency variation and time variation amount
d; ... (2-16) ';
Interval time Δ t
dbe divided into two parts, Δ t
0basal latency, Kt × (Tfz/ (Kjs × Tn)) is one and lifting mechanism motor output torque Tfz and lifting motor torque rating T
nrelevant numerical value, Kt is change of frequency time coefficient, not identical according to crane system, and value is not identical yet.From formula (2-16), Tfz is larger, and namely hoisted weight is heavier, Δ t
dalso larger, Δ f/ Δ t
dless, the time of lifting motor vector variable voltage variable frequency frequency converter conversion output frequency gear is also longer, and speed of going forward one by one is slower, and vice versa.This satisfies the weight that hoists heavier, conversion lifting velocity needs more pulsation-free requirement of actual working condition.
Further, of the present inventionly determine in arm of force Crane control method,
Interruption described in S8 is that the spacing interruption of deceleration or speed limit are interrupted or one of fault interrupting or overload interruption.If when hoisting crane occurs as the situation such as spacing, speed limit, overload, fault, weight arrival target location, hoisting crane can enter corresponding interrupt service routine process and final failure to the safe side.
Further, of the present inventionly determine in arm of force Crane control method,
In S8 step, Δ t
0value is 1 second, and Kt value is 1-2 second, and Ty value is 1-2 second.
Further, of the present inventionly determine in arm of force Crane control method,
In S1 step, vector variable voltage variable frequency Frequency Converter Control lifting motor is 0.1-5Hz by starting frequency fqd.
Further, of the present inventionly determine in arm of force Crane control method,
In S2 step, the sampling frequency that Measurement for Inverter rectification exports DC power is 10-20Hz.Further, of the present inventionly determine in arm of force Crane control method, lifting motor vector variable voltage variable frequency frequency converter rectification output dc voltage U
ddC current I is exported with rectification
dsampling sensor adopt the Hall element of two variablees inputs and two groups of variablees can be measured simultaneously, thus reach fast and simplified measurement P
d=U
d× I
dobject.
Further, in control method of the present invention, lifting motor revolutional slip is for adopting revised revolutional slip:
Revise revolutional slip: by mechanical specialities figure T=f (s) of AC asynchronous motor, graph of a relation is known:
S＝S
n×(P
dl/P
dn)×(f
n/f)..................(3-5)；
Or:
In formula: S, T are at a point on working curve; P
dlfor frequency converter actual measurement DC power, unit kW, P
dnfor frequency converter nominal DC power, unit kW; In the present embodiment: f is frequency converter practical frequency and P
dlcorrespondence, f
nfor frequency converter rated frequency and P
dncorresponding.
The invention has the beneficial effects as follows:
What the present invention was power supply with vector variable voltage variable frequency frequency converter determines arm of force crane system control method, on the basis that existing crane system safety control only limits lifting amount m single factor test, add and this factor of its work speed f ∝ n is limited, thus ensure that the safe operation of crane system all sidedly; Meanwhile, owing to introducing the control to its work speed f, and then another effect produced is exactly under the prerequisite of abundant support system safe operation, makes again system quantitatively can be operated in the highest safety speed f exactly
maxunder, therefore expand its speed adjustable range, improve work efficiency;
Of the present inventionly determine arm of force crane system control method, by hoisting crane after completing starting process, DC electric power P is exported to lifting motor vector variable voltage variable frequency frequency converter
d=U
d× I
dmeasure with output frequency f and lifting motor running frequency, calculate lifting mechanism motor output torque Tfz, indirect measuring goes out the load torque that hoists of hoisting crane, systematic survey is made no longer to need to be added on weight sensor and the speed sensor of frequency converter and outside motor, calculate lifting motor running frequency corresponding under nominal rating Power operation by lifting mechanism motor output torque Tfz again, it can be used as the allowed maximum frequency of operation f as the corresponding Tfz of time lifting
max.Finally control lifting motor running frequency and can allow maximum frequency of operation f
maxwithin run.In practical operation, crane operator is according to field condition, and when needing low speed to hoist, operator can be put into low gear lifting motor speed control handle.When operator is put into most high tap position lifting motor speed control handle, lifting motor runs and also can not exceed and can allow maximum frequency of operation f
maxand keep maximum running frequency to run, under the prerequisite guaranteeing security of system, substantially increase the work efficiency of tackling system.
Of the present inventionly determine arm of force Crane control method, the mode exporting DC power by measuring lifting motor vector variable voltage variable frequency frequency converter rectifying part obtains controling parameters, no longer need AC power measurement, because DC power measurement is succinct accurately convenient and reliable, simplify control system and means, improve comfort feature and the accuracy of measurement.Adopt simultaneously and measure vector variable voltage variable frequency frequency converter output frequency and add that the mode to revolutional slip S carries out load correction obtains lifting motor rotating speed, no longer need lifting motor rotor speed sensor, while simplifying systematic survey means, also improve survey precision and convenience; And avoiding the measurement difficulty that method of measurement of the prior art brings, measurement means is complicated, affects the greatly inaccurate drawback of measurement caused by environment and mounting means; Greatly save measurement difficulty and inaccurate problem that sensor hardware cost and Installation and Debugging operating cost in prior art and installation method and position bring; Meanwhile, control method of the present invention, all parameters of required measurement all complete in frequency converter inside, change existing externally measured be internal measurement, Systematical control is measured and more accurately conveniently saves and be convenient to the further system integration.The lifting motor vector variable voltage variable frequency frequency converter rectifying part of the application exports DC power and adopts the Hall element of two variable inputs to measure, vdc and DC current can be measured simultaneously, directly obtain DC power, make measurement more reliable and more stable, accurately convenient, specific aim is stronger, cost decreases, and facilitates internal system integrated.
Of the present inventionly determine arm of force Crane control method, crane system not only safety but also run object efficiently can be ensured; And then driver can be absorbed in the observation of field working conditions environment and not need to worry because error of estimation causes the generation of transshipping and exceeding the speed limit.DATA REASONING mode is simultaneously by dynamically transferring static state to, inside is transferred to by outside, by indirectly transferring to directly, the transformation of metering system, overcome hardware spending, equipment install difficulty, measure to measure by sensor mounting location mode affects inaccurate, complicated technology realization is difficult, the drawback of high cost etc.
Of the present inventionly determine arm of force Crane control method, no longer need weight sensor and lifting motor rotor speed sensor, save system hardware installation and operation cost, effectively improve crane system observing and controlling quality and complete machine equipment property.
Of the present inventionly determine arm of force Crane control method, owing to have employed comparatively strict quantitative analysis, the checking means of supplementing out economy are provided to the original design etc. of complete machine and structural establishment manufacturer, to safety allowance analysis, early warning judges, the aspects such as safety raising can play and further supplement and perfect effect.
Accompanying drawing explanation
Fig. 1 is the variable-frequency motor parameter that hoists in embodiments of the invention.
Fig. 2 is lifting mechanism characteristic parameter in embodiments of the invention.
Detailed description of the invention
In enforcement, hoist variable-frequency motor parameter as shown in Figure 1; The lifting mechanism parameter of electric machine as shown in Figure 2.
Embodiment 1:
The present embodiment to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method.Comprise the following steps:
S1: lifting motor vector variable voltage variable frequency (same under VT-VVVF) Frequency Converter Control lifting motor is pressed starting frequency fqd and run starting:
In this implementation column, VT-VVVF Frequency Converter Control lifting motor is 0.5Hz by starting frequency.The frequency converter that this example is selected selects startup item automatically;
S2: after lifting motor starts, increasing frequency converter output frequency to the principle of survey frequency f, f is gradually under low frequency as far as possible, ensure non-overloading and hoist steadily, and this example is 15Hz; Measure lifting motor VT-VVVF frequency converter rectification output dc voltage U
dwith DC current I
d, its corresponding DC power P
d=U
d× I
dwhen in 1 second, fluctuating range is less than 5%, its value P of survey record
d=U
d× I
dwith output frequency f, calculate lifting mechanism motor output torque Tfz:
Tfz＝Kdj×Kdx×Kjs×P
d/f＝Kdj×Kdx×Kjs×(U
d×I
d)/f....(2-2)；
In the present embodiment, system operation conditions parameter is as follows:
IGBT switching valve efficiency factor in frequency converter DC-AC switching process
Lifting motor electromagnetic conversion efficiency factor λ=0.85;
Speed reduction gearing coefficient of mechanical efficiency ε=0.8;
Speed reduction gearing transmitting ratio δ=148, this transmitting ratio is pressed rotating speed and is calculated;
Lifting motor rating horsepower P
1N=110kW, corresponding P
1Nthe specified output of VT-VVVF frequency converter rectification straight
Stream power
lifting motor magnetic pole logarithm ρ=4, lifting motor synchronous speed n
0=750r/min, rated speed of rotation nN=722r/min;
Lifting motor rated slip is: Sn=(n
0-n
n)/n
0=(750-722)/750=0.0373;
Kdj＝160×ρ/(1-S)＝160×4/(1-0.0373)＝664.8；
Kjs＝ε×δ＝0.8×148＝118.4；
Detect that the rectification of lifting motor vector variable voltage variable frequency frequency converter exported DC power in 1 second, when fluctuating range is less than 5%, then detection record, now its rectification exports DC power P
d=34.57kW, output frequency f=15Hz, then
Tfz＝Kdj×Kdx×Kjs×P
d/f
＝664.8x0.8075x118.4x34.57/15＝146485.07N·m；
Known by Fig. 2: Tfz=146485.07Nm<147000Nm
=m
max× g × R=10000x9.8x1.5; Wherein m
maxfor maximum permission hoisting capacity, g is acceleration due to gravity, and R is lifting elevator dish radius; Tfz
maxfor the given maximum permission load torque of producer;
S3: calculate lifting motor maximum frequency of operation f
max:
In the present embodiment, lifting motor nominal rating power P
1N=110kW,
S4: judge whether lifting motor overloads:
Criterion: 1. survey load torque Tfz and should not be greater than the given permission load torque of device fabrication producer; Known by S2: Tfz=146485.07Nm<Tfz
max=147000Nm, Tfz
maxfor the given maximum permission load torque of producer; But Tfz is Tfz closely
max, can conclude the now lift heavy closely system maximum lift heavy amount that allows, it is careful that operation is careful; Safety but the closely limit;
2. judge that lifting motor is operated in Tfz and maximum frequency f simultaneously
maxsituation smallest limit power P
1maxwhether surpass its rating horsepower P
1N:
According to: Tfz=Kdj × Kdx × Kjs × P
d/ f...... (2-2);
Therefore can judge, lifting motor actual measurement load torque is not more than the given permission load torque of device fabrication producer, but closely its limit, therefore the careful safe driving of care should be used to; Be operated in simultaneously actual measurement load torque Tfz and maximum frequency be f
maxtime, its limit in rated operating range, non-overloading.Analysis also serves analysis and early warning effect simultaneously;
S5, detects lifting motor speed control handle current gear kdw;
Wherein kdw gear is by 0, and 1,2 ... ..k
maxform; k
maxfor the total gear number of hoisting speed of crane;
In the present embodiment, total gear number is 8 grades.
S6, calculates adjacent speed stage lifting motor vector variable voltage variable frequency frequency converter output gap frequency values Δ f,
Δf＝f
max/k
max
In the present embodiment, output gap frequency values Δ f=f
max/ k
max=50.24/8=6.28Hz;
S7, calculates current gear lifting motor vector variable voltage variable frequency frequency converter output frequency fk,
Fk=f
max× kdw/k
max=kdw × Δ f; Kdw is speed control handle current gear;
Detection speed control handle current gear is the 4th grade, lifting motor output frequency
fk＝kdw×Δf＝4x6.28＝25.12Hz；
S8, lifting motor vector variable voltage variable frequency frequency converter is Δ t by interval time
d, spacing frequency is that Δ f increases or reduces frequency, makes output frequency transform to fk,
Δt
d＝Δt
0+Kt×(Tfz/(Kjs×T
n))
In the present embodiment, change of frequency time coefficient Kt is 1.5 seconds, change of frequency basal latency Δ t
0=1S, frequency conversion interval time
Δt
d＝Δt
0+Kt×(Tfz/(Kjs×T
n))
＝1+1.5x(146485.07/(118.4x1455))＝2.275S；
Gear increase and decrease speed=frequency/time rate of change=(frequency increment)/(delta time)=Δ f/ Δ t
d;
Gear increase and decrease speed=Δ f/ Δ t
d=6.28/2.275=2.76Hz/S; After vector variable voltage variable frequency frequency converter frequency outputs to fk=25.12Hz, keep 25.12Hz to run, return the circulation of S5 step after running time T y or process and interrupt.Interruption described in S8 is that the spacing interruption of deceleration or speed limit are interrupted or one of fault interrupting or overload interruption.Detection speed control handle current gear kdw, if when hoisting crane occurs as the situation such as spacing, speed limit, overload, fault, weight arrival target location, crane system enters corresponding interrupt service routine process and failure to the safe side.
Embodiment 2:
The present embodiment and embodiment 1 are distinguished as, and lifting motor revolutional slip is the revised revolutional slip of employing,
According to: S=S
n× (P
d/ P
dn) × (f
0/ f) ... ... ... (3-5);
Or
The system operation conditions parameter of the present embodiment is with embodiment 1:
When the rectification of actual measurement VT-VVVF frequency converter exports DC power P
dduring=34.57kW,
Unmodified rated slip S
nnamely rated slip calculates:
S
n＝(n
0-nN)/n
0＝(750-722)/750＝0.0373；
Revolutional slip after revising:
Adopt revised revolutional slip S to calculate lifting motor output speed to be: n
n=n
0-S × n
0=750-0.03712 × 750=722.16r/min.During actual measurement, lifting motor rotating speed is 723r/min.To obtain speed error less to calculate lifting motor output speed and actual measurement to adopt revised revolutional slip S comparatively to use the rated slip Sn of unmodified; Draw thus and adopt the former to replace the latter to calculate lifting motor output speed, error is less, more close actual.Separately, due to revised S and S
ndiffer minimum, now lifting mechanism motor torque Tfz closely Tfz is described
max; Can by the comparison indirect analysis system load situation of actual revolutional slip and rated slip, this is also the effect that revolutional slip correction brings;
S2: revolutional slip S=0.03712 after revising:
Kdj＝160×ρ/(1-S)＝160x4/(1-0.03712)＝664.67；
Kjs＝ε×δ＝0.8x148＝118.4
Then Tfz=Kdj × Kdx × Kjs × P
d/ f
＝664.67x0.8075x118.4x34.57/15＝146456.426N·m；
Know from above: Tfz=146456.426Nm<Tfz
max=147000Nm; Tfz
maxfor the given maximum permission load torque of producer; This illustrates after revolutional slip S diminishes, and the load torque of motor reality have also been smaller, therefore load torque is than using rated slip S
nthe result calculated is little, compares, decrease with embodiment 1, and this causes because revolutional slip reduces; More meet the result of actual measurement;
In the present embodiment, lifting motor nominal rating power P
1N=110kW,
S4: judge whether lifting motor overloads:
Criterion: 1. survey load torque Tfz and should not be greater than the given permission load torque of device fabrication producer; Known by S2: Tfz=146456.426Nm<Tfz
max=147000Nm; Tfz
maxfor the given maximum permission load torque of producer; But Tfz is Tfz closely
max, can conclude the now lift heavy closely system maximum lift heavy amount that allows, it is careful that operation is careful; Safety but the closely limit.
2. judge that lifting motor is operated in Tfz and maximum frequency f simultaneously
maxsituation smallest limit power P
1maxwhether surpass its rating horsepower P
1N:
According to: Tfz=Kdj × Kdx × Kjs × P
d/ f.................. (2-2);
Therefore can judge, lifting motor actual measurement load torque is not more than the given permission load torque of device fabrication producer; Be operated in simultaneously actual measurement load torque Tfz and maximum frequency be f
maxtime, its limit in rated operating range, non-overloading.Compare known with embodiment 1, due to the reduction of actual revolutional slip S, the system load torque Tfz that hoists have dropped, therefore security of system nargin increases before not revising.
S5, detects lifting motor speed control handle current gear kdw;
Wherein kdw gear is by 0,1,2.....k
maxform; k
maxfor the total gear number of hoisting speed of crane.
In the present embodiment, total gear number is 8 grades, and detection speed control handle current gear is the 4th grade.
S6, calculates adjacent speed stage lifting motor vector variable voltage variable frequency frequency converter output gap frequency values Δ f,
Δf＝f
max/k
max；
In the present embodiment, output gap frequency values Δ f=f
max/ k
max=50.24/8=6.28Hz.
S7, calculates current gear lifting motor vector variable voltage variable frequency frequency converter output frequency fk,
Fk=f
max× kdw/k
max=kdw × Δ f; Kdw is speed control handle current gear;
Detection speed control handle current gear is the 4th grade, lifting motor output frequency
fk＝kdw×Δf＝4X6.28＝25.12Hz。
S8, lifting motor vector variable voltage variable frequency frequency converter is Δ t by interval time
d, spacing frequency is that Δ f increases or reduces frequency, makes output frequency transform to fk;
Δt
d＝Δt
0+Kt×(Tfz/(Kjs×Tn))；
In the present embodiment, change of frequency time coefficient Kt is 1.5 seconds, change of frequency basal latency Δ t
0=1 second, frequency conversion interval time
Δt
d＝Δt
0+Kt×(Tfz/(Kjs×Tn))
＝1+1.5x(146456.426/(118.4X1455))＝2.275S；
Frequency increase and decrease speed=frequency variation and the ratio of time=Δ f/ Δ t
d;
In the present embodiment, frequency increase and decrease speed=Δ f/ Δ t
d=6.28/2.275=2.76Hz/S;
After vector variable voltage variable frequency frequency converter frequency outputs to fk=25.12Hz, keep 25.12Hz to run, return the circulation of S5 step after time of run 1S or process and interrupt.Interruption described in S8 is that the spacing interruption of deceleration or speed limit are interrupted or one of fault interrupting or overload interruption.Detection speed control handle current gear kdw, if when hoisting crane occurs as the situation such as spacing, speed limit, overload, fault, weight arrival target location, crane system enters corresponding interrupt service routine process and failure to the safe side.Number of cases is according to finding out thus, it differs very little with embodiment 1, and this is mainly due to now system load closely rated load, rated slip S
nvery close with actual revolutional slip S, therefore both result of calculations are also closely.
Embodiment 3:
The present embodiment to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method.Comprise the following steps:
S1: lifting motor vector variable voltage variable frequency Frequency Converter Control lifting motor is pressed starting frequency fqd and run starting;
In this implementation column, VT-VVVF Frequency Converter Control lifting motor is 5Hz by starting frequency.Initiation culture is determined by selected frequency converter.
S2: after lifting motor starts, measures lifting motor VT-VVVF frequency converter rectification output dc voltage U
dwith DC current I
d, P
d=U
d× I
d; When in 2 seconds, its fluctuating range is less than 10%, survey record VT-VVVF becomes
Frequently device P
dand output frequency f, calculate lifting mechanism motor output torque Tfz:
Tfz＝Kdj×Kdx×Kjs×P
d/f＝Kdj×Kdx×Kjs×(U
d×I
d)/f.....(2-2)；
In the present embodiment: system operation conditions parameter is as follows:
IGBT switching valve efficiency factor in frequency converter DC-AC switching process
Lifting motor electromagnetic conversion efficiency factor λ=0.85,
Speed reduction gearing coefficient of mechanical efficiency ε=0.8,
Speed reduction gearing transmitting ratio δ=148, this transmitting ratio is pressed rotating speed and is calculated;
Lifting motor magnetic pole logarithm ρ=4, lifting motor rated slip is 0.0373;
Kdj＝160×ρ/(1-S)＝160x4/(1-0.0373)＝664.8
Kjs＝ε×δ＝0.8x148＝118.4；
Lifting motor rating horsepower P
1N=110kW, corresponding P
1Nthe specified output of VT-VVVF frequency converter rectification straight
Stream power
lifting motor magnetic pole logarithm ρ=4, lifting motor synchronous speed n
0=750r/min, rated speed of rotation nN=722r/min;
Lifting motor rated slip is: S
n=(n
0-n
n)/n
0=(750-722)/750=0.0373;
Detect that the rectification of lifting motor vector variable voltage variable frequency frequency converter exported DC power in 2 seconds, when fluctuating range is less than 10%, the rectification of detection record vector variable voltage variable frequency frequency converter exports DC power is again 20.83kW, vector variable voltage variable frequency frequency converter output frequency f=15Hz
Then Tfz=Kdj × Kdx × Kjs × P
d/ f
＝664.8x0.8075x118.4x20.83/15＝88263.93N·m；
Tfz=88263.93Nm<Tfz
max=147000Nm, Tfz
maxfor the given maximum permission load torque of producer;
S3: calculate lifting motor maximum frequency of operation f
max,
In the present embodiment, lifting motor side nominal rating power P
1N=110kW,
S4: judge whether lifting motor overloads:
Criterion: 1. survey load torque Tfz and should not be greater than the given permission load torque of device fabrication producer; Known by S2: Tfz=88263.93Nm<Tfz
max=147000Nm Tfz
maxfor the given maximum permission load torque of producer; As seen from the above, Tfz is much smaller than Tfz
max, now ballast load system of distance allows maximum load to also have larger gap; Safety also has larger nargin.
2. judge that lifting motor is operated in Tfz and maximum frequency f simultaneously
maxsituation smallest limit power P
1maxwhether surpass its rating horsepower P
1N:
According to: Tfz=Kdj × Kdx × Kjs × P
d/ f...... (2-2);
Therefore can judge, lifting motor actual measurement load torque is operated in allowed band, safety; Be operated in simultaneously actual measurement load torque Tfz and maximum frequency be f
maxtime, its limit in rated operating range, overall condition for being operated within the scope of security of system, safe driving;
S5: detect lifting motor speed control handle current gear kdw:
Wherein kdw gear is by 0,1,2.....k
maxform; k
maxfor the total gear number of hoisting speed of crane;
In the present embodiment, total gear number is 16 grades.
S6: calculate adjacent speed stage lifting motor vector variable voltage variable frequency frequency converter output gap frequency values Δ f
Δf＝f
max/k
max；
In the present embodiment, output gap frequency values Δ f=f
max/ k
max=83.38/16=5.21Hz.
S7: calculate current gear lifting motor vector variable voltage variable frequency frequency converter output frequency fk,
Fk=f
max× kdw/k
max=kdw × Δ f; Kdw is speed control handle current gear;
Detection speed control handle current gear is the 13rd grade, lifting motor output frequency
fk＝kdw×Δf＝13x5.21＝67.75Hz；
S8: lifting motor vector variable voltage variable frequency frequency converter is Δ t by interval time
d, spacing frequency is that Δ f increases or reduces frequency, makes output frequency transform to fk;
Δt
d＝Δt
0+Kt×(Tfz/(Kjs×T
n))；
In the present embodiment, change of frequency time coefficient Kt is 2 seconds, change of frequency basal latency Δ t
0=1 second, frequency conversion interval time
Δt
d＝Δt
0+Kt×(Tfz/(Kjs×Tn))
＝1+2x(88263.93/(118.4x1455))＝2.025S；
Position increase and decrease speed=frequency/time rate of change=(frequency increment)/(delta time)=Δ f/ Δ t
d;
Gear increase and decrease speed=Δ f/ Δ t
d=5.21/2.025=2.57Hz/S;
After vector variable voltage variable frequency frequency converter frequency outputs to fk=67.75Hz, keep 67.75Hz to run, time of run returns the circulation of S5 step after 2 seconds or process is interrupted.Interruption described in S8 is that the spacing interruption of deceleration or speed limit are interrupted or one of fault interrupting or overload interruption.Detection speed control handle current gear kdw, if when hoisting crane occurs as the situation such as spacing, speed limit, overload, fault, weight arrival target location, crane system enters corresponding interrupt service routine process and failure to the safe side.
Embodiment 4:
The present embodiment and embodiment 3 are distinguished as, and lifting motor revolutional slip is the revised revolutional slip of employing,
The system operation conditions parameter of the present embodiment is with embodiment 3:
S1: when the rectification of actual measurement VT-VVVF frequency converter exports DC power P
dduring=20.83kW,
Unmodified rated slip S
ncalculate:
S
n＝(n
0-n
N)/n
0＝(750-722)/750＝0.0373；
Revise revolutional slip:
According to: S=S
n× (P
d/ P
dn) × (f
0/ f) ... ... ... (3-5);
Or
Adopt revised revolutional slip S to calculate lifting motor output speed to be: n
n=n
0-S × n
0=750-0.022367 × 750=733.225r/min.During actual measurement, lifting motor rotating speed is 735r/min.Revised revolutional slip S is adopted comparatively to use the rated slip S of unmodified
ncalculating lifting motor output speed and actual measurement, to obtain speed error less; Draw thus and adopt the former to replace the latter to calculate lifting motor output speed, error is less, more close actual.
S2:Kdj＝160×ρ/(1-S)＝160x4/(1-0.022367)＝654.642；
Kjs＝ε×δ＝0.8x148＝118.4；
Then Tfz=Kdj × Kdx × Kjs × P
d/ f
＝654.642x0.8075x118.4x20.83/15＝86915.326N·m
Known by Fig. 2: Tfz=86915.326Nm<Tfz
max=147000Nm; Tfz
maxfor the given maximum permission load torque of producer.
This illustrates after revolutional slip S diminishes, and the load torque of motor reality have also been smaller, therefore load torque is than using rated slip S
nthe result calculated is little, more meets the result of actual measurement;
S3: calculate lifting motor maximum frequency of operation f
max,
In the present embodiment, lifting motor side nominal rating power P
1N=110kW
S4: judge whether lifting motor overloads:
Criterion: 1. survey load torque Tfz and should not be greater than the given permission load torque of device fabrication producer; Known by S2: Tfz=86915.326Nm<Tfz
max=147000Nm; Tfz
maxfor the given maximum permission load torque of producer; Be operated in and allow in load torque limit range, as seen from the above, Tfz is much smaller than Tfz
max, now ballast load system of distance allows maximum load to also have larger gap; Safety also has larger nargin;
2. judge that lifting motor is operated in Tfz and maximum frequency f simultaneously
maxsituation smallest limit power P
1maxwhether surpass its rating horsepower P
1N;
According to: Tfz=Kdj × Kdx × Kjs × P
d/ f...... (2-2);
Therefore can judge, lifting motor actual measurement load torque is operated in and allows in load torque limit range, trouble free service; Be operated in simultaneously actual measurement load torque Tfz and maximum frequency be f
maxtime, its limit in rated operating range,
Overall condition is considered as being operated within the scope of system limits value, trouble free service; Compare known with embodiment 3, due to the reduction of actual revolutional slip S, the system load torque Tfz that hoists have dropped, therefore security of system nargin increases before not revising;
S5, detects lifting motor speed control handle current gear kdw;
Wherein kdw gear is by 0,1,2.....k
maxform; k
maxfor the total gear number of hoisting speed of crane;
In the present embodiment, total gear number is 16 grades, and detection speed control handle current gear is the 13rd grade.
S6, calculates adjacent speed stage lifting motor vector variable voltage variable frequency frequency converter output gap frequency values Δ f,
Δf＝f
max/k
max；
In the present embodiment, output gap frequency values Δ f=f
max/ k
max=83.38/16=5.21Hz.
S7, calculates current gear lifting motor vector variable voltage variable frequency frequency converter output frequency fk,
Fk=f
max× kdw/k
max=kdw × Δ f; Kdw is speed control handle current gear;
Detection speed control handle current gear is the 13rd grade, lifting motor output frequency
fk＝kdw×Δf＝13x5.21＝67.75Hz。
S8, lifting motor vector variable voltage variable frequency frequency converter is Δ t by interval time
d, spacing frequency is that Δ f increases or reduces frequency, makes output frequency transform to fk;
Δt
d＝Δt
0+Kt×(Tfz/(Kjs×Tn))；
In the present embodiment, change of frequency time coefficient Kt is 2 seconds, change of frequency basal latency Δ t
d=1 second, frequency conversion interval time Δ t
d=Δ t
0+ Kt × (Tfz/ (Kjs × Tn))
＝1+2x(86915.326/(118.4x1455))＝2.009S；
Frequency increase and decrease speed=frequency variation and the ratio of time=Δ f/ Δ t
d;
In the present embodiment, frequency increase and decrease speed=Δ f/ Δ t
d=5.21/2.009=2.59Hz/S;
After vector variable voltage variable frequency frequency converter frequency outputs to fk=67.75Hz, keep 67.75Hz to run, time of run returns the circulation of S5 step after 2 seconds or process is interrupted.Interruption described in S8 is that the spacing interruption of deceleration or speed limit are interrupted or one of fault interrupting or overload interruption.Detection speed control handle current gear kdw, if when hoisting crane occurs as the situation such as spacing, speed limit, overload, fault, weight arrival target location, crane system enters corresponding interrupt service routine process and failure to the safe side.
As can be seen from example 4 compared with example 3, in load normal variation situation, the change of revolutional slip S has a certain impact to motor speed n and system actual measurement load torque Tfz; All very little to other parameter influence.
Claims (8)
1. what be power supply with vector variable voltage variable frequency frequency converter determines an arm of force Crane control method, it is characterized in that following steps:
S1: lifting motor vector variable voltage variable frequency Frequency Converter Control lifting motor is pressed starting frequency fqd and run starting;
S2: after lifting motor starts, measures lifting motor vector variable voltage variable frequency frequency converter rectification output dc voltage U
ddC current I is exported with rectification
d, when frequency converter rectification exports DC power fluctuating range is less than 5-10% within 1-2 second, survey record lifting motor vector variable voltage variable frequency frequency converter rectification output dc voltage U
d, rectification export DC current I
dwith lifting motor vector variable voltage variable frequency frequency converter output frequency f, calculate lifting mechanism motor output torque Tfz:
Tfz＝Kdj×Kdx×Kjs×P
d/f＝Kdj×Kdx×Kjs×(U
d×I
d)/f
In formula, Kdj=160 × ρ/(1-S);
kjs=ε × δ;
for IGBT switching valve efficiency factor in frequency converter DC-AC switching process; λ is lifting motor electromagnetic conversion efficiency factor; ε is the speed reduction gearing coefficient of mechanical efficiency; δ is speed reduction gearing transmitting ratio; ρ is lifting motor magnetic pole logarithm; S is lifting motor revolutional slip; U
dfor vector variable voltage variable frequency frequency converter rectification output dc voltage; I
dfor the rectification of vector variable voltage variable frequency frequency converter exports DC current, P
dfor the rectification of vector variable voltage variable frequency frequency converter exports DC power;
S3: calculate lifting motor maximum frequency of operation f
max,
In formula, P
1Nfor lifting motor nominal rating power;
S4: judge whether lifting motor overloads,
If Tfz>Tfz
max, or P
1max>P
1N; Then vector variable voltage variable frequency frequency converter transmission of electricity pressure sets to 0, and hoisting crane is reported to the police and stopped, forward locking, oppositely opening, failure to the safe side;
In formula, Tfz
max=m
max× g × R is the maximum permission load torque of crane system, m
maxfor the maximum lifting quality of system, g is acceleration due to gravity, and R is lifting mechanism winch radius;
P
1maxfor at load torque Tfz and lifting motor maximum frequency of operation f
maxunder lifting motor power demand;
S5, detects lifting motor speed control handle current gear kdw;
Wherein kdw gear is by 0, and 1,2 ... ..k
maxform; k
maxfor the total gear number of hoisting speed of crane;
S6, calculates adjacent speed stage lifting motor vector variable voltage variable frequency frequency converter output gap frequency values Δ f,
Δf＝f
lmax/k
max；
S7, calculates current gear lifting motor vector variable voltage variable frequency frequency converter output frequency fk,
fk＝f
1max×kdw/k
max＝kdw×Δf；
S8, lifting motor vector variable voltage variable frequency frequency converter is Δ t by interval time
d, spacing frequency is that Δ f increases or reduces frequency, and make output frequency transform to fk, maintenance fk runs, and returns the circulation of S5 step or process interruption after running time T y;
Δt
d＝Δt
0+Kt×(Tfz/(Kjs×T
n))；
In formula, Kt is change of frequency time coefficient, Δ t
0for change of frequency basal latency, T
nfor lifting motor torque rating.
2. according to claim 1 to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method, it is characterized in that, interrupts for slowing down spacing interruption or speed limit is interrupted or fault interrupting or overload one of are interrupted described in S8.
3. according to claim 1 and 2 to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method, it is characterized in that, in S8 step, and Δ t
0value is 1 second, and Kt value is 1-2 second, and Ty value is 1-2 second.
4. according to claim 3 to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method, and it is characterized in that, in S1 step, vector variable voltage variable frequency Frequency Converter Control lifting motor is 0.1-5Hz by starting frequency fqd.
5. according to claim 4 to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method, and it is characterized in that, in S2 step, the sampling frequency that Measurement for Inverter rectification exports DC power is 10-20Hz.
6. according to claim 5 to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method, it is characterized in that, lifting motor vector variable voltage variable frequency frequency converter rectification output dc voltage U
ddC current I is exported with rectification
dsampling sensor adopt Hall element.
7. according to claim 6 to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method, and it is characterized in that, described Hall element directly exports DC power P
d.
8. according to claim 5 to be power supply with vector variable voltage variable frequency frequency converter determine arm of force Crane control method, it is characterized in that,
Lifting motor revolutional slip is for adopting revised revolutional slip:
In formula, S
nfor lifting motor rated slip, P
dfor the rectification of lifting motor vector variable voltage variable frequency frequency converter exports DC power, f is and P
dcorresponding survey frequency, P
dnfor the rectification of lifting motor vector variable voltage variable frequency frequency converter exports specified DC power, f
0for work frequency, P
1Nfor lifting motor nominal rating power.
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| CN113620176A (en) * | 2020-05-09 | 2021-11-09 | 安川电机（中国）有限公司 | Control method and device of hoisting equipment |
| CN116119534A (en) * | 2023-02-07 | 2023-05-16 | 江苏苏港智能装备产业创新中心有限公司 | Method for detecting lifting load of crane based on lifting frequency converter technology |
| CN116119534B (en) * | 2023-02-07 | 2023-09-12 | 江苏苏港智能装备产业创新中心有限公司 | Method for detecting lifting load of crane based on lifting frequency converter technology |
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