CN106185631B - A kind of rolling control method, apparatus and engineering machinery - Google Patents
A kind of rolling control method, apparatus and engineering machinery Download PDFInfo
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- CN106185631B CN106185631B CN201610798511.1A CN201610798511A CN106185631B CN 106185631 B CN106185631 B CN 106185631B CN 201610798511 A CN201610798511 A CN 201610798511A CN 106185631 B CN106185631 B CN 106185631B
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005096 rolling process Methods 0.000 title claims abstract description 12
- 238000005086 pumping Methods 0.000 claims abstract description 20
- 238000004804 winding Methods 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 11
- 210000001367 artery Anatomy 0.000 claims 1
- 210000003462 vein Anatomy 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 7
- 230000003068 static effect Effects 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 3
- 238000012512 characterization method Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a kind of rolling control method, apparatus and engineering machinery, are related to engineering machinery field, and device therein includes: controller, tension sensor, elevator encoder and elevator pumping system;Tension sensor is used to detect the pulling force on lift rope, the elevator encoder being installed on the rotatable parts of winding plant is rotated synchronously with rotatable parts, controller is according to the pulling force and hoisting depth acted on cantilever crane, elevator working condition during lifting object is determined, according to the discharge capacity of elevator working state control elevator pumping system pressure oil output.Rolling control method, apparatus of the invention and engineering machinery, hoisting speed control is realized according to elevator working condition, it is able to solve the weight and cantilever crane stable problem of flexible rope and the long engineering machinery of iron chains suspender in lifting heavy, the construction precision and stationarity that can control heavy lift, developing to engineering machinery to accurate construction, intelligence and unmanned direction has biggish meaning.
Description
Technical field
The present invention relates to technical field of engineering machinery more particularly to a kind of rolling control method, apparatus and engineering machinery.
Background technique
Hoisting machinery is important foundation construction machinery, and irreplaceable work is played in national basis Facilities Construction
With.With technological progress, hoisting machinery just develops towards accurate construction, safety and comfort, automation and unmanned direction.It is current to rise
In hoisting machinery lifting heavy practical operation, artificial driving handle, which is realized, to be promoted, and then realizes that weight is pre-tightened by static to wirerope
It arrives again liftoff to certain altitude.The control amounts size such as electric current during hoist machinery hoists weight relies on personal experience and sense of responsibility
Change handle position realize, to operator propose high requirement, presently, there are initial phase promoted reinforcing it is too fast or random, pre-
Tight front and back generates the case where certain momentum causes cantilever crane and weight to shake;Also, in flexible rope and long iron chains suspender,
Once the random curent change that will cause of operation is too fast, ultimately causes cantilever crane and weight shakes, be not easy steadily to construct, and then influence to apply
The positioning accuracy and traffic safety and riding comfort of work.
Summary of the invention
In view of this, the invention solves a technical problem be to provide a kind of rolling control method, apparatus and engineering
It is mechanical.
According to one embodiment of present invention, a kind of winch control device is provided, comprising: controller, tension sensor, volume
Raise encoder and elevator pumping system;Tension sensor is used to detect the pulling force on lift rope, and sends and detect to the controller
Signal;The elevator encoder being installed on the rotatable parts of winding plant is rotated synchronously with rotatable parts, and to the control
Device processed sends the pulse to match with turnning circle;The controller determines the drawing acted on cantilever crane according to the detection signal
Power determines hanging object hoisting depth according to the pulse, and true based on the pulling force acted on cantilever crane and hoisting depth
The elevator working condition being scheduled on during lifting object, according to the elevator working state control elevator pumping system pressure oil output
Discharge capacity.
Optionally, the elevator pumping system includes: electronically controlled proportional valve, elevator pump;The controller control is sent to described
The control electric current of electronically controlled proportional valve, electronically controlled proportional valve elevator pump output pressure oil according to the control current control
Discharge capacity.
Optionally, comprising: slow to mention switch and elevator brake valve;When the controller judge it is described it is slow mention switch and press, then
Control elevator brake valve is opened and controls electric current described in scheme control according to preset automatic slow mention,
Optionally, the pulling force acted on cantilever crane described in judging when the controller is less than suspender and tenses pulling force threshold value Lim_
When LuffPres, it is determined that suspender rope is in non-tension, and the initial value of the control electric current is arranged the controller
For the dead zone electric current I_Deadband of elevator pump, and periodically increase the increment of preset electric current;When judging the control electric current
When equal to preset low level electric current, then the controller stops increasing the control electric current and keep constant.
Optionally, the pulling force acted on cantilever crane described in judging when the controller is greater than or equal to suspender and tenses pulling force threshold
When value Lim_LuffPres, it is determined that suspender rope is in tension, and the controller controls the control electric current are as follows: I=
I_L+K*deltaH;Wherein, I is control electric current, and I_L is low level electric current, and K is proportionality coefficient, and deltaH is current hanging object
The difference of hanging object height when height is in tension with suspender rope.
Optionally, when the controller judges that the control electric current is greater than or equal to preset high side current, it is determined that
Weight is in liftoff and propradation, then stops increasing the control electric current and keep constant, so that the hanging object rate of climb
It is constant.
Optionally, when the controller judge it is described it is slow mention switch reset or hanging object hoisting depth be more than it is preset from
It is dynamic slow that the control electric current is then reduced to 0 by default rule when mentioning height threshold, and control the closing of elevator brake valve,
It is switched to manual control mode.
According to another aspect of the present invention, a kind of engineering machinery is provided, comprising: winch control device as described above.
According to another aspect of the invention, a kind of rolling control method is provided, comprising: receive the inspection that tension sensor is sent
Survey signal, wherein the tension sensor is used to detect the pulling force on lift rope;Receive filling with elevator for elevator encoder transmission
Set the pulse that the turnning circle of rotatable parts matches;The pulling force acted on cantilever crane is determined according to the detection signal, according to
The pulse determines object hoisting depth, is determined based on the pulling force acted on cantilever crane and hoisting depth in lifting object mistake
Elevator working condition in journey, according to the discharge capacity of the elevator working state control elevator pumping system pressure oil output.
Optionally, the elevator pumping system includes: electronically controlled proportional valve, elevator pump;Control is sent to the control of electronically controlled proportional valve
Electric current processed, wherein the discharge capacity for the pressure oil output that electronically controlled proportional valve elevator according to the control current control pumps.
Optionally, the discharge capacity according to the elevator working state control elevator pumping system pressure oil output includes: to work as
Judgement is slow to be mentioned switch and presses, then controls elevator brake valve and open and control electricity described in scheme control according to preset automatic slow mention
Stream,
Optionally, the control elevator brake valve is opened and controls electric current described in scheme control according to preset automatic slow mention
When including: that the pulling force acted on described in the judgement on cantilever crane is less than suspender and tenses pulling force threshold value Lim_LuffPres, it is determined that hang
Tool rope is in non-tension, sets the initial value of the control electric current to the dead zone electric current I_Deadband of elevator pump,
And periodically increase preset electric current increment;When judging that the control electric current is equal to preset low level electric current, then stop increasing
The big control electric current is simultaneously kept constant.
Optionally, the control elevator brake valve is opened and controls electric current described in scheme control according to preset automatic slow mention
When including: that the pulling force acted on described in the judgement on cantilever crane is greater than or equal to suspender and tenses pulling force threshold value Lim_LuffPres, then
It determines that suspender rope is in tension, controls the control electric current are as follows: I=I_L+K*deltaH;Wherein, I is control electric current,
I_L is low level electric current, and K is proportionality coefficient, and deltaH is that weight is high when current weight height and suspender rope are in tension
The difference of degree.
Optionally, the control elevator brake valve is opened and controls electric current described in scheme control according to preset automatic slow mention
It include: when judging that the control electric current is greater than or equal to preset high side current, it is determined that weight is in liftoff and rises shape
State then stops increasing the control electric current and keep constant, and the weight rate of climb is constant.
Optionally, the discharge capacity according to the elevator working state control elevator pumping system pressure oil output includes: to work as
Judge it is described it is slow mention switch reset or object hoisting depth be more than it is preset automatic slow when mentioning height threshold, then press default rule
The control electric current is reduced to 0, and controls elevator brake valve and closes and be switched to manual control mode.
Rolling control method, apparatus of the invention and engineering machinery realize hoisting speed according to elevator working condition
Control is able to solve the weight and cantilever crane stabilization of flexible rope and the long engineering machinery of iron chains suspender in lifting heavy and asks
Topic, can control the construction precision and stationarity of heavy lift.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only
Some embodiments of the present invention, for those of ordinary skill in the art, without any creative labor, also
Other drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is the composition schematic diagram of one embodiment of winch control device according to the present invention;
Fig. 2 is the scheme of installation of sensor, encoder in one embodiment of winch control device according to the present invention;
Fig. 3 is the promotion status diagram of hoisting object;
Fig. 4 and Fig. 5 is the variation schematic diagram of each control variable, wherein Fig. 4 is that existing winch control device is mentioned in control
The variation schematic diagram of each control variable when liter object, Fig. 5 are winch control device of the invention when controlling lifting object
The variation schematic diagram of each control variable;
Fig. 6 is the flow diagram of one embodiment of rolling control method according to the present invention.
Specific embodiment
With reference to the accompanying drawings to invention is more fully described, wherein illustrating exemplary embodiment of the present invention.Under
Face will combine the attached drawing in the embodiment of the present invention, and technical scheme in the embodiment of the invention is clearly and completely described, show
So, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the reality in the present invention
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts all belongs to
In the scope of protection of the invention.Various descriptions are carried out to technical solution of the present invention below with reference to each figure and embodiment.
As shown in Figure 1, the present invention provides a kind of winch control device, comprising: controller 11, tension sensor 12, elevator
Encoder 13, it is slow mention switch 14, elevator rises solenoid valve 15, elevator pumping system 16 and elevator brake valve 17.Tension sensor 12 is used
Pulling force on detection lift rope, and detection signal is sent to controller 11.The volume being installed on the rotatable parts of winding plant
It raises encoder 13 to rotate synchronously with rotatable parts, and sends the pulse to match with turnning circle to controller 11.For example, as schemed
Shown in 2, tension sensor 12 is installed close to cantilever crane tip side in luffing range of cantilever support wirerope, elevator encoder is installed in master file side
13。
Controller 11 determines the pulling force acted on cantilever crane according to detection signal, can be calculated according to the pulling force on lift rope
The pulling force on cantilever crane is acted on out.Controller 11 determines the hoisting depth of hanging object according to pulse, and is based on acting on cantilever crane
On pulling force and hoisting depth determine elevator working condition during lifting object, controller 11 is according to elevator working condition
Control the discharge capacity of elevator pumping system pressure oil output.As shown in figure 3, elevator working condition includes: suspender propradation, tension-like
State etc. that state, weight are liftoff.
Elevator pumping system 16 includes: electronically controlled proportional valve, elevator pump.Controller 11 controls the control for being sent to electronically controlled proportional valve
Electric current, electronically controlled proportional valve is according to the discharge capacity for controlling current control elevator pump output pressure oil.Electronically controlled proportional valve can be chosen a variety of
Proportioning valve adjusts the area of section of spool according to the size of control electric current, to reach the pressure oil for adjusting elevator pump output
Uninterrupted, and then realize hoisting speed control.
Elevator, which rises solenoid valve 15, can use switch valve, according to the instruction that controller 11 issues, realize heavy lift function.
Hoist brake 17 according to controller 11 issue instruction realize elevator braking whether locking.It is mentioned out when the judgement of controller 11 is slow
It closes and 14 presses, then control elevator brake valve 17 and open and automatic slow mention mode control current according to preset.It is slow to mention switch 14 in fact
Now when operator assign it is slow propose instruction when, controller 11 control elevator brake valve 17 open and execute it is slow mentions algorithm, when reset
The automatic control electric current of controller 11 is slowly reduced to 0 and elevator brake valve 17 closes and is switched to manual control mode.
It realizes to delay automatically for the long hoisting machinery of flexible rope and iron chains suspender and proposes technology, can be realized automatic flat
It is slow to tense, automatically speed up and promoted steadily to functions such as certain altitudes, operate with indirect labor and improve construction precision with steadily
Property.The automatic slow control mentioned first in a manner of periodically increasing control electric current, to overcome static friction to start suspender uphill process, is hung
Tool slowly rises until tensing weight, and then starting is in such a way that lifting altitude changes control electric current, to control heavy lift.
When controller 11 judges that the pulling force acted on cantilever crane is less than suspender tension pulling force threshold value Lim_LuffPres, then
Determine that suspender rope is in non-tension, controller 11 sets the initial value for controlling electric current to the dead zone electric current I_ of elevator pump
Deadband, and periodically increase preset electric current increment, when judgement control electric current is equal to preset low level electric current, then control
Device 11 processed stops increasing control electric current and keep constant.
When controller 11 judges that the pulling force acted on cantilever crane is greater than or equal to suspender and tenses pulling force threshold value Lim_
When LuffPres, it is determined that suspender rope is in tension, the control control electric current of controller 11 are as follows: I=I_L+K*deltaH,
I is control electric current, and I_L is low level electric current, and K is proportionality coefficient, and deltaH is that current hanging object height is in suspender rope
The difference of hanging object height when tension.
When controller 11 judge control electric current be greater than or equal to preset high side current when, it is determined that weight be in it is liftoff and
Propradation then stops increasing control electric current and keep constant, so that the hanging object rate of climb is constant.When controller 11 judges
It is slow mention switch 14 reset or the hoisting depth of hanging object be more than it is preset automatic slow when mentioning height threshold, then by default rule
Control electric current is reduced to 0, and controls elevator brake valve and closes, is switched to manual control mode.
As shown in Figure 4,5,1 line style indicates control current curve, and 2 line styles indicate hoisting depth curve, and 3 line styles indicate cantilever crane
Pull-up curve.As shown in figure 4, cantilever crane pulling force has large magnitude when not applying automatic slow mention.As shown in figure 5, being delayed automatically
When mentioning, in the first stage of AC sections of corresponding above-mentioned principles, wherein electric current I_Deadband in dead zone is pumped with elevator for controller for AB sections
Based on, periodically increase deltaI, i.e. I=I+deltaI, until I increases to low level electric current I_L, BC section suspender with low level electric current
I_L is slowly promoted.
As shown in figure 5, CD sections of corresponding second stage, when cantilever crane tension sensor detected value is more than or equal to Lim_
LuffPres, characterization suspender rope have been in tension, and at this moment controller is slowly increased control electric current I=by lifting altitude
I_L+K*deltaH, wherein K be proportionality coefficient, deltaH be current weight height with when tension weight height it is relatively high
Degree.DE sections of corresponding phase IIIs, when control electric current be more than or equal to high side current I_H, at this time weight be in liftoff state and
Steadily and surely rising, control electric current I is kept constant.
It is slow to mention switch 14 and press in the control stage in the first stage, start it is automatic it is slow mentions, the control elevator system of controller 11
Dynamic device 17 is opened and elevator rises solenoid valve 15 and opens, and controller 11 makes to control based on elevator pump dead zone electric current I_Deadband
Electric current I processed is according to the fixed value of experiment setting, i.e. I=I+deltaI, until I increases by deltaI, deltaI is periodically increased
To low level electric current I_L, I_L is to promote the corresponding control electric current of state according to the suspender low speed of experiment setting, and suspender is by static shape
State is to slow propradation.
In the control stage of second stage, when 12 detected value of tension sensor is more than or equal to Lim_LuffPres, Lim_
LuffPres is according to measuring, and when characterization suspender rope has been in abundant tension, controller 11 is changed to by raising
Height is slowly increased control electric current I=I_L+K*deltaH, and wherein K is proportionality coefficient, and deltaH is current weight height and draws
The relative altitude of weight height when tight state.
In the control stage of phase III, when control electric current is increased to greater than equal to high side current I_H, according to I_H
The high speed of experiment setting promotes the corresponding control electric current of state, and weight has been in liftoff state and has risen at this time, control electricity
Stream I is kept constant, and the weight rate of climb is constant.
In the control stage of fourth stage, when reset it is slow mention switch 14 or more than it is automatic it is slow propose maximum height limit when, control
Electric current is slowly reduced to 0, and elevator brake valve 17 is closed, elevator rises solenoid valve 15 and closes, and is switched to manual control mode.
Winch control device provided by the above embodiment, realization automatically speed up and are promoted steadily to functions such as certain altitudes,
First in a manner of periodically increasing control electric current, to overcome static friction to start suspender uphill process, suspender slowly rises until drawing
Tight weight;Then starting is in such a way that lifting altitude changes control electric current, to control the construction precision and stationarity of heavy lift,
Developing to hoisting machinery to accurate construction, intelligence and unmanned direction has biggish meaning.
In one embodiment, the present invention provides a kind of engineering machinery, comprising: winch control device as above.
Fig. 6 is the flow diagram of one embodiment of rolling control method according to the present invention, as shown in Figure 6:
Step 601, the detection signal that tension sensor is sent is received, tension sensor is used to detect the drawing on lift rope
Power.
Step 602, the pulse to match with the turnning circle of winding plant rotatable parts that elevator encoder is sent is received.
Step 603, the pulling force acted on cantilever crane is determined according to detection signal, object hoisting depth is determined according to pulse,
Elevator working condition during lifting object is determined based on the pulling force and hoisting depth acted on cantilever crane, according to elevator work
Make the discharge capacity of state control elevator pumping system pressure oil output.
In one embodiment, elevator pumping system includes: electronically controlled proportional valve, elevator pump.Control is sent to electronically controlled proportional valve
Control electric current, wherein electronically controlled proportional valve according to control current control elevator pump pressure oil output discharge capacity.It is mentioned when judgement is slow
Switch is pressed, then controls elevator brake valve and open and control electric current according to the preset automatic slow scheme control that mentions,
When judgement, which acts on the pulling force on cantilever crane, is less than suspender tension pulling force threshold value Lim_LuffPres, it is determined that suspender
Rope is in non-tension, sets the initial value for controlling electric current to the dead zone electric current I_Deadband of elevator pump, and period
Property increase the increment of preset electric current;When judgement control electric current is equal to preset low level electric current, then stop increasing control electric current
And it keeps constant.
When judgement, which acts on the pulling force on cantilever crane, is greater than or equal to suspender tension pulling force threshold value Lim_LuffPres, then really
Determine suspender rope and is in tension, control control electric current are as follows: I=I_L+K*deltaH;Wherein, I is control electric current, and I_L is
Low level electric current, K are proportionality coefficient, and deltaH is the difference of weight height when current weight height and suspender rope are in tension
Value.
When judgement control electric current is greater than or equal to preset high side current, it is determined that weight is in liftoff and rises shape
State then stops increasing control electric current and keep constant, and the weight rate of climb is constant.Switch reset or object promotion are proposed when judgement is slow
Height be more than it is preset automatic slow when mentioning height threshold, then be reduced to 0 for electric current is controlled by default rule, and control elevator
Brake valve closes and is switched to manual control mode.
Rolling control method, apparatus and engineering machinery provided by the above embodiment realize elevator according to elevator working condition
It is steady to solve the weight and cantilever crane of flexible rope and the long engineering machinery of iron chains suspender in lifting heavy for lifting speed control
Determine problem, realization automatically speeds up and is promoted steadily to functions such as certain altitudes, first in a manner of periodically increasing control electric current, with
Static friction is overcome to start suspender uphill process, suspender slowly rises until tensing weight;Then starting changes control by lifting altitude
The mode of electric current processed, to control the construction precision and stationarity of heavy lift, to hoisting machinery to accurate construction, intelligent and nothing
Peopleization direction, which is developed, biggish meaning.
Method and system of the invention may be achieved in many ways.For example, can by software, hardware, firmware or
Software, hardware, firmware any combination realize method and system of the invention.The said sequence of the step of for method is only
In order to be illustrated, the step of method of the invention, is not limited to sequence described in detail above, especially says unless otherwise
It is bright.In addition, in some embodiments, also the present invention can be embodied as to record program in the recording medium, these programs include
For realizing machine readable instructions according to the method for the present invention.Thus, the present invention also covers storage for executing according to this hair
The recording medium of the program of bright method.
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage
The solution present invention is to design various embodiments suitable for specific applications with various modifications.
Claims (11)
1. a kind of winch control device characterized by comprising
Controller, elevator encoder, slow mentions switch, elevator brake valve and elevator pumping system at tension sensor;
The tension sensor is used to detect the pulling force on lift rope, and sends detection signal to the controller;It is installed on volume
The elevator encoder raised on the rotatable parts of device is rotated synchronously with rotatable parts, and is sent and rotated to the controller
The pulse that circle number matches;The controller determines the pulling force acted on cantilever crane according to the detection signal, according to the arteries and veins
The hoisting depth for determining hanging object is rushed, and is determined based on the pulling force acted on cantilever crane and hoisting depth in lifting object
Elevator working condition in the process, according to the discharge capacity of the elevator working state control elevator pumping system pressure oil output;
Wherein, the elevator pumping system includes: electronically controlled proportional valve, elevator pump;The controller control is sent to the automatically controlled ratio
The control electric current of example valve, the discharge capacity of electronically controlled proportional valve elevator pump output pressure oil according to the control current control;
Wherein, when the controller judge it is described it is slow mention switch and press, then control elevator brake valve and open and according to preset automatic slow
It mentions and controls electric current described in scheme control.
2. device as described in claim 1, it is characterised in that:
When acting on pulling force on cantilever crane described in the controller judgement and being less than suspender and tense pulling force threshold value Lim_LuffPres,
Then determine that suspender rope is in non-tension, the initial value of the control electric current is set the dead of elevator pump by the controller
Area electric current I_Deadband, and periodically increase preset electric current increment;
When judging that the control electric current is equal to preset low level electric current, then the controller stops increasing the control electric current simultaneously
It keeps constant.
3. device as claimed in claim 2, it is characterised in that:
The pulling force acted on cantilever crane described in judging when the controller is greater than or equal to suspender and tenses pulling force threshold value Lim_
When LuffPres, it is determined that suspender rope is in tension, and the controller controls the control electric current are as follows: I=I_L+K*
deltaH;
Wherein, I is control electric current, and I_L is low level electric current, and K is proportionality coefficient, and deltaH is current hanging object height and suspender
The difference of hanging object height when rope is in tension.
4. device as claimed in claim 3, it is characterised in that:
When the controller judges that the control electric current is greater than or equal to preset high side current, it is determined that hanging object is in
Liftoff and propradation then stops increasing the control electric current and keep constant, so that the hanging object rate of climb is constant.
5. device as described in claim 1, it is characterised in that:
When the controller judges the slow hoisting depth for switching reset or hanging object that mentions more than preset automatic slow raising
When spending threshold value, then the control electric current is reduced to 0 by default rule, and controls elevator brake valve and close, be switched to people
Work steer mode.
6. a kind of engineering machinery characterized by comprising
Such as winch control device described in any one of claim 1 to 5.
7. a kind of rolling control method characterized by comprising
Receive the detection signal that tension sensor is sent, wherein the tension sensor is used to detect the pulling force on lift rope;
Receive the pulse to match with the turnning circle of winding plant rotatable parts that elevator encoder is sent;
The pulling force acted on cantilever crane is determined according to the detection signal, and object hoisting depth is determined according to the pulse, is based on
The pulling force acted on cantilever crane and hoisting depth determine elevator working condition during lifting object, according to the volume
Raise the discharge capacity of working state control elevator pumping system pressure oil output;
Wherein, the elevator pumping system includes: electronically controlled proportional valve, elevator pump;Control is sent to the control electric current of electronically controlled proportional valve,
Wherein, the discharge capacity for the pressure oil output that electronically controlled proportional valve elevator according to the control current control pumps;Wherein, when sentencing
It is disconnected slow to mention switch and press, then it controls elevator brake valve and opens and electric current is controlled according to preset automatic slow mention described in scheme control.
8. the method for claim 7, which is characterized in that the control elevator brake valve is opened and according to preset automatic
It is slow to mention control electric current described in scheme control and include:
When the pulling force acted on described in the judgement on cantilever crane is less than suspender and tenses pulling force threshold value Lim_LuffPres, it is determined that suspender
Rope is in non-tension, sets the initial value of the control electric current to the dead zone electric current I_Deadband of elevator pump, and
Periodically increase preset electric current increment;
When judging that the control electric current is equal to preset low level electric current, then stops increasing the control electric current and keep constant.
9. method according to claim 8, which is characterized in that the control elevator brake valve is opened and according to preset automatic
It is slow to mention control electric current described in scheme control and include:
When the pulling force acted on described in the judgement on cantilever crane is greater than or equal to suspender and tenses pulling force threshold value Lim_LuffPres, then really
Determine suspender rope and be in tension, controls the control electric current are as follows: I=I_L+K*deltaH;
Wherein, I is control electric current, and I_L is low level electric current, and K is proportionality coefficient, and deltaH is current weight height and suspender rope
The difference of weight height when in tension.
10. method as claimed in claim 9, which is characterized in that the control elevator brake valve open and according to it is preset from
It is dynamic slow to mention control electric current described in scheme control and include:
When judging that the control electric current is greater than or equal to preset high side current, it is determined that weight is in liftoff and rises shape
State then stops increasing the control electric current and keep constant, and the weight rate of climb is constant.
11. the method as described in claim 7 to 10 any one, which is characterized in that described according to the elevator working condition
Control elevator pumping system pressure oil output discharge capacity include:
When judge it is described it is slow mention switch reset or object hoisting depth be more than it is preset it is automatic it is slow mention height threshold when, then by default
Rule the control electric current is reduced to 0, and control elevator brake valve and close and be switched to manual control mode.
Priority Applications (1)
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CN106638546B (en) * | 2017-01-20 | 2018-10-16 | 中南大学 | Free releasing elevator automatically continuously rams and rushes control system and method |
CN107829424A (en) * | 2017-11-08 | 2018-03-23 | 泰安大地强夯重工科技有限公司 | A kind of automatic remote control dynamic compaction machinery |
CN108203062B (en) * | 2017-12-29 | 2019-11-05 | 三一汽车起重机械有限公司 | Rolling control method, winch control device and engineering machinery |
CN111422746A (en) * | 2019-01-10 | 2020-07-17 | 秦皇岛天业通联重工科技有限公司 | Synchronous control system of crane |
CN111547637A (en) * | 2019-02-08 | 2020-08-18 | 珠海达理宇航科技有限公司 | Cable transfer system and light force outward moving process |
CN113845033B (en) * | 2021-08-30 | 2022-06-28 | 中联重科股份有限公司 | Control method and device for crane, controller and crane |
CN115818448B (en) * | 2023-02-23 | 2023-05-23 | 三一汽车起重机械有限公司 | Method and device for distributing power of electric crane on crane and electric crane |
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