CN109795954A - A kind of computer control method and crane of the steady hook of crane - Google Patents
A kind of computer control method and crane of the steady hook of crane Download PDFInfo
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- CN109795954A CN109795954A CN201910098901.1A CN201910098901A CN109795954A CN 109795954 A CN109795954 A CN 109795954A CN 201910098901 A CN201910098901 A CN 201910098901A CN 109795954 A CN109795954 A CN 109795954A
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- crane
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Abstract
The present invention relates to the computer control method and crane of a kind of steady hook of crane, in the control method, in the startup stage and deboost phase that crane horizontal is carried, steady hook is realized in control by computer to transport distance, transporting velocity and acceleration.The present invention carries crane in level and starts, in braking process, held stationary state effectively avoids suspension hook, article dancing by control of the computer to crane horizontal transporting velocity, time.Safety is improved, working efficiency is improved, reduces operation difficulty, reduces labor intensity.Reduction of speed starting, braking also reduce the impact to crane.
Description
Technical field
The present invention relates to lifting equipment technical fields, and are more particularly related to a kind of meter of steady hook of crane
Calculation machine control method and crane.
Background technique
Crane refers to vertical-lift in a certain range and the horizontal multiple movement hoisting machineries for carrying article, also known as day
Vehicle, driving, crane etc..With economic continuous development, science and technology is constantly updated, the expansion and automation of commercial production scale
The raising of degree, crane is during modern production using increasingly wider, more and more big, the requirement to crane of effect
It is higher and higher, basic demand that is steady, quasi-, fast, safe, being rationally all cranes.
The work characteristics of crane is to do intermittent exercise, and basic operation is: then horizontal from article being lifted with taking object
It is transported to designated place and falls article.Crane horizontal is carried on startup, and suspension hook, article deviate opposite lifting due to inertia
The equilbrium position of machine, and necessarily lead to the swing of similar single pendulum；Equally, crane horizontal is carried in braking, suspension hook, article
Swing can be generated.Suspension hook, article swing under cover great insecurity factor itself, and swing also directly affects crane as received basis
Amount and production efficiency.It is surely the basic demand to crane, after guaranteeing surely, just can guarantee quasi- and fast, competence exertion crane
Working efficiency.
It carries crane in level to start, in braking process, held stationary state, the behaviour for avoiding suspension hook, article from swinging
Make to be known as steady hook, also referred to as chases after pendulum, be one of the technical ability of hoister indispensability, the practice for needing hoister long-term gropes,
It accumulates experience.Requirement to the steady hook of crane increases operation difficulty, increases labor intensity, reduces working efficiency, and endanger
Dangerous coefficient is higher.
Based on this, the prior art still has much room for improvement.
Summary of the invention
The present invention is in view of the above-mentioned problems, be designed to provide computer control method and the lifting of a kind of steady hook of crane
Machine, the steady hook operation difficulty of crane that can solve the prior art is big, labor intensity is high, working efficiency is low, danger coefficient is high
Technical problem.
In order to achieve the above objectives, the present invention adopts the following technical scheme:
On the one hand, embodiment of the invention discloses a kind of computer control methods of the steady hook of crane, in crane water
The flat startup stage and deboost phase carried, the control by computer to transport distance, transporting velocity and acceleration are realized steady
Hook.
Further,
Startup stage is carried in crane horizontal, crane moves forwards n × T time with the speed of k × v；
It is carried the deboost phase in crane horizontal, crane is run in n × T time with the speed of k × v；
Wherein, k is velocity coeffficient, and v is transporting velocity, and n is time coefficient, and T is swing period.
Further, it travels at the uniform speed the stage what crane horizontal was carried, the speed of crane and suspension hook and displacement are homogeneous
Together, and speed is equal to transporting velocity.
Further, the swing period and boom height, boom radius, hanger rope length, weight of object, transporting velocity and
Acceleration is related.
Further, the velocity coeffficient, the time coefficient and boom height, boom radius, hanger rope length, object weight
Amount, transporting velocity are related with acceleration.
Further, startup stage, the speed of service formula of crane are carried in crane horizontal are as follows:
It travels at the uniform speed the stage in crane horizontal carrying, the speed of service of crane are as follows:
v1=v
Deboost phase, the speed of service formula of crane are carried in crane horizontal are as follows:
Wherein,
v1For crane present speed,
A1 (t) crane accelerates function,
V is transporting velocity,
A2 (t) crane deceleration function.
Further, the speed calculation formula of suspension hook are as follows:
Wherein, k is velocity coeffficient, and T is swing period, v1For crane present speed, v2For suspension hook present speed.
Further, the displacement formula of crane are as follows:
Wherein, L1For the shift length of crane, v1For crane present speed,
Further, the displacement formula of the suspension hook are as follows:
Wherein, L2For the shift length of suspension hook, v2For suspension hook present speed.
On the other hand, the embodiment of the invention also discloses a kind of cranes, use above-mentioned computer control method.
The beneficial effects of the present invention are:
The present invention realizes the control of steady hook by computer, by computer to crane horizontal transporting velocity, time
Control is carried crane in level and is started, in braking process, and held stationary state effectively avoids suspension hook, article from swinging existing
As.Safety is improved, working efficiency is improved, reduces operation difficulty, reduces labor intensity.Reduction of speed starting, braking also reduce pair
The impact of crane.
Detailed description of the invention
Fig. 1 is the crane model schematic for having the crane model for chasing after hook function and not chasing after hook function；
Steady hook control method schematic diagram when Fig. 2 is the startup stage of the crane horizontal carrying of one embodiment of the invention；
Steady hook control method schematic diagram when Fig. 3 is the deboost phase of the crane horizontal carrying of one embodiment of the invention；
Fig. 4 is the suspension hook of one embodiment of the invention and the characteristics of motion schematic diagram of crane.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
The embodiment of the invention discloses a kind of computer control methods of the steady hook of crane, open what crane horizontal was carried
Steady hook is realized in dynamic stage and deboost phase, the control by computer to transport distance, transporting velocity and acceleration.
The present embodiment carries crane in level by control of the computer to crane horizontal transporting velocity, time
In starting, braking process, held stationary state effectively avoids suspension hook, article dancing.So that the steady hook of crane no longer according to
Rely the technology in operator, the operation difficulty of crane loading substantially reduces, and working efficiency is improved, while reducing labor
Fatigue resistance improves job security simultaneously, is designed by the steady hook of computer control, can effectively reduce and start and braking
To the impact of crane in journey, the service life of crane is extended.Shown in Fig. 1, for using the steady hook of crane of the invention
Crane model and nothing after computer control method chase after the crane model of hook function.
In some preferred embodiments of the present invention, startup stage, emulation operating condition as shown in Figure 2 are carried in crane horizontal
Under, crane moves forwards n × T time with the speed of k × v；
It is carried the deboost phase in crane horizontal, under emulation operating condition as shown in Figure 3, crane is in n × T time with k
The speed of × v is run；
Wherein, k is velocity coeffficient, and v is transporting velocity, and n is time coefficient, and T is swing period.
Wherein, the swing period and boom height, boom radius, hanger rope length, weight of object, transporting velocity and acceleration
It spends related；The velocity coeffficient, the time coefficient and boom height, hanger rope length, weight of object, carry speed at boom radius
It spends related with acceleration.
Specifically, as shown in Fig. 2, carrying startup stage in crane horizontal, the radius of gyration for emulating operating condition is 32000m,
Sling height is 32000mm (rope length 32000mm), and rotational speed 1rpm turns round linear velocity 3351mm/s, hoisting heavy
7800kg；As a result as follows: not chase after the crane of hook function, the velocity perturbation of suspension hook and weight is 6.7m/s, and increase chases after hook function
The velocity perturbation of the suspension hook and weight of energy is 0.7m/s, and velocity of wave motion reduces 90%, which can also be by adjusting parameter
It is advanced optimized.
As shown in figure 3, carrying the deboost phase in crane horizontal, the radius of gyration for emulating operating condition is 32000m, and lifting is high
Degree is 32000mm (rope length 32000mm), and rotational speed 0.5rpm turns round linear velocity 1676mm/s, hoisting heavy 7800kg；Knot
Fruit is as follows: not chasing after the crane of hook function, the velocity perturbation of suspension hook and weight is 1.676m/s, increases the suspension hook for chasing after hook function
Velocity perturbation with weight is 0.153m/s, and velocity of wave motion reduces 90%, the result can also be carried out by adjusting parameter into
One-step optimization.
The embodiment of the present invention is according to boom height, boom radius, hanger rope (hook) length, Item Weight, transporting velocity and adds
The factors such as speed calculate the swing period of suspension hook, article；The speed and time that crane horizontal is carried are controlled by computer, from
And achieve the purpose that steady hook.When crane horizontal, which is carried, to be started, using k × v, (for k as velocity coeffficient, v is to carry to Schilling crane
Speed) move forwards n × T (n is time coefficient, and T is swing period).When the level run distance and suspension hook of crane, article
Level run be equidistant, suspension hook, article potential energy be completely converted into kinetic energy, level run speed v2When=v, crane is enabled
It is run by transporting velocity and suspension hook, article is run at the same speed together.The dancing of suspension hook, article when to eliminate starting.Together
Reason, when crane horizontal, which is carried, to be braked, Schilling crane is shifted to an earlier date n × T and is run with the speed of k × v, and suspension hook, article generate class
Like the swing of single pendulum, kinetic energy is gradated as potential energy.When the kinetic energy of suspension hook, article disappears, level run speed is 0, and lifting
When machine is right above suspension hook, article, even with crane brake, at this point, the speed of suspension hook, article and crane is all 0, together
Stop motion, to eliminate the dancing of suspension hook when braking, article.
In the embodiment of the present invention, crane speed refers to the speed of service of crane arm, the i.e. fortune of lifting rope the top
Scanning frequency degree, the speed of suspension hook refers to suspension hook and lifts by crane the sharing rate of article, in crane operation, suspension hook and lifting article
Speed it is identical.
In some preferred embodiments of the present invention, on the basis of the above embodiments, carried at the uniform velocity in crane horizontal
The speed of operation phase, crane and suspension hook and displacement are all the same, and speed is equal to transporting velocity.
In further embodiment of this invention, suspension hook, article deviate the equilbrium position of opposite crane, suspension hook, object due to inertia
Product meet the movement of crane the characteristics of motion of single pendulum.Based on this, as shown in figure 4, obtaining the speed of crane and suspension hook, article
Metric rule is as follows:
Startup stage (boost phase) is carried in crane horizontal, the speed of service formula of crane are as follows:
It travels at the uniform speed the stage in crane horizontal carrying, the speed of service of crane are as follows:
v1=v
Deboost phase (decelerating phase) is carried in crane horizontal, the speed of service formula of crane are as follows:
Wherein,
v1For crane present speed,
A1 (t) crane accelerates function,
V is transporting velocity,
A2 (t) crane deceleration function.
The speed calculation formula of suspension hook are as follows:
Wherein, k is velocity coeffficient, and T is swing period, v1For crane present speed, v2For suspension hook present speed.
The displacement formula of crane are as follows:
Wherein, L1For the shift length of crane, v1For crane present speed,
The displacement formula of the suspension hook are as follows:
Wherein, L2For the shift length of suspension hook, v2For suspension hook present speed.
First according to factors meters such as boom height, boom radius, hanger rope length, Item Weight, transporting velocity and acceleration
Calculate the swing period of suspension hook, article:(L is hanger rope length, and g is local gravitational acceleration, further according to it
He is suitably corrected factor), speed, the time that crane horizontal is carried then are controlled by computer.Work as crane horizontal
Carry starting when, Schilling crane using k × v (for k as velocity coeffficient, v is transporting velocity) move forwards n × T (n is time coefficient,
T is swing period), at this point, suspension hook, article due to crane traction and generate the swing of similar single pendulum, movement velocity meets
The movement velocity of single pendulum is superimposed with the speed of crane, as shown in figure 4, suspension hook, article potential energy and kinetic energy phase during the swing
Mutually conversion.When the level run distance of crane are as follows: L1=k × v × n × T, suspension hook, article level run distance beSuspension hook, article potential energy be kinetic energy, at this point, suspension hook, article
Level run speed reaches maximum, and v2=v.Even reaching transporting velocity v operation with crane final speed, at this point, suspension hook,
Article will be run at the same speed with crane with transporting velocity v together, the dancing of suspension hook, article when so as to eliminate starting.Together
Reason, when crane horizontal, which is carried, to be braked, Schilling crane shifts to an earlier date n × T with k × v operation, at this point, suspension hook, article are due to lifting
The traction of machine and the swing for generating similar single pendulum, kinetic energy gradate as potential energy.When the kinetic energy of suspension hook, article disappears, level is transported
Scanning frequency degree is 0, and when crane is right above suspension hook, article, even with crane brake, at this point, suspension hook, article and crane
Speed be all 0, stop motion together, to eliminate the dancing of suspension hook when braking, article.
In conclusion the computer control method of the steady hook of crane disclosed in this invention has made when in crane
Heavy-duty machine is carried in level to be started, in braking process, and held stationary state effectively avoids suspension hook, article dancing.Improve safety
Property, working efficiency is improved, operation difficulty is reduced, reduces labor intensity.Reduction of speed starting, braking are also reduced and are rushed to crane
It hits.
The foregoing is merely presently preferred embodiments of the present invention, practical range not for the purpose of limiting the invention；If do not taken off
It from the spirit and scope of the present invention, modifies or equivalently replaces the present invention, should all cover in the claims in the present invention
In protection scope.
Claims (10)
1. a kind of computer control method of the steady hook of crane, which is characterized in that crane horizontal carry startup stage and
Steady hook is realized in deboost phase, the control by computer to transport distance, transporting velocity and acceleration.
2. the method according to claim 1, wherein
Startup stage is carried in crane horizontal, crane moves forwards n × T time with the speed of k × v；
It is carried the deboost phase in crane horizontal, crane is run in n × T time with the speed of k × v；
Wherein, k is velocity coeffficient, and v is transporting velocity, and n is time coefficient, and T is swing period.
3. the method according to claim 1, wherein traveling at the uniform speed the stage in crane horizontal carrying, lifting
The speed of machine and suspension hook and displacement are all the same, and speed is equal to transporting velocity.
4. according to the method described in claim 2, it is characterized in that, the swing period and boom height, boom radius, hanger rope
Length, weight of object, transporting velocity and acceleration are related.
5. according to the method described in claim 2, it is characterized in that, the velocity coeffficient, the time coefficient and boom height,
Boom radius, hanger rope length, weight of object, transporting velocity are related with acceleration.
6. according to the method described in claim 2, it is characterized in that,
Startup stage, the speed of service formula of crane are carried in crane horizontal are as follows:
It travels at the uniform speed the stage in crane horizontal carrying, the speed of service of crane are as follows:
v1=v
Deboost phase, the speed of service formula of crane are carried in crane horizontal are as follows:
Wherein,
v1For crane present speed,
A1 (t) crane accelerates function,
V is transporting velocity,
A2 (t) crane deceleration function.
7. according to the method described in claim 6, it is characterized in that, the speed calculation formula of suspension hook are as follows:
Wherein, k is velocity coeffficient, and T is swing period, v1For crane present speed, v2For suspension hook present speed.
8. according to the method described in claim 6, it is characterized in that, the displacement formula of crane are as follows:
Wherein, L1For the shift length of crane, v1For crane present speed.
9. according to the method described in claim 6, it is characterized in that, the displacement formula of suspension hook are as follows:
Wherein, L2For the shift length of suspension hook, v2For suspension hook present speed.
10. a kind of crane, which is characterized in that use computer control method described in any one of claim 1-9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910098901.1A CN109795954B (en) | 2019-01-31 | 2019-01-31 | Computer control method for crane hook stabilization and crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910098901.1A CN109795954B (en) | 2019-01-31 | 2019-01-31 | Computer control method for crane hook stabilization and crane |
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| CN109795954A true CN109795954A (en) | 2019-05-24 |
| CN109795954B CN109795954B (en) | 2021-09-03 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111320079A (en) * | 2020-02-24 | 2020-06-23 | 湖南天桥嘉成智能科技有限公司 | Positioning and anti-swing unmanned vehicle control method |
| CN111348550A (en) * | 2020-02-24 | 2020-06-30 | 湖南天桥嘉成智能科技有限公司 | Unmanned vehicle anti-swing control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4025749A1 (en) * | 1990-08-14 | 1992-02-20 | Siemens Ag | Automatic operation of revolving crane without load swings - involves controlled timing of grab acceleration and retardation adjusted to period of natural frequency of oscillation |
| CN105883616A (en) * | 2016-06-13 | 2016-08-24 | 南开大学 | Method for generating anti-swing track of bridge crane in real time within minimum time |
| CN108050970A (en) * | 2018-01-29 | 2018-05-18 | 上海应用技术大学 | A kind of crane brake downslide amount detection method and device |
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2019
- 2019-01-31 CN CN201910098901.1A patent/CN109795954B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4025749A1 (en) * | 1990-08-14 | 1992-02-20 | Siemens Ag | Automatic operation of revolving crane without load swings - involves controlled timing of grab acceleration and retardation adjusted to period of natural frequency of oscillation |
| CN105883616A (en) * | 2016-06-13 | 2016-08-24 | 南开大学 | Method for generating anti-swing track of bridge crane in real time within minimum time |
| CN108050970A (en) * | 2018-01-29 | 2018-05-18 | 上海应用技术大学 | A kind of crane brake downslide amount detection method and device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111320079A (en) * | 2020-02-24 | 2020-06-23 | 湖南天桥嘉成智能科技有限公司 | Positioning and anti-swing unmanned vehicle control method |
| CN111348550A (en) * | 2020-02-24 | 2020-06-30 | 湖南天桥嘉成智能科技有限公司 | Unmanned vehicle anti-swing control method |
| CN111348550B (en) * | 2020-02-24 | 2022-01-07 | 湖南天桥嘉成智能科技有限公司 | Unmanned vehicle anti-swing control method |
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