CN111824957A - Control system and control method of multi-layer multi-arm tower crane - Google Patents
Control system and control method of multi-layer multi-arm tower crane Download PDFInfo
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- CN111824957A CN111824957A CN202010591062.XA CN202010591062A CN111824957A CN 111824957 A CN111824957 A CN 111824957A CN 202010591062 A CN202010591062 A CN 202010591062A CN 111824957 A CN111824957 A CN 111824957A
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
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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
- B66C13/46—Position indicators for suspended loads or for crane elements
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Abstract
The invention discloses a control system of a multi-layer multi-arm tower crane, which is characterized by comprising the following components: the multi-arm crane comprises a multi-layer multi-arm crane boom, a swing mechanism, a parallel hoisting mechanism, a parallel luffing mechanism, a data acquisition system and an operation control system. The operation control system carries out logical operation analysis on the tower crane state parameters acquired by the data acquisition system, gives the most scientific and efficient action control instructions for the tower crane, and realizes the actions of lifting, rotating and amplitude changing of the three-layer crane arms by transmitting the instructions to the rotating mechanism, the parallel lifting mechanism and the parallel amplitude changing mechanism, and the three-layer crane arms work in a cooperative manner without mutual interference, so that the operation efficiency of the tower crane for lifting materials is greatly improved on the premise of ensuring the safe operation of the tower crane.
Description
Technical Field
The invention relates to a control system and a control method of a multi-layer multi-arm tower crane, belonging to the technical field of intelligent control of building tower cranes.
Background
In recent years, with the acceleration of the urbanization construction process of China, the tower crane is taken as an important vertical transport machine in a construction site and has the responsibility of material handling in the construction site. Under such a background, in order to shorten the construction period, a tower crane driver is often required to improve the working efficiency and even prolong the hoisting working time to complete the work as soon as possible on the construction site. The task requirement not only can cause burden to a driver of the tower crane, but also can increase the probability of safety accidents of the tower crane.
Therefore, multi-tier and/or multi-arm tower cranes rotating on the basis of a single tower crane body become a new idea for solving efficient hoisting for those skilled in the art. The following are relevant patent documents disclosed in the art:
chinese patent document CN106892365A discloses a double-arm parallel flat-head tower crane, which comprises two parallel inverted triangle crane booms, two independent hoisting mechanisms, two independent luffing trolleys, a balance arm capable of arranging the two hoisting mechanisms and a rotary joint, wherein hoisting steel wire ropes of the two sets of hoisting mechanisms respectively enter a guide rope pulley and a hoisting pulley block of the luffing trolley through respective guide rope pulleys on the tower top and are fixed at the boom ends to form two sets of independent hoisting systems on one tower crane, one end of an upper chord of the crane boom is connected with an ear plate at one side of the rotary joint, a lower chord is connected with the rotary joint, the other side of the rotary joint is connected with the balance arm, the two sets of luffing trolleys are respectively arranged on the two parallel crane booms and are respectively dragged by the two luffing mechanisms to carry out luffing motion, and a control system of the, the invention solves the problem of overlarge cross section of the main limb of the crane boom in the prior art, and improves the working efficiency by arranging two amplitude-variable trolleys.
Chinese patent document CN105523491A discloses an electronic monitoring system for a ground-controlled double-arm tower crane and a monitoring method thereof, which comprises a sensor set, a central processing unit and a display screen connected in sequence. Signals such as amplitude, weight and rotation are acquired through the electronic sensor, the signals are calculated and processed through the central processing unit, data are output through the display screen, a driver can visually know the real-time working state of the tower crane through the screen, and meanwhile, when the tower crane is overloaded or has excessive moment, the central processing unit cuts off a corresponding electric loop of the tower crane, the illegal operation is interrupted, and therefore the normal operation of the tower crane is powerfully protected. Although it is explicitly stated that the adjustment is performed by the cpu, the specific conditions according to the decision are limited to the following three cases: the lifting capacity is over-limited, the moment is over-limited, and the moment difference is over-limited, however, the above-mentioned determination rule is not suitable for more complicated operation scenes, such as coordination of multi-layer multi-arm and simultaneous coordination of safe operation.
The invention discloses a tower crane which comprises a foundation bottom section, wherein the foundation bottom section is rotatably connected with a foundation middle section, the top end of the foundation middle section is fixedly connected with a lower crane boom, the lower crane boom comprises a lower hoisting forearm and a lower balance arm, a lower hoisting hook is slidably connected below the lower hoisting forearm, a first motor is arranged on the lower hoisting hook, the first motor controls the lower crane boom to slide on the lower hoisting forearm, a plurality of lower matching blocks are arranged below the lower balance arm, a second motor is respectively arranged on the lower matching blocks, each second motor controls the lower matching blocks to slide on the lower balance arm, a rotating platform is arranged on the lower crane boom, an upper crane boom is arranged on the rotating platform and comprises an upper hoisting forearm and an upper balance arm, an upper hoisting hook is slidably connected below the upper hoisting forearm, and a third motor is arranged on the upper crane boom. The crane has the characteristics of double-arm double-control operation, high working efficiency, acceleration of construction speed, rain prevention of a control room, complete overall functions and strong practicability. According to the patent document, the upper crane boom is rotatably arranged on the lower crane boom, and each crane boom is provided with the control room, so that double-arm double-control operation is realized, the working efficiency is increased, and the construction speed is increased; set up the take-up reel respectively on through last lower jib loading boom, be connected with the copper wire between the take-up reel, and pass through the motor control wire winding respectively on the take-up reel for upper and lower jib loading boom can link, still can control pivoted contained angle between the two, and the operation is implemented conveniently.
Although the prior art refers to multi-arm and multi-layer tower cranes, no device or method for controlling the relative independent control or comprehensive safety control between layers and between arms is involved, which is a technical point of continuous research and development interest of the invention.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a control system of a multi-layer multi-arm tower crane.
The invention also discloses a control method of the control system.
The invention obtains the real-time parameters under the statistical working state by cooperatively applying the data acquisition system on the tower crane applying the building construction, establishes the working model of the multi-layer multi-arm tower crane, further provides a feasible control logic method, realizes the high-efficiency and safe operation by applying the multi-layer multi-arm tower crane, and improves the working efficiency and the safety.
The technical scheme of the invention is as follows:
a control system for a multi-tier multi-arm tower crane, comprising: the multi-arm crane comprises a multi-layer multi-arm crane boom, a swing mechanism, a parallel hoisting mechanism, a parallel luffing mechanism, a data acquisition system and an operation control system;
the multi-layer multi-arm crane boom comprises a plurality of layers of mechanisms, each layer of mechanism comprises a pair of crane booms with an included angle of 180 degrees, a multi-stage rotary tower body is arranged at the top end of the tower body of the tower crane, the number of stages of the rotary tower body corresponds to the number of layers of the multi-layer mechanisms, and the crane boom arranged on each layer is connected to the rotary tower bodies on the same level;
the control system and the control method provided by the invention have the advantages that the crane arms in different layers are prevented from interfering when the crane arms hoist materials; the invention takes a three-layer mechanism as an example: the multi-layer crane boom is composed of three pairs of crane booms, each pair of crane booms is a layer, the number of the crane booms is three, each layer is supported by the tower body, and the crane booms can independently perform lifting, rotating and amplitude changing actions; each pair of lifting arms are symmetrically arranged with the center line of the tower body of the tower crane as a reference;
the slewing mechanism is used for: the rotary tower body of each stage is driven to independently perform rotary action: each level of the rotary tower body is provided with a rotary angle sensor which is used for collecting the rotary angle amount of the rotary tower body in real time;
the parallel hoisting mechanism is used for: the method comprises the following steps that a tower crane is driven to perform lifting action, each crane arm is provided with a lifting mechanism, a lifting displacement sensor is arranged at a winch of the lifting mechanism, and the lifting displacement sensor is used for collecting lifting displacement in real time; two hoisting mechanisms positioned on the same layer of the crane boom are respectively provided with an independent control unit and a master control unit, the independent control units independently control the hoisting mechanisms, and the master control unit on the same layer controls the independent control units on the same layer;
the parallel luffing mechanism is used for: the tower crane is driven to perform amplitude variation action, each crane arm is provided with an amplitude variation mechanism, an amplitude variation displacement sensor is arranged on the amplitude variation mechanism, and the amplitude variation displacement sensor is used for acquiring amplitude variation displacement in real time; and meanwhile, the weight sensor is arranged and used for acquiring the weight of the heavy object lifted by each crane arm in real time. The two luffing mechanisms positioned on the same layer are provided with an independent control unit and a master control unit, the independent control unit independently controls the luffing mechanisms, and the master control unit controls the independent control unit;
the data acquisition system comprises a lifting displacement sensor, an amplitude displacement sensor, a weight sensor and a rotation angle sensor; the data acquisition system is used for acquiring real-time data under the working state of the tower crane and transmitting the real-time data to the operation control system, and the operation control system scientifically and effectively controls the tower crane by means of the data acquired by the data acquisition system;
the operation control system is used for controlling the lifting, rotating and amplitude changing actions of the tower crane, and the crane arms on each layer do not interfere with each other when acting together.
Preferably, according to the present invention, the data acquisition system further includes: a laser range finder; the laser range finder is arranged on one side of the amplitude variation trolley and used for measuring the real-time distance between the amplitude variation trolley and an obstacle on the ground below the amplitude variation trolley. The purpose of setting up laser range finder is in order to require that the ray that laser range finder sent can not be sheltered from by the object of lifting by crane, influence the truth of data acquisition.
According to the invention, the data acquisition system also comprises an anemoscope which is arranged at the top of the tower crane without wind shielding and is used for acquiring the wind speed of the environment around the tower crane in real time.
A method of controlling a multi-tier multi-arm tower crane, the method comprising:
the height control method comprises the following steps:
judging whether the heights of the lifting objects of the crane booms on the same layer are consistent according to the height data of the lifting objects of the six crane booms obtained by a lifting displacement sensor in the data acquisition system:
when the heights of the hoisted objects are not consistent, the hoisting heights are adjusted by controlling the independent units of the hoisting mechanisms, so that the hoisting heights of the hoisted objects are ensured to be consistent;
when the heights of the hoisted objects are consistent, the main control unit is controlled to hoist the hoisted objects simultaneously;
the amplitude control method comprises the following steps:
setting horizontal static displacement of the top end of a tower body of the tower crane along the direction of any cargo boom: according to the national standard of GB/T5031-2008 tower crane, the horizontal static displacement of the top end of the tower body of the tower crane along any cargo boom direction is less than or equal to 1.34H/100, wherein H is the distance from the hinge point of the arm root of each layer of cargo boom to the ground;
when an object is hoisted by a pair of crane arms on the same layer, the amplitude displacement distance of the crane arms on two sides and the weight of a hoisted heavy object meet the following relationship:
wherein, B1、B2Respectively the amplitude variation displacement on the crane boom, G is the gravity borne by the suspended object, m1And m2The mass of the object hung on the two sides; e is the elastic modulus of the tower body material; i is respectively the inertia moment of the section of the tower body; h is the distance from the root hinge point of each layer of crane boom to the ground;
judging whether the amplitude position of the amplitude trolley of the crane boom in the same layer is within a safe distance according to the displacement data of the amplitude trolley of the six crane booms and the weight data of the hung object, which are obtained by an amplitude displacement sensor in the data acquisition system:
when the amplitude of the amplitude-variable trolley exceeds the safe distance, the amplitude is adjusted by controlling the independent units of the amplitude-variable mechanism, so that the position relation of heavy objects hung by the two amplitude-variable trolleys is ensured to be within a safe range;
the rotation angle control method comprises the following steps:
a. establishing a tower crane model coordinate system and a rotation model coordinate system:
taking the intersection point of the ground plane and the central line of the tower body as a coordinate origin O, taking the eastern direction as the positive direction of the X axis, taking the northern direction as the positive direction of the Y axis, and taking the upward direction vertical to the ground as the positive direction of the Z axis;
the XOY plane is a rotary model coordinate system;
b. determining an anti-collision safety model of a tower crane hook steel wire rope and a crane boom:
in a tower crane model coordinate system, respectively projecting the central lines of the three layers of crane arms to an XOY plane of a rotary model coordinate system to generate three straight lines A1, A2 and A3 passing through an origin;
recording the included angle between the straight line A1 and the positive direction of the X axis as theta 1, the included angle between the straight line A2 and the positive direction of the X axis as theta 2, the included angle between the straight line A3 and the positive direction of the X axis as theta 3, and the included angle range of 0-180 degrees, and respectively recording the distances from the amplitude position of the amplitude variation trolley on the three layers of lifting arms to the Z axis as a1, a2 and A3; the included angle theta is acquired by a rotary angle sensor, and the amplitude a is acquired by a variable amplitude displacement sensor;
determining the safe distance L between the lifting hook of any one layer and the lifting arm of any different layer:
safe distance L21 between the hook of the second floor and the boom of the first floor:
safe distance L31 between the hook of the third layer and the boom of the first layer:
safe distance L32 between hook of the third layer and boom of the second layer:
the safe distance L is a reasonable range value which is selected according to different site construction environments;
c. anti-collision safety model for determining each lifting hook of tower crane and barriers below lifting hook
In a tower crane model coordinate system, recording the real-time distance from the amplitude variation trolley to an obstacle on the ground below the amplitude variation trolley as h1The distance from the amplitude variation trolley to the lifting hook is h2
Determining the safe distance between each lifting hook of the tower crane and the obstacle below the lifting hook as follows:
N＝h1-(h2+ α), where α is the height of the suspended object;
the safe distance N is a reasonable range value which is selected according to different site construction environments.
A method of controlling a multi-tier multi-arm tower crane, the method comprising: the lifting, rotating and amplitude-changing actions comprehensive control method comprises the following steps:
d. determining the working position of a tower crane hook
In the tower crane model coordinate system, each hoisting object has two positions of hoisting and placing:
the lifting position W1 (x)1,y1,z1) Placement position W2 (x)2,y2,z2)；
The tower crane lifts and places a lifting object by controlling three variables of the height, the amplitude and the rotation angle of the lifting hook: completing the hoisting work from the lifting position to the placing position or from the placing position to the lifting position;
the (x, y) of the W1 and W2 positions to be reached by the lifting hook is determined by the rotation angle of the tower crane and the variation amplitude of the amplitude-variable trolley, and the z is determined by the lifting height of the tower crane; the position information is acquired by the height sensor, the amplitude sensor and the rotation angle sensor and is obtained by operation in an operation control system;
e. controlling operating logic
When the tower crane controls the lifting hook to finish the lifting work from the lifting position to the placing position or from the placing position to the lifting position, the tower crane firstly adjusts the rotation angle and then sequentially adjusts the height and the amplitude of the lifting hook, after the lifting hook starts to lift, the tower crane firstly determines the rotation angle of the tower crane according to (x, y) of the next position, after the rotation angle is determined, the rotation mechanism of the tower crane does not act any more, and only the height and the amplitude of the lifting hook are adjusted to finish the lifting work;
when the slewing mechanisms of one or two layers of the crane booms do not act any more, the remaining two or one layer of the crane booms lift the lifting hook to the highest position, and the collision between the remaining crane booms and the unmoved crane boom is ensured when the remaining crane booms perform slewing action. When the layer of crane boom lifting hook is lifted to the highest position, the anti-collision safety model of the tower crane lifting hook steel wire rope and the crane boom does not take effect any more, and the layer of crane boom can freely rotate.
According to a preferred embodiment of the present invention, the method for controlling a multi-arm tower crane further comprises: the method comprises the following steps of applying tower crane state parameters acquired by data acquisition devices such as a height sensor, an amplitude sensor, a rotation angle sensor, a laser range finder and the like to a calculation formula of a safety distance L between crane arms and a calculation formula of a safety distance N between a lifting hook and an obstacle, taking a calculated value as an actual working distance of the tower crane, and determining the anti-collision function of each lifting hook steel wire rope and the crane arm and the anti-collision function of each lifting hook and the obstacle below the lifting hook of the tower crane by comparing the actual working distance with a specified safety working distance:
a. anti-collision function of each lifting hook steel wire rope and lifting arm of tower crane
When the actual working distance is greater than or equal to the safety distance L, the tower crane works normally;
when the actual working distance is less than the safety distance L, there are two cases:
firstly, in the running process of two layers of crane booms to be interfered, the rotation angle of an accurate hoisting position (x, y) is not determined, and at the moment, the running control system can adjust the included angle between the two layers of crane booms by controlling any layer of rotation mechanism, so that the actual working distance is controlled within a safe range;
secondly, one layer of the two layers of crane booms to be interfered determines the rotation angle of the accurate hoisting position (x, y), and the layer of crane boom which does not determine the rotation angle needs to control a rotation mechanism to adjust the included angle between the two layers of crane booms to achieve the safety distance; hoisting the crane boom with the determined hoisting position, and then hoisting the crane boom with the undetermined hoisting position, wherein the crane boom with the completed hoisting needs to control a slewing mechanism to adjust the included angle between the two crane booms to always keep a safe distance;
b. anti-collision function of each lifting hook of tower crane and barrier below lifting hook
When the actual working distance is greater than or equal to the safe distance N, the tower crane works normally;
when the actual working distance is smaller than the safe distance N, the operation control system controls the lifting mechanism to carry out limit adjustment, and the position of the hoisted object is adjusted to the state that the actual working distance is larger than or equal to the safe distance N.
The application method of the control method of the multi-layer multi-arm tower crane is characterized in that the multi-layer multi-arm tower crane is used for carrying out coordinated hoisting operation on a plurality of material stacking points of a building site.
The application method of the control method of the multilayer multi-arm tower crane is characterized in that the multilayer multi-arm tower crane is used for lifting up and down the concrete block in the gravitational potential energy storage station:
when the electric power is sufficient, the concrete blocks are lifted from the lower part to the higher part to be stacked, and the electric energy is converted into the gravitational potential energy of the concrete blocks to be stored;
when the electric power is in shortage, the concrete blocks are put down from the high position, and the gravitational potential energy stored in the concrete blocks is converted into electric energy through the generator to be released. The technical scheme can well make up for the defect that new energy such as solar energy and wind energy is unstable in power generation, and the new energy is better combined into a power grid system to meet the power supply requirement.
The technical advantages of the invention are as follows:
the invention aims to solve the problem of how to accurately, efficiently, safely and reliably realize the lifting and placing work of materials on a construction site by operating a tower crane, so that the invention combines a data acquisition system with a tower crane control system to realize the digital and intelligent control of the tower crane, and discloses an intelligent and reliable control system to realize the lifting, amplitude variation and rotation actions of material lifting on the premise of ensuring the state safety of the tower crane so as to improve the working efficiency of the whole gravitational potential energy storage power generation.
Drawings
FIG. 1 is a composition distribution diagram of a tower crane of the invention, taking three layers of crane arms as an example;
FIG. 2 is a circuit diagram of the control system of the present invention;
FIG. 3 is a schematic diagram of a tower crane model coordinate system establishment method.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs, and all other embodiments obtained by one of ordinary skill in the art based on the embodiments of the present invention without making any creative effort fall within the protection scope of the present invention.
Examples 1,
A control system of a multi-layer multi-arm tower crane comprises: the multi-arm crane comprises a multi-layer multi-arm crane boom, a swing mechanism, a parallel hoisting mechanism, a parallel luffing mechanism, a data acquisition system and an operation control system. The multi-layer multi-arm tower crane is mainly applied to a building construction site, so that the material carrying efficiency of the building site is improved, and the construction period is shortened.
The height control method comprises the following steps:
judging whether the heights of the lifting objects of the crane booms on the same layer are consistent according to the height data of the lifting objects of the six crane booms obtained by a lifting displacement sensor in the data acquisition system:
when the heights of the hoisted objects are not consistent, the hoisting heights are adjusted by controlling the independent units of the hoisting mechanisms, so that the hoisting heights of the hoisted objects are ensured to be consistent;
when the heights of the hoisted objects are consistent, the main control unit is controlled to hoist the hoisted objects simultaneously;
the amplitude control method comprises the following steps:
when the block of the object to be hoisted acts, according to the national standard of GB/T5031-2008 tower crane, the horizontal static displacement of the hinge point of the tower crane arm root is not more than 1.34H/100 under the action of rated load of the tower crane. According to the standard specification, the horizontal static displacement of the top end of the tower body of the tower crane along any cargo boom direction is less than or equal to 1.34H/100, wherein H is the distance from the hinged point of the arm root of each layer of cargo boom to the ground;
when a pair of crane arms on the same layer hoist objects simultaneously, the amplitude displacement distance of the crane arms on two sides and the weight of hoisted heavy objects should satisfy the following relationship:
wherein, B1、B2Respectively the amplitude variation displacement on the crane boom, G is the gravity borne by the suspended object, m1And m2The mass of the object hung on the two sides; e is the elastic modulus of the tower body material; i is respectively the inertia moment of the section of the tower body; h is the distance from the hinged point of the arm root of each layer of the crane arm to the ground.
Judging whether the amplitude position of the amplitude trolley of the crane boom in the same layer is within a safe distance according to the displacement data of the amplitude trolley of the six crane booms and the weight data of the hung object, which are obtained by an amplitude displacement sensor in the data acquisition system:
when the amplitude of the amplitude-variable trolley exceeds the safe distance, the amplitude is adjusted by controlling the independent units of the amplitude-variable mechanism, so that the position relation of heavy objects hung by the two amplitude-variable trolleys is ensured to be within a safe range;
the rotation angle control method comprises the following steps:
a. establishing a tower crane model coordinate system and a rotation model coordinate system:
taking the intersection point of the ground plane and the central line of the tower body as a coordinate origin O, taking the eastern direction as the positive direction of the X axis, taking the northern direction as the positive direction of the Y axis, and taking the upward direction vertical to the ground as the positive direction of the Z axis;
the XOY plane is a rotary model coordinate system;
b. determining an anti-collision safety model of a tower crane hook steel wire rope and a crane boom:
in a tower crane model coordinate system, respectively projecting the central lines of the three layers of crane arms to an XOY plane of a rotary model coordinate system to generate three straight lines A1, A2 and A3 passing through an origin;
recording the included angle between the straight line A1 and the positive direction of the X axis as theta 1, the included angle between the straight line A2 and the positive direction of the X axis as theta 2, the included angle between the straight line A3 and the positive direction of the X axis as theta 3, and the included angle range of 0-180 degrees, and respectively recording the distances from the amplitude position of the amplitude variation trolley on the three layers of lifting arms to the Z axis as a1, a2 and A3; the included angle theta is acquired by a rotary angle sensor, and the amplitude a is acquired by a variable amplitude displacement sensor;
determining the safe distance L between the lifting hook of any one layer and the lifting arm of any different layer:
safe distance L21 between the hook of the second floor and the boom of the first floor:
safe distance L31 between the hook of the third layer and the boom of the first layer:
safe distance L32 between hook of the third layer and boom of the second layer:
the safe distance L can be a reasonable range value selected according to different site construction environments;
c. anti-collision safety model for determining each lifting hook of tower crane and barriers below lifting hook
In a tower crane model coordinate system, recording the real-time distance from the amplitude variation trolley to an obstacle on the ground below the amplitude variation trolley as h1The distance from the amplitude variation trolley to the lifting hook is h2
Determining the safe distance between each lifting hook of the tower crane and the obstacle below the lifting hook as follows:
N＝h1-(h2+ α), where α is the height of the suspended object;
the safe distance N can be selected to be a reasonable range value according to different site construction environments.
Examples 2,
The control system of the multi-layer multi-arm tower crane in the embodiment 1 controls the multi-layer multi-arm tower crane, and the method comprises the following steps: the lifting, rotating and amplitude-changing actions comprehensive control method comprises the following steps:
d. determining the working position of a tower crane hook
In the tower crane model coordinate system, each hoisting object has two positions of hoisting and placing:
the lifting position W1 (x)1,y1,z1) Placement position W2 (x)2,y2,z2)；
The tower crane lifts and places a lifting object by controlling three variables of the height, the amplitude and the rotation angle of the lifting hook: completing the hoisting work from the lifting position to the placing position or from the placing position to the lifting position;
the (x, y) of the W1 and W2 positions to be reached by the lifting hook is determined by the rotation angle of the tower crane and the variation amplitude of the amplitude-variable trolley, and the z is determined by the lifting height of the tower crane; the position information is acquired by the height sensor, the amplitude sensor and the rotary angle sensor and calculated in the operation control system.
e. Controlling operating logic
When the tower crane controls the lifting hook to finish the lifting work from the lifting position to the placing position or from the placing position to the lifting position, the tower crane firstly adjusts the rotation angle and then sequentially adjusts the height and the amplitude of the lifting hook, after the lifting hook starts to lift, the tower crane firstly determines the rotation angle of the tower crane according to (x, y) of the next position, after the rotation angle is determined, the rotation mechanism of the tower crane does not act any more, and only the height and the amplitude of the lifting hook are adjusted to finish the lifting work;
when the slewing mechanisms of one or two layers of the crane booms do not act any more, the remaining two or one layer of the crane booms lift the lifting hook to the highest position, and the collision between the remaining crane booms and the unmoved crane boom is ensured when the remaining crane booms perform slewing action. When the layer of crane boom lifting hook is lifted to the highest position, the anti-collision safety model of the tower crane lifting hook steel wire rope and the crane boom does not take effect any more, and the layer of crane boom can freely rotate.
Examples 3,
The control method of the multi-tier multi-arm tower crane according to embodiment 2, further comprising: the method comprises the following steps of applying tower crane state parameters acquired by data acquisition devices such as a height sensor, an amplitude sensor, a rotation angle sensor, a laser range finder and the like to a calculation formula of a safety distance L between crane arms and a calculation formula of a safety distance N between a lifting hook and an obstacle, taking a calculated value as an actual working distance of the tower crane, and determining the anti-collision function of each lifting hook steel wire rope and the crane arm and the anti-collision function of each lifting hook and the obstacle below the lifting hook of the tower crane by comparing the actual working distance with a specified safety working distance:
a. anti-collision function of each lifting hook steel wire rope and lifting arm of tower crane
When the actual working distance is greater than or equal to the safety distance L, the tower crane works normally;
when the actual working distance is less than the safety distance L, there are two cases:
firstly, in the running process of two layers of crane booms to be interfered, the rotation angle of an accurate hoisting position (x, y) is not determined, and at the moment, the running control system can adjust the included angle between the two layers of crane booms by controlling any layer of rotation mechanism, so that the actual working distance is controlled within a safe range;
secondly, one layer of the two layers of crane booms to be interfered determines the rotation angle of the accurate hoisting position (x, y), and the layer of crane boom which does not determine the rotation angle needs to control a rotation mechanism to adjust the included angle between the two layers of crane booms to achieve the safety distance; and the crane boom at the hoisting position to be determined finishes hoisting, the crane boom at the non-determined hoisting position carries out hoisting, and the crane boom finishing the hoisting needs to control the slewing mechanism to adjust the included angle between the two crane booms to always keep a safe distance.
b. Anti-collision function of each lifting hook of tower crane and barrier below lifting hook
When the actual working distance is greater than or equal to the safe distance N, the tower crane works normally;
when the actual working distance is smaller than the safe distance N, the operation control system controls the lifting mechanism to carry out limit adjustment, and the position of the hoisted object is adjusted to the state that the actual working distance is larger than or equal to the safe distance N.
Examples 4,
The invention provides a method for storing energy by gravitational potential energy, which is applied to the field of building construction for vertical transportation of building materials and can be applied to the background of a new energy power generation technology for storing energy by gravitational potential energy. And on the site of the gravitational potential energy storage station, thousands of concrete blocks are hoisted up and down by using the multilayer multi-arm tower crane. When the electric power is sufficient, the concrete blocks are lifted from the lower part to the higher part to be stacked, and the electric energy is converted into the gravitational potential energy of the concrete blocks to be stored; when the electric power is in shortage, the concrete blocks are put down from the high position, and the gravitational potential energy stored in the concrete blocks is converted into electric energy through the generator to be released, so that the aim of storing and releasing the electric power is fulfilled.
A control system and a control method of a multi-layer multi-arm tower crane provide a hoisting and placing control method of an energy storage concrete block for a gravitational potential energy storage power plant, and specifically comprise the following steps:
when the multi-layer multi-arm tower crane for gravitational potential energy storage is used for energy storage and discharge, the lifting height of the crane arms on two sides of the same layer is consistent with the change amplitude of the trolley when each layer of crane arm lifts an energy storage concrete block.
The invention aims at the rotation angle control of each layer of the tower crane which is preferably carried out by the gravitational potential energy storage technology:
a. establishing a tower crane model coordinate system and a rotation model coordinate system:
taking the intersection point of the ground plane and the central line of the tower body as a coordinate origin O, taking the eastern direction as the positive direction of the X axis, taking the northern direction as the positive direction of the Y axis, and taking the upward direction vertical to the ground as the positive direction of the Z axis;
the XOY plane is a rotary model coordinate system;
b. determining an anti-collision safety model of a tower crane hook steel wire rope and a crane boom:
in a tower crane model coordinate system, respectively projecting the central lines of the three layers of crane arms to an XOY plane of a rotary model coordinate system to generate three straight lines A1, A2 and A3 passing through an origin;
recording the included angle between the straight line A1 and the positive direction of the X axis as theta 1, the included angle between the straight line A2 and the positive direction of the X axis as theta 2, the included angle between the straight line A3 and the positive direction of the X axis as theta 3, and the included angle range of 0-180 degrees, and respectively recording the distances from the amplitude position of the amplitude variation trolley on the three layers of lifting arms to the Z axis as a1, a2 and A3; the included angle theta is acquired by a rotary angle sensor, and the amplitude a is acquired by a variable amplitude displacement sensor;
determining the safe distance L between the lifting hook of any one layer and the lifting arm of any different layer:
safe distance L21 between the hook of the second floor and the boom of the first floor:
safe distance L31 between the hook of the third layer and the boom of the first layer:
safe distance L32 between hook of the third layer and boom of the second layer:
the safe distance L can be selected to be a reasonable range value according to different site construction environments and different sizes of the energy storage concrete blocks. And determining the safety distance L to ensure that the mutual interference phenomenon cannot occur when each layer of crane boom is hoisted.
The invention aims at the anti-collision safety model of each lifting hook and the obstacle below the lifting hook of the tower crane, which is preferably determined by the gravitational potential energy storage technology:
in a tower crane model coordinate system, recording the real-time distance from the amplitude variation trolley to an obstacle on the ground below the amplitude variation trolley as h1The distance from the amplitude variation trolley to the lifting hook is h2
Determining the safe distance between each lifting hook of the tower crane and the obstacle below the lifting hook as follows:
N＝h1-(h2+ α), where α is the height of the suspended object.
The safe distance N can be a reasonable range value selected according to different site construction environments and different sizes of the energy storage concrete blocks. The safety distance N is determined to ensure that the hoisted concrete blocks do not collide with the concrete blocks stacked below.
Examples 5,
As embodiment 4, this embodiment provides an energy storage concrete block hoisting control logic:
a. establishing a working space coordinate system of an energy storage field
Establishing a tower crane action model space rectangular coordinate system by taking the intersection point of the ground plane and the central line of the tower body as a coordinate origin O ', taking the south-righting direction as the positive direction of an X' axis, taking the east-righting direction as the positive direction of a Y 'axis and taking the upward direction vertical to the ground as the positive direction of a Z' axis;
b. determining the working position of a tower crane hook
In the space rectangular coordinate system, each hoisting object has two positions of hoisting and placing, namely a hoisting position W1(x '1, y' 1, z '1) and a placing position W2 (x' 2, y '2, z' 2); the tower crane lifts and places the concrete block by controlling three variables of height, amplitude and rotation angle of the lifting hook to finish the lifting work from a lifting position to a placing position or from the placing position to the lifting position;
the (x ', y ') of the W1 and W2 positions to be reached by the lifting hook is determined by the rotation angle of the tower crane and the variation amplitude of the amplitude-variable trolley, and the z ' is determined by the lifting height of the tower crane; the position information is acquired by the height sensor, the amplitude sensor and the rotary angle sensor and calculated in the operation control system.
When the tower crane controls the lifting hook to finish the lifting work from the lifting position to the placing position or from the placing position to the lifting position, the tower crane firstly adjusts the rotation angle and then sequentially adjusts the height and the amplitude of the lifting hook, after the lifting hook starts to lift, the tower crane firstly determines the rotation angle of the tower crane according to (x, y) of the next position, after the rotation angle is determined, the rotation mechanism of the tower crane does not act any more, and only the height and the amplitude of the lifting hook are adjusted to finish the lifting work;
in the working space coordinate system of the energy storage field, the distance between three different lifting positions (x '1, y' 1) of each layer of three layers of crane booms which are responsible for lifting the concrete block is greater than the safety distance L; the distance between three different placing positions (x '2 and y' 2) of each layer of the three-layer crane arm for hoisting the concrete block is greater than the safety distance L. After the safe distance of each layer of the crane boom is adjusted, the positioning of the final lifting position or the placing position is not influenced.
The control logic method further comprises: the method comprises the following steps of applying tower crane state parameters acquired by data acquisition devices such as a height sensor, an amplitude sensor, a rotation angle sensor, a laser range finder and the like to a calculation formula of a safety distance L between crane arms and a calculation formula of a safety distance N between a lifting hook and an obstacle, taking a calculated value as an actual working distance of the tower crane, and determining the anti-collision function of each lifting hook steel wire rope and the crane arm and the anti-collision function of each lifting hook and the obstacle below the lifting hook of the tower crane by comparing the actual working distance with a specified safety working distance:
anti-collision function of each lifting hook steel wire rope and lifting arm of tower crane
Based on each layer of jib loading boom hoist and mount play to rise the position and place the position and can not take place the mutual interference phenomenon, the anticollision function of each lifting hook wire rope of tower machine and jib loading boom only revolves at the tower machine, and the in-process of looking for the (x, y) of hoist and mount position is effective:
when the actual working distance is greater than or equal to the safety distance L, the tower crane works normally;
when the actual working distance is less than the safety distance L, the operation control system adjusts the rotation angle by controlling the rotation mechanism, and adjusts the position of the hoisted object until the actual working distance is greater than or equal to the safety distance L;
anti-collision function of each lifting hook of tower crane and barrier below the lifting hook
When the actual working distance is greater than or equal to the safe distance N, the tower crane works normally;
when the actual working distance is smaller than the safe distance N, the operation control system controls the lifting mechanism to carry out limit adjustment, and the position of the hoisted object is adjusted to the state that the actual working distance is larger than or equal to the safe distance N.
As shown in fig. 1, the positions of each component of the tower crane are as follows: the device comprises a tower body position 1, a first layer of crane boom position 2, a second layer of crane boom position 3, a parallel luffing mechanism position 4, a third layer of crane boom position 5, a luffing trolley position 6, an operation control system position 7, a parallel hoisting mechanism position 8 and a slewing mechanism position 9.
The first layer of crane boom, the second layer of crane boom and the third layer of crane boom are all upwards arranged at the upper end of the tower body in sequence by taking the tower body as a support. The tower crane applied to gravitational potential energy storage controls the parallel luffing mechanism 500, the parallel hoisting mechanism 400 and the swing mechanism 300 at the upper end of the three-layer crane boom respectively under the control of the operation control system 100, so that the hoisting, the swing and the luffing actions of the three-layer crane boom are realized, the three-layer crane boom can perform cooperative operation without mutual interference, and the operation efficiency is greatly improved.
As shown in fig. 2, the circuit connection diagram of the control system according to the present invention includes the connection relationship among the operation control system 100, the data acquisition system 200, the swing mechanism 300, the parallel hoisting mechanism 400, and the parallel luffing mechanism 500.
The operation control system 100 includes: a general control unit 110 and an independent control unit 120. The main control unit 110 is used for controlling the hoisting mechanism and the luffing mechanism of the same crane boom to act in a unified way; the independent control unit 120 is used for independently adjusting the actions of the hoisting mechanism and the luffing mechanism of each crane boom, so that the height and amplitude difference of the objects hoisted by the crane booms at two sides are within a safe range.
The data acquisition system 200 includes: a lifting displacement sensor 210, a luffing displacement sensor 220, a gyration angle sensor 230, a weight sensor 240, a laser range finder 250 and an anemometer 260.
The data acquisition system 200 is used for acquiring real-time data under the working state of the tower crane and transmitting the real-time data to the operation control system 100, and the operation control system 100 scientifically and effectively controls the tower crane by means of the data acquired by the data acquisition system;
the laser range finder 250 is installed on one side of the amplitude variation trolley and is used for measuring the real-time distance between the amplitude variation trolley and an obstacle on the ground below the amplitude variation trolley. The purpose of setting up laser range finder is in order to require that the ray that laser range finder sent can not be sheltered from by the object of lifting by crane, influence the truth of data acquisition.
The anemoscope 260 is installed at the top of the tower crane without wind shielding and is used for collecting the wind speed of the surrounding environment of the tower crane in real time.
The slewing mechanism 300 is used for driving the slewing tower body of each stage to independently perform slewing actions: each level of the rotary tower body is provided with a rotary angle sensor which is used for collecting the rotary angle amount of the rotary tower body in real time;
the parallel hoisting mechanism 400 is configured to: the method comprises the following steps that a tower crane is driven to perform lifting action, each crane arm is provided with a lifting mechanism, a lifting displacement sensor is arranged at a winch of the lifting mechanism, and the lifting displacement sensor is used for collecting lifting displacement in real time; two hoisting mechanisms positioned on the same layer of the crane boom are respectively provided with an independent control unit and a master control unit, the independent control units independently control the hoisting mechanisms, and the master control unit on the same layer controls the independent control units on the same layer;
the parallel horn 500 is configured to: the tower crane is driven to perform amplitude variation action, each crane arm is provided with an amplitude variation mechanism, an amplitude variation displacement sensor is arranged on the amplitude variation mechanism, and the amplitude variation displacement sensor is used for acquiring amplitude variation displacement in real time;
and a weight sensor 240 is arranged for collecting the weight of the heavy object lifted by each crane arm in real time. The two luffing mechanisms on the same layer are provided with an independent control unit and a master control unit, the independent control unit independently controls the luffing mechanisms, and the master control unit controls the independent control unit.
Claims (8)
1. A control system for a multi-tier multi-arm tower crane, comprising: the multi-arm crane comprises a multi-layer multi-arm crane boom, a swing mechanism, a parallel hoisting mechanism, a parallel luffing mechanism, a data acquisition system and an operation control system;
the multi-layer multi-arm crane boom comprises a plurality of layers of mechanisms, each layer of mechanism comprises a pair of crane booms with an included angle of 180 degrees, a multi-stage rotary tower body is arranged at the top end of the tower body of the tower crane, the number of stages of the rotary tower body corresponds to the number of layers of the multi-layer mechanisms, and the crane boom arranged on each layer is connected to the rotary tower bodies on the same level;
the slewing mechanism is used for: the rotary tower body of each stage is driven to independently perform rotary action: each level of the rotary tower body is provided with a rotary angle sensor which is used for collecting the rotary angle amount of the rotary tower body in real time;
the parallel hoisting mechanism is used for: the method comprises the following steps that a tower crane is driven to perform lifting action, each crane arm is provided with a lifting mechanism, a lifting displacement sensor is arranged at a winch of the lifting mechanism, and the lifting displacement sensor is used for collecting lifting displacement in real time; two hoisting mechanisms positioned on the same layer of the crane boom are respectively provided with an independent control unit and a master control unit, the independent control units independently control the hoisting mechanisms, and the master control unit on the same layer controls the independent control units on the same layer;
the parallel luffing mechanism is used for: the tower crane is driven to perform amplitude variation action, each crane arm is provided with an amplitude variation mechanism, an amplitude variation displacement sensor is arranged on the amplitude variation mechanism, and the amplitude variation displacement sensor is used for acquiring amplitude variation displacement in real time; meanwhile, a weight sensor is arranged for acquiring the weight of the heavy object lifted by each crane arm in real time; the two luffing mechanisms positioned on the same layer are provided with an independent control unit and a master control unit, the independent control unit independently controls the luffing mechanisms, and the master control unit controls the independent control unit;
the data acquisition system comprises a lifting displacement sensor, an amplitude displacement sensor, a weight sensor and a rotation angle sensor;
the operation control system is used for controlling the lifting, rotating and amplitude changing actions of the tower crane, and the crane arms on each layer do not interfere with each other when acting together.
2. The control system of a multi-tier multi-arm tower crane according to claim 1, wherein the data acquisition system further comprises: a laser range finder; the laser range finder is arranged on one side of the amplitude variation trolley and used for measuring the real-time distance between the amplitude variation trolley and an obstacle on the ground below the amplitude variation trolley.
3. The control system of the multi-layer multi-arm tower crane according to claim 1, wherein the data acquisition system further comprises an anemometer installed at the top of the tower crane without wind shielding for acquiring the wind speed of the environment around the tower crane in real time.
4. A method of controlling a multi-tier multi-arm tower crane, the method comprising:
the height control method comprises the following steps:
judging whether the heights of the lifting objects of the crane booms on the same layer are consistent according to the height data of the lifting objects of the six crane booms obtained by a lifting displacement sensor in the data acquisition system:
when the heights of the hoisted objects are not consistent, the hoisting heights are adjusted by controlling the independent units of the hoisting mechanisms, so that the hoisting heights of the hoisted objects are ensured to be consistent;
when the heights of the hoisted objects are consistent, the main control unit is controlled to hoist the hoisted objects simultaneously;
the amplitude control method comprises the following steps:
when an object is hoisted by a pair of crane arms on the same layer, the amplitude displacement distance of the crane arms on two sides and the weight of a hoisted heavy object meet the following relationship:
wherein, B1、B2Respectively the amplitude variation displacement on the crane boom, G is the gravity borne by the suspended object, m1And m2The mass of the object hung on the two sides; e is the elastic modulus of the tower body material; i is respectively the inertia moment of the section of the tower body; h is the distance from the root hinge point of each layer of crane boom to the ground;
judging whether the amplitude position of the amplitude trolley of the crane boom in the same layer is within a safe distance according to the displacement data of the amplitude trolley of the six crane booms and the weight data of the hung object, which are obtained by an amplitude displacement sensor in the data acquisition system:
when the amplitude of the amplitude-variable trolley exceeds the safe distance, the amplitude is adjusted by controlling the independent units of the amplitude-variable mechanism, so that the position relation of heavy objects hung by the two amplitude-variable trolleys is ensured to be within a safe range;
the rotation angle control method comprises the following steps:
a. establishing a tower crane model coordinate system and a rotation model coordinate system:
taking the intersection point of the ground plane and the central line of the tower body as a coordinate origin O, taking the eastern direction as the positive direction of the X axis, taking the northern direction as the positive direction of the Y axis, and taking the upward direction vertical to the ground as the positive direction of the Z axis;
the XOY plane is a rotary model coordinate system;
b. determining an anti-collision safety model of a tower crane hook steel wire rope and a crane boom:
in a tower crane model coordinate system, respectively projecting the central lines of the three layers of crane arms to an XOY plane of a rotary model coordinate system to generate three straight lines A1, A2 and A3 passing through an origin;
recording the included angle between the straight line A1 and the positive direction of the X axis as theta 1, the included angle between the straight line A2 and the positive direction of the X axis as theta 2, the included angle between the straight line A3 and the positive direction of the X axis as theta 3, and the included angle range of 0-180 degrees, and respectively recording the distances from the amplitude position of the amplitude variation trolley on the three layers of lifting arms to the Z axis as a1, a2 and A3; the included angle theta is acquired by a rotary angle sensor, and the amplitude a is acquired by a variable amplitude displacement sensor;
determining the safe distance L between the lifting hook of any one layer and the lifting arm of any different layer:
safe distance L21 between the hook of the second floor and the boom of the first floor:
safe distance L31 between the hook of the third layer and the boom of the first layer:
safe distance L32 between hook of the third layer and boom of the second layer:
the safe distance L is a reasonable range value which is selected according to different site construction environments;
c. anti-collision safety model for determining each lifting hook of tower crane and barriers below lifting hook
In a tower crane model coordinate system, recording the real-time distance from the amplitude variation trolley to an obstacle on the ground below the amplitude variation trolley as h1The distance from the amplitude variation trolley to the lifting hook is h2
Determining the safe distance between each lifting hook of the tower crane and the obstacle below the lifting hook as follows:
N＝h1-(h2+ α), where α is the height of the suspended object;
the safe distance N is a reasonable range value which is selected according to different site construction environments.
5. Method for controlling a multi-tier multi-arm tower crane according to claim 4, characterized in that it comprises: the lifting, rotating and amplitude-changing actions comprehensive control method comprises the following steps:
d. determining the working position of a tower crane hook
In the tower crane model coordinate system, each hoisting object has two positions of hoisting and placing:
the lifting position W1 (x)1,y1,z1) Placement position W2 (x)2,y2,z2)；
The tower crane lifts and places a lifting object by controlling three variables of the height, the amplitude and the rotation angle of the lifting hook: completing the hoisting work from the lifting position to the placing position or from the placing position to the lifting position;
the (x, y) of the W1 and W2 positions to be reached by the lifting hook is determined by the rotation angle of the tower crane and the variation amplitude of the amplitude-variable trolley, and the z is determined by the lifting height of the tower crane;
e. controlling operating logic
The tower crane firstly adjusts the rotation angle and then sequentially adjusts the height and the amplitude of the lifting hook;
and when the slewing mechanisms of one or two layers of the lifting arms do not act any more, the remaining two or one layer of the lifting arms lift the lifting hook to the highest position.
6. The method of controlling a multi-tier multi-arm tower crane according to claim 4, characterized in that it further comprises: the method comprises the following steps of applying tower crane state parameters acquired by data acquisition devices such as a height sensor, an amplitude sensor, a rotation angle sensor, a laser range finder and the like to a calculation formula of a safety distance L between crane arms and a calculation formula of a safety distance N between a lifting hook and an obstacle, taking a calculated value as an actual working distance of the tower crane, and determining the anti-collision function of each lifting hook steel wire rope and the crane arm and the anti-collision function of each lifting hook and the obstacle below the lifting hook of the tower crane by comparing the actual working distance with a specified safety working distance:
a. anti-collision function of each lifting hook steel wire rope and lifting arm of tower crane
When the actual working distance is greater than or equal to the safety distance L, the tower crane works normally;
when the actual working distance is less than the safety distance L, there are two cases:
firstly, in the running process of two layers of crane booms to be interfered, the rotation angle of an accurate hoisting position (x, y) is not determined, and at the moment, the running control system can adjust the included angle between the two layers of crane booms by controlling any layer of rotation mechanism, so that the actual working distance is controlled within a safe range;
secondly, one layer of the two layers of crane booms to be interfered determines the rotation angle of the accurate hoisting position (x, y), and the layer of crane boom which does not determine the rotation angle needs to control a rotation mechanism to adjust the included angle between the two layers of crane booms to achieve the safety distance; hoisting the crane boom with the determined hoisting position, and then hoisting the crane boom with the undetermined hoisting position, wherein the crane boom with the completed hoisting needs to control a slewing mechanism to adjust the included angle between the two crane booms to always keep a safe distance;
b. anti-collision function of each lifting hook of tower crane and barrier below lifting hook
When the actual working distance is greater than or equal to the safe distance N, the tower crane works normally;
when the actual working distance is smaller than the safe distance N, the operation control system controls the lifting mechanism to carry out limit adjustment, and the position of the hoisted object is adjusted to the state that the actual working distance is larger than or equal to the safe distance N.
7. The application method of the control method of the multi-layer multi-arm tower crane according to claim 4, characterized in that the multi-layer multi-arm tower crane is used for carrying out coordinated hoisting operation on a plurality of material stacking points of a building site.
8. The application method of the control method of the multi-layer multi-arm tower crane as claimed in claim 4, wherein the multi-layer multi-arm tower crane is used for hoisting the concrete block in the gravitational potential energy storage station up and down:
when the electric power is sufficient, the concrete blocks are lifted from the lower part to the higher part to be stacked, and the electric energy is converted into the gravitational potential energy of the concrete blocks to be stored;
when the electric power is in shortage, the concrete blocks are put down from the high position, and the gravitational potential energy stored in the concrete blocks is converted into electric energy through the generator to be released.
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Application publication date: 20201027 |