CN112897340A - Crane multi-hook synchronous control system and method based on hydraulic winch - Google Patents

Crane multi-hook synchronous control system and method based on hydraulic winch Download PDF

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Publication number
CN112897340A
CN112897340A CN202110042690.7A CN202110042690A CN112897340A CN 112897340 A CN112897340 A CN 112897340A CN 202110042690 A CN202110042690 A CN 202110042690A CN 112897340 A CN112897340 A CN 112897340A
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China
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hydraulic
lifting
hook
wire rope
hoisting
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CN202110042690.7A
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CN112897340B (en
Inventor
杜小刚
张光明
王鹏
郭吉祥
杨宜永
张添程
王栋
谭凯威
曹翠
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China Railway 11th Bureau Group Co Ltd
China Railway 11th Bureau Group Hanjiang Heavy Industry Co Ltd
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China Railway 11th Bureau Group Co Ltd
China Railway 11th Bureau Group Hanjiang Heavy Industry Co Ltd
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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
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/08—Driving gear incorporating fluid motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/44—Control devices non-automatic pneumatic of hydraulic
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/22—Synchronisation of the movement of two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The invention provides a crane multi-hook synchronous control system based on hydraulic winch, wherein an encoder for measuring the winding turns of a winding drum and an overspeed switch for monitoring whether the rotating speed of the winding drum exceeds the limit are arranged on an output shaft of the winding drum, and a steel wire rope layer measuring sensor for measuring the current winding diameter of a steel wire rope is also arranged on the winding drum; the control center is connected with a hydraulic power control device, a motor speed measuring sensor, a braking state monitoring sensor, an encoder and a steel wire rope layer measuring sensor, and the hydraulic power control device is used for controlling hydraulic power output so as to further control the rotating speed of the hydraulic motor. The system has the characteristics of simple operation, safety, reliability and stable operation. The system can integrate and consider the machine, electricity and liquid, carries out all-dimensional monitoring on various parameters of the operation of the hoisting mechanism and the hydraulic system, and realizes the closed-loop control of the lifting height and the speed of the hydraulic lifting mechanism.

Description

Crane multi-hook synchronous control system and method based on hydraulic winch
Technical Field
The invention provides a crane multi-hook synchronous control system and a crane multi-hook synchronous control method based on hydraulic winch, and belongs to the technical field of engineering machinery electro-hydraulic control.
Background
With the advance of science and technology development infrastructure construction, in the jack-up trade, because jack-up object weight or volume are too big, need many hoisting equipment linkages to promote moving object, traditional rope handling hoist and mount of single hoist has can't satisfy the requirement. Therefore, more and more devices need a plurality of winches to assist hoisting, and are influenced by various factors such as a hydraulic system, structural part difference and friction force, the traditional equal variable control (inputting the same control signal) is adopted to hardly ensure that the winches release or withdraw the steel wire ropes with the same length in unit time, the different rope output/rope withdrawing amounts can cause the inclination of the lifting hook, the abrasion of the steel wire ropes and the pulley block, and accidents are caused.
The synchronous control method has the advantages that the synchronous speed synchronization between hoisting frequency converter mechanisms is required in the synchronous linkage process of the multiple hoisting frequency converters, the control is accurate, the mutual coordination is realized, and the current synchronous control of the multiple hoisting frequency converters mainly adopts the following scheme: firstly, the method comprises the following steps: the multi-stay rope mechanical transmission connection mode realizes multi-stay rope on the same driving mechanism through a mechanical winding mode so as to control the synchronous lifting of the multi-hook. However, the scheme requires large hoisting and traction output power, the hoisting hooks are easily limited by distance, and meanwhile, the hoisting hooks are independent and are complicated to switch in linkage control, the synchronous control operation is complex, and the control precision cannot be guaranteed.
And secondly, in a synchronous card or PLC + frequency converter mode, the synchronous card or PLC acquires encoder signals of each hoisting traction motor, takes the speed of a main hoisting drive motor as a target, performs complex error calculation inside the synchronous card or PLC to obtain the synchronous frequency of each slave hoisting frequency converter, and outputs the synchronous frequency to each hoisting frequency converter as frequency setting in a communication or analog quantity mode to realize synchronous control of each hoisting traction motor. In the scheme, on one hand, a synchronous card or a PLC needs to be additionally arranged, the equipment cost is high, in addition, the high-speed pulse input resource of the synchronous card or the PLC is limited, the number of the hoisting frequency converters is limited (generally, double hoisting frequency converters are synchronous), in addition, the pulse error calculation coding is complex, the calculation result needs to be output to the slave hoisting frequency converter in a communication or analog quantity mode, the slave hoisting frequency converter responds to the input synchronous frequency, a certain response delay time exists in the process, and the synchronous control precision of the master hoisting frequency converter and the slave hoisting frequency converter is greatly influenced.
The existing crane adopts a winch additional counter to control double-winch synchronization, although the application is wide in reality, the system has high requirements on external conditions, and the following three requirements are met simultaneously to ensure the normal operation of the system:
(1) before the synchronous mode is started, the lifting hook must be manually adjusted to be horizontal, the counter measures a pulse signal, the controller cannot record the rope outlet state of the winch after power failure, and the system cannot judge the initial inclination degree of the lifting hook; (2) the diameters of the winding drums of the two winches must be equal, if the diameters of the winding drums exceed a specified value, deviation can be accumulated every time the winches rotate for one circle, and the lifting hook can be inclined after the number of rotation turns is increased; (3) the diameter and the length of the steel wire rope must be equal, the rope output/rope collection amount of the two winches rotating at the same angle can be equal only by the method, and the situation that the diameter of the steel wire rope is different is likely to occur under the working condition that one winch is used for a long time and then the two winches are used. In this case, the original scheme cannot be adopted to control the winch synchronization.
In summary, in most of the existing multi-hook cranes based on hydraulic hoists, the synchronism is established on the basis of manual intervention or indirect open-loop speed adjustment, the stability and safety of the hoisting mechanism in the operation process cannot be really and effectively realized, the operation adjustment is complex, and the operation efficiency is not high.
Disclosure of Invention
The invention solves the defects in the prior art and provides the crane multi-hook synchronous control system based on the hydraulic winch, and the system has the characteristics of simple operation, safety, reliability and stable operation. The system can integrate and consider the machine, electricity and liquid, carries out all-dimensional monitoring on various parameters of the operation of the hoisting mechanism and the hydraulic system, and realizes the closed-loop control of the lifting height and the speed of the hydraulic lifting mechanism.
The technical scheme adopted for realizing the above purpose of the invention is as follows:
a multi-hook synchronous control system of a crane based on hydraulic hoisting at least comprises a control center, a hydraulic power station, a hydraulic power control device, a hydraulic pipeline and two or more hoisting-hook units, wherein the hydraulic power station outputs hydraulic power and drives all the hoisting-hook units to operate, the hoisting-hook unit comprises a hydraulic motor, a speed reducer, a winding drum, a caliper disc brake, a steel wire rope, a pulley block and a hanger, a motor speed measuring sensor for monitoring the running speed and position of the lifting mechanism is arranged on the hydraulic motor, a brake state monitoring sensor for monitoring whether the running state of the hoisting mechanism is normal is arranged on the caliper disc brake, an encoder for measuring the winding number of turns of the winding drum and an overspeed switch for monitoring whether the rotating speed of the winding drum exceeds the limit are arranged on an output shaft of the winding drum, and a steel wire rope layer measuring sensor for measuring the current winding diameter of the steel wire rope is also arranged on the winding drum; the control center is connected with a hydraulic power control device, a motor speed measuring sensor, a braking state monitoring sensor, an encoder and a steel wire rope layer measuring sensor, and the hydraulic power control device is used for controlling hydraulic power output so as to further control the rotating speed of the hydraulic motor.
The hydraulic power control device is used for controlling starting and stopping of an engine and a motor in the hydraulic power station and controlling rotating speed and simultaneously controlling the discharge capacity of a hydraulic pump in the hydraulic power station, and particularly comprises a pump station control valve located in the hydraulic power station, a hydraulic motor control valve located in a winch-hook unit and a control valve located in a caliper disc brake.
The encoder is a multi-turn absolute value type encoder, is arranged at the output shaft end of a winding drum of the hoisting-hook unit and synchronously runs along with the winding drum, and the encoder mounting bracket is connected with the base of the hoisting machine.
The invention also provides a synchronous control method of the crane multi-hook synchronous control system based on the hydraulic winch, which comprises the following steps:
(1) grouping each hoisting-lifting hook unit, namely a lifting hook group 1 and a lifting hook group 2 … …, namely a lifting hook group N (N is more than or equal to 2), and setting the initial height of each lifting hook to be consistent;
(2) in the hoisting process, the number of winding turns of the steel wire rope on the winding drum is calculated by installing an encoder (the number of metering turns on the current layer number is Nn) And the current winding diameter d of the steel wire rope on the winding drum is measured and calculated by a steel wire rope layer measuring sensornThe control center calculates the extension length L ═ of the steel wire rope according to the data of the encoder and the steel wire rope layer-measuring sensor*d1*N1+...π*dn*Nn) (ii) a Setting the multiplying power of a pulley block in the winch-hook unit to be K, setting the real-time height of a lifting appliance in the lifting hook group to be H ═ L/K, and setting the real-time height of the lifting appliance in the lifting hook group 1 and the lifting hook group 2 … … to be H1、H2……HN；
(3) The control center calculates the real-time height H of the lifting appliance according to the calculated height H1、H2……HNFurther determining H therefrommaxAnd HminAnd storing the data;
(4) in the lifting process of the lifting hook group, all the lifting hook groups are lifted by HmaxFor reference, closed-loop PID adjustment is carried out to realize multi-hook synchronous control, and the specific adjustment method is as follows: combining every two winches, then lifting all the winches together, comparing the height difference of all the winches with the height difference of the lifting height, determining a proportionality coefficient P by an attempt method, drawing a difference curve until the difference changes within an allowable range, and then testing parameters I and D one by one;
(5) in the process of lifting and descending the lifting hook groups, all the lifting hook groups are all in the shape of HminFor reference, closed-loop PID adjustment is carried out to realize multi-hook synchronous control, and the specific adjustment method is as follows: combining every two winches, descending all the winches together, descending a certain height difference, comparing the height difference of all the winches with the height difference of the lifting height, determining a proportionality coefficient P by an attempt method, drawing a difference curve until the difference changes within an allowable range, and testing parameters I and D one by one.
Compared with the prior art, the technical scheme provided by the invention has the following advantages: the system can integrate and consider the machine, electricity and liquid, carries out all-dimensional monitoring on various parameters of the operation of the hoisting mechanism and the hydraulic system, realizes the closed-loop control of the lifting height and the lifting speed of the hydraulic hoisting mechanism, and can realize the safe and efficient control of the hoisting mechanism of the crane by only selecting an operation mode by an operator. Various safety protection and closed-loop sensors are installed in the mechanical hydraulic system, the system collects various parameters in the operation process and performs closed-loop adjustment, and an operator can clearly view the operation state of the equipment on a human-computer interface of a cab. The synchronous ascending and descending of the multi-hook hoisting weight can be realized, and the stability, safety and high efficiency of the crane in the using process are ensured.
Drawings
FIG. 1 is a schematic diagram of the installation and arrangement of a multi-hook synchronous control system of a crane based on hydraulic hoisting provided by the invention;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a schematic diagram of a driving control in the synchronous control system provided by the present invention;
FIG. 4 is a schematic diagram of a synchronous closed-loop control in the synchronous control system provided by the present invention;
in the figure: 1. a reel; 2. a caliper disc brake; 3. a braking state monitoring sensor; 4. a hydraulic motor; 5. a motor speed sensor; 6. an overspeed switch; 7. an encoder; 8. an encoder mounting bracket; 9. wire rope surveys layer sensor.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, but the scope of the present invention is not limited to the following embodiments.
The invention provides a crane multi-hook synchronous control system based on hydraulic hoisting, which at least comprises a control center (a cab), a hydraulic power station, a hydraulic power control device, a hydraulic pipeline and two or more sets of hoisting-hook units, wherein the hydraulic power station outputs hydraulic power and drives all the hoisting-hook units to operate, the hoisting-hook units comprise a hydraulic motor 4, a speed reducer, a winding drum 1, a caliper disc brake 2, a steel wire rope, a pulley block and a lifting appliance, the installation layout of the crane multi-hook synchronous control system based on hydraulic hoisting is shown in figures 1 and 2, a motor speed measuring sensor 5 is installed on the hydraulic motor and used for monitoring the operation speed and position of a hoisting mechanism for auxiliary measurement, a brake state monitoring sensor 3 is installed on the caliper disc brake 2 and used for monitoring whether the operation state of the hoisting mechanism is normal or not, an encoder 7 for measuring the winding turns of the winding drum is mounted on an output shaft of the winding drum, so that the length of a steel wire outlet of the winding drum is measured; an overspeed switch 6 for monitoring whether the rotating speed of the winding drum exceeds the limit is further mounted on the output shaft of the winding drum, so that the steel wire rope outlet length of the winding drum is measured. A steel wire rope layer measuring sensor 9 for measuring the current winding diameter of the steel wire rope is also arranged on the winding drum; the control center is connected with a hydraulic power control device, a motor speed measuring sensor, a braking state monitoring sensor, an encoder and a steel wire rope layer measuring sensor 9, and the hydraulic power control device is used for controlling hydraulic power output so as to further control the rotating speed of the hydraulic motor.
The hydraulic power control device is used for controlling starting and stopping of an engine and a motor in the hydraulic power station and controlling rotating speed and simultaneously controlling the discharge capacity of a hydraulic pump in the hydraulic power station, and particularly comprises a pump station control valve located in the hydraulic power station, a hydraulic motor control valve located in a winch-hook unit and a control valve located in a caliper disc brake.
The encoder is a multi-turn absolute value type encoder, is arranged at the output shaft end of a winding drum of the hoisting-hook unit and synchronously runs along with the winding drum, and the encoder mounting bracket 8 is connected with the base of the hoisting machine.
The synchronous control method of the crane multi-hook synchronous control system based on the hydraulic winch comprises the following steps:
(1) grouping each hoisting-lifting hook unit, namely a lifting hook group 1 and a lifting hook group 2 … …, namely a lifting hook group N (N is more than or equal to 2), and setting the initial height of each lifting hook to be consistent;
(2) in the hoisting process, the number of winding turns of the steel wire rope on the winding drum is calculated by installing an encoder (the number of metering turns on the current layer number is Nn) And the current winding diameter d of the steel wire rope on the winding drum is measured and calculated by a steel wire rope layer measuring sensornThe control center calculates the extension length L ═ of the steel wire rope according to the data of the encoder and the steel wire rope layer-measuring sensor*d1*N1+...π*dn*Nn) (ii) a Setting the multiplying power of a pulley block in the winch-hook unit to be K, setting the real-time height of a lifting appliance in the lifting hook group to be H ═ L/K, and setting the real-time height of the lifting appliance in the lifting hook group 1 and the lifting hook group 2 … … to be H1、H2……HN；
(3) The control center calculates the real-time height H of the lifting appliance according to the calculated height H1、H2……HNFurther determining H therefrommaxAnd HminAnd storing the data;
(4) in the lifting process of the lifting hook group, all the lifting hook groups are lifted by HmaxFor reference, closed-loop PID adjustment is performed to realize multi-hook synchronization control, and the specific adjustment method is shown in fig. 3 and 4: combining every two winches, then lifting all the winches together, comparing the height difference of all the winches with the height difference of the lifting height, determining a proportionality coefficient P by an attempt method, drawing a difference curve until the difference changes within an allowable range, and then testing parameters I and D one by one;
(5) in the process of lifting and descending the lifting hook groups, all the lifting hook groups are all in the shape of HminFor reference, closed-loop PID adjustment is carried out to realize multi-hook synchronous control, and the specific adjustment method is as follows: combining every two winches, descending all the winches together, descending a certain height difference, comparing the height difference of all the winches with the height difference of the lifting height, determining a proportionality coefficient P by an attempt method, drawing a difference curve until the difference changes within an allowable range, and testing parameters I and D one by one.
Compared with the prior art, the technical scheme provided by the invention has the following advantages: the system can integrate and consider the machine, electricity and liquid, carries out all-dimensional monitoring on various parameters of the operation of the hoisting mechanism and the hydraulic system, realizes the closed-loop control of the lifting height and the lifting speed of the hydraulic hoisting mechanism, and can realize the safe and efficient control of the hoisting mechanism of the crane by only selecting an operation mode by an operator. Various safety protection and closed-loop sensors are installed in the mechanical hydraulic system, the system collects various parameters in the operation process and performs closed-loop adjustment, and an operator can clearly view the operation state of the equipment on a human-computer interface of a cab. The synchronous ascending and descending of the multi-hook hoisting weight can be realized, and the stability, safety and high efficiency of the crane in the using process are ensured.

Claims (4)

1. The utility model provides a hoist multi-hook synchronous control system based on hydraulic pressure hoist, includes control center, hydraulic power station, hydraulic power controlling means and hydraulic pressure pipeline, two sets of and above hoist-hook unit at least, and hydraulic power station output hydraulic power and order about whole hoist-hook unit operation, hoist-hook unit includes hydraulic motor, speed reducer, reel, clamp plate stopper, wire rope, assembly pulley and hoist, its characterized in that: the hydraulic motor is provided with a motor speed sensor for monitoring the running speed and position of the hoisting mechanism, the caliper disc brake is provided with a brake state monitoring sensor for monitoring whether the running state of the hoisting mechanism is normal or not, an output shaft of the winding drum is provided with an encoder for measuring the winding number of the winding drum and an overspeed switch for monitoring whether the rotating speed of the winding drum exceeds the limit or not, and the winding drum is also provided with a steel wire rope layer measuring sensor for measuring the current winding diameter of a steel wire rope; the control center is connected with a hydraulic power control device, a motor speed measuring sensor, a braking state monitoring sensor, an encoder and a steel wire rope layer measuring sensor, and the hydraulic power control device is used for controlling hydraulic power output so as to further control the rotating speed of the hydraulic motor.
2. The multi-hook synchronous control system for the crane based on hydraulic hoisting as claimed in claim 1, wherein: the hydraulic power control device is used for controlling starting and stopping of an engine and a motor in the hydraulic power station and rotating speed and simultaneously controlling the discharge capacity of a hydraulic pump in the hydraulic power station, and comprises a pump station control valve located in the hydraulic power station, a hydraulic motor control valve located in the winch-hook unit and a control valve located in the caliper disc brake.
3. The multi-hook synchronous control system for the crane based on hydraulic hoisting as claimed in claim 1, wherein: the encoder is a multi-turn absolute value type encoder, is arranged at the output shaft end of a winding drum of the hoisting-hook unit and synchronously runs along with the winding drum, and the encoder mounting bracket is connected with the base of the hoisting machine.
4. A synchronous control method of a crane multi-hook synchronous control system based on hydraulic hoisting is characterized by comprising the following steps:
(1) grouping each hoisting-lifting hook unit, namely a lifting hook group 1 and a lifting hook group 2 … …, namely a lifting hook group N (N is more than or equal to 2), and setting the initial height of each lifting hook to be consistent;
(2) in the hoisting process, the number of winding turns of the steel wire rope on the winding drum is calculated by installing an encoder (the number of metering turns on the current layer number is Nn) And the current winding diameter d of the steel wire rope on the winding drum is measured and calculated by a steel wire rope layer measuring sensornThe control center calculates the extension length L ═ of the steel wire rope according to the data of the encoder and the steel wire rope layer-measuring sensor*d1*N1+...π*dn*Nn) (ii) a Setting the multiplying power of a pulley block in the winch-hook unit to be K, setting the real-time height of a lifting appliance in the lifting hook group to be H ═ L/K, and setting the real-time height of the lifting appliance in the lifting hook group 1 and the lifting hook group 2 … … to be H1、H2……HN；
(3) The control center calculates the real-time height H of the lifting appliance according to the calculated height H1、H2……HNFurther determining H therefrommaxAnd HminAnd storing the data;
(4) in the lifting process of the lifting hook group, all the lifting hook groups are lifted by HmaxFor reference, closed-loop PID adjustment is carried out to realize multi-hook synchronous control, and the specific adjustment method is as follows: combining every two winches, then lifting all the winches together, comparing the height difference of all the winches with the height difference of the lifting height, determining a proportionality coefficient P by an attempt method, drawing a difference curve until the difference changes within an allowable range, and then testing parameters I and D one by one;
(5) in the process of lifting and descending the lifting hook groups, all the lifting hook groups are all in the shape of HminFor reference, closed-loop PID adjustment is carried out to realize multi-hook synchronous control, and the specific adjustment method is as follows: firstly combining every two winches, then lifting all the winches together, comparing the height difference of all the winches with the height difference of the lifting height, determining a proportionality coefficient P by an attempt method, drawing a difference curve until the difference changes in an allowable range, and then testing parameters I and D one by one.
CN202110042690.7A 2021-01-13 2021-01-13 Crane multi-lifting hook synchronous control system and method based on hydraulic winch Active CN112897340B (en)

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