CN113625619A - Control method and control system for offshore crane, electronic device, and storage medium - Google Patents
Control method and control system for offshore crane, electronic device, and storage medium Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention provides a control method and a control system of an offshore crane, electronic equipment and a storage medium. The control method of the offshore crane comprises the following steps: acquiring an actual shaking coefficient value of the offshore crane; when the actual shaking coefficient value is larger than a preset shaking coefficient value, determining the operation mode of the offshore crane according to the actual shaking coefficient value; controlling the offshore crane to operate in the operational mode to reduce an actual sway coefficient value of the offshore crane. Therefore, the operation stability of the offshore crane can be greatly improved, and the safety of workers is guaranteed.
Description
Technical Field
The present invention relates to the field of offshore crane technologies, and in particular, to a control method and a control system for an offshore crane, an electronic device, and a storage medium.
Background
With the increasing perfection of the offshore floating platform, mechanical equipment carried on the offshore floating platform is increased. Take the marine loop wheel machine as an example, when marine stormy waves is great, the marine loop wheel machine rocks acutely, if the marine loop wheel machine work on the floating platform this moment, because the floating platform rocks the time speed too fast, the rocking speed of marine loop wheel machine also can be too fast thereupon to increase staff's injured probability, cause the unnecessary accident.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a control method and a control system of an offshore crane, electronic equipment and a storage medium.
The invention provides a control method of an offshore crane, which comprises the following steps:
acquiring an actual shaking coefficient value of the offshore crane;
when the actual shaking coefficient value is larger than a preset shaking coefficient value, determining the operation mode of the offshore crane according to the actual shaking coefficient value;
controlling the offshore crane to operate in the operational mode to reduce an actual sway coefficient value of the offshore crane.
According to the control method of the offshore crane provided by the invention, the step before acquiring the actual shaking coefficient value of the offshore crane comprises the following steps:
changing the experimental load and/or the experimental movement speed of the offshore crane under the range of the original sway coefficient value of each different value, and determining a test sway coefficient value;
and establishing a plurality of operation modes comprising a shaking coefficient value range, a movement speed and an experiment load according to the experiment movement speeds, the test shaking coefficient values and the experiment loads.
According to the control method of the offshore crane provided by the invention, the step before acquiring the actual shaking coefficient value of the offshore crane comprises the following steps:
changing the experimental load and/or the experimental movement speed of the offshore crane under each different test sway coefficient value, and determining a plurality of test sway coefficient values;
and establishing a plurality of operation modes comprising a shaking coefficient value, a movement speed and an experiment load according to the experiment movement speeds, the test shaking coefficient values and the experiment loads.
According to the control method of the offshore crane, the direction of the operation speed of the operation mode and the horizontal plane of the offshore crane form an acute angle.
The present invention also provides a control system of an offshore crane, the offshore crane comprising:
the shaking coefficient acquisition unit is used for acquiring the actual shaking coefficient value of the offshore crane;
the output end of the shaking coefficient acquisition unit is connected with the detection end of the control unit and used for determining the current operation mode according to the actual shaking coefficient value when the actual shaking coefficient value is larger than the preset shaking coefficient value;
and the controlled end of the power unit is electrically connected with the control end of the control unit and is used for controlling the power unit to operate according to the operation mode so as to reduce the actual shaking coefficient value of the offshore crane.
According to the control system of the offshore crane, the control system of the offshore crane further comprises an operation unit, and the operation unit is electrically connected with the control unit;
and the operation unit is used for acquiring a control instruction and inputting the control instruction into the control unit to switch the operation mode.
According to the control system of the offshore crane, the operation unit comprises an operation panel with a change-over switch, the change-over switch is arranged on the operation panel, and the change-over switch is electrically connected with the control unit;
the change-over switch is used for outputting an operation mode switching instruction to the control unit.
According to the control system of the offshore crane, the control unit comprises a controller and a frequency converter, the output end of the controller is connected with the input end of the frequency converter, and the output end of the frequency converter is the control end of the control unit;
a plurality of operation modes are set in the controller, and different frequency preset values corresponding to the operation modes are set in the frequency converter;
and the controller is used for controlling the frequency converter to operate at the frequency preset value corresponding to the current operation mode.
According to the control system of the offshore crane, the power unit comprises an electric motor, wherein the controlled end of the electric motor is the controlled end of the power unit;
and the motor is used for carrying out transmission according to the frequency preset value.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the control method of the offshore crane when executing the program.
The invention also provides a storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of controlling an offshore crane as described above
In the control method of the offshore crane provided by the invention, firstly, the actual shaking coefficient value of the offshore crane is obtained; when the actual shaking coefficient value is larger than a preset shaking coefficient value, determining the operation mode of the offshore crane according to the actual shaking coefficient value; controlling the offshore crane to operate in the operational mode to reduce an actual sway coefficient value of the offshore crane.
Through the method, the operation mode of the offshore crane can be adjusted by detecting the actual shaking coefficient value, so that the real-time shaking coefficient value is changed to meet the requirement of the safe shaking coefficient value, the operation stability of the offshore crane can be greatly improved, and the safety of workers is guaranteed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow diagram of a method of controlling an offshore crane provided by the present invention;
FIG. 2 is a block schematic diagram of a control system of the marine crane provided by the present invention;
FIG. 3 is a block schematic diagram of a control system of the marine crane provided by the present invention;
FIG. 4 is a schematic view of a portion of the structure of an offshore crane provided by the present invention;
reference numerals:
100: a shaking coefficient acquisition unit; 200: a control unit;
201: a controller; 202: a frequency converter;
300: a power unit; 301: an electric motor;
400: an operation unit; 500: provided is an offshore crane.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification to make the purpose, technical solution, and advantages of the embodiments of the present invention more clear, and the technical solution 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 a part of embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A control method of an offshore crane according to an embodiment of the present invention is described below with reference to fig. 1. It should be understood that the following description is only exemplary embodiments of the present invention and does not constitute any particular limitation of the present invention.
The invention provides a control method of an offshore crane, which comprises the following steps:
s1, acquiring an actual shaking coefficient value of the offshore crane;
at this time, the actual sway coefficient value reflects the current sway degree of the offshore crane. Of course, the degree of the sea crane is not limited to the determination indexes of wind speed, wind direction and wave impact force. Different judgment indexes can be replaced according to different working environments. In this scheme, the actual coefficient value of rocking can be obtained through the tower machine, and the tower machine can be with the vibration wave of the marine loop wheel machine that gathers in real time multiply fixed coefficient value in order to obtain the coefficient value of rocking. And in addition, the tower crane can be used for acquiring the shaking coefficient value, and the actual shaking coefficient value is calculated by the tower crane according to the detected wind speed, the impact strength of sea waves on the tower crane, the tower crane strength, the tower crane inclination angle and other numerical values according to the mechanical principle and hydrodynamics to obtain the actual shaking coefficient value. At the moment, the tower crane is fixedly connected with the offshore crane, so that the finally obtained value of the shaking coefficient can be ensured to be accurate. The actual value of the sway coefficient can be evaluated according to the impact force of the wind speed, the wind direction and the sea waves on the floating platform.
S2, when the actual shaking coefficient value is larger than a preset shaking coefficient value, determining the operation mode of the offshore crane according to the actual shaking coefficient value;
the operation mode is a mode comprising parameter values such as a shaking coefficient value, a movement speed and a load. The shaking coefficient value is an actual shaking coefficient value obtained in real time, and in each motion mode, when the value is in different shaking coefficients, corresponding motion speed values and/or load values can be adopted by the offshore crane so that the actual shaking coefficient value of the offshore crane can be restored to the safe shaking coefficient value.
And S3, controlling the offshore crane to operate in the operation mode to reduce the actual shaking coefficient value of the offshore crane.
In the above scheme, this application can rock the operation mode that the coefficient value adjusted marine loop wheel machine through detecting the reality to change and rock the coefficient value in real time and make it satisfy the safety coefficient value of rocking, can greatly promote the stability of marine loop wheel machine operation, and ensure staff's security.
In one embodiment, the step of obtaining the actual sway coefficient value of the offshore crane comprises:
changing the experimental load and/or the experimental movement speed of the offshore crane under the range of the original sway coefficient value of each different value, and determining a test sway coefficient value;
the original shaking coefficient value ranges are set to be different, so that diversification of collected test data can be guaranteed, and subsequently established running modes can run more safely and reliably.
And establishing a plurality of operation modes comprising the shaking coefficient value range, the movement speed and the experiment load according to the experiment movement speeds, the test shaking coefficient value ranges and the experiment loads.
In the above embodiment, by establishing a reliable operation mode in the above manner, the operation mode established after the above test may be simply changed in the moving speed or the experimental load with respect to the original speed, for example: there are more than two groups of test data: in the first group of test data, the test shaking coefficient value range is 0.6-0.8, the speed is 3m/s, and the load is 2 t; in the second group of test data, the test shaking coefficient value range is 0.8-1, the speed is 3m/s, and the load is 2 t; based on the two test data above, it is also possible to observe the variation in the range of the sway coefficient values after varying the speed and load.
At the moment, if the actual shaking coefficient value range needs to be adjusted to be between 0.6 and 0.8, three operation modes can be selected, wherein the first operation mode keeps the load unchanged and increases the speed to 6 m/s; the second operation mode: keeping the running speed unchanged, and increasing the load to 5 t; the third operating mode: the speed is increased to 4m/s, and the load is increased to 4 t; therefore, a range of the shake value to be adjusted can correspond to a plurality of adjustment modes, and is not unique, and the process of establishing the operation mode adds a selectable range for establishing the plurality of adjustment modes. And is more beneficial to the wide application of the offshore crane.
In one embodiment, the step of obtaining the actual sway coefficient value of the offshore crane comprises:
changing the experimental load and/or the experimental movement speed of the offshore crane under each different test sway coefficient value, and determining a plurality of test sway coefficient values;
the initial shaking coefficient values are set to be different, diversification of collected test data can be guaranteed, and the subsequently established running mode is safer and more reliable to run. And its accuracy is higher compared to the range. And establishing a plurality of operation modes comprising a shaking coefficient value, a movement speed and an experiment load according to the experiment movement speeds, the test shaking coefficient values and the experiment loads.
In the above embodiment, by establishing a reliable operation mode in the above manner, the operation mode established after the above test may be simply changed in the moving speed or the experimental load with respect to the original speed, for example: there are more than two groups of test data: in the first group of test data, the value of the test shaking coefficient is between 0.6, the speed is 3m/s, and the load is 2 t; in the second group of test data, the value of the test shaking coefficient is between 0.8, the speed is 3m/s, and the load is 2 t; based on the two test data, it is also possible to observe changes in the sway coefficient values after varying the speed and load.
At the moment, if the actual shaking coefficient value needs to be adjusted to be reduced to 0.7, three operation modes can be selected, wherein the first operation mode keeps the load unchanged and increases the speed to 6 m/s; the second operation mode: keeping the running speed unchanged, and increasing the load to 5 t; the third operating mode: the speed is increased to 5m/s, and the load is increased to 3 t; therefore, a shake value to be adjusted can correspond to a plurality of adjustment modes, and is not unique, and the process of establishing the operation mode adds a selectable range for establishing the plurality of adjustment modes. And is more beneficial to the wide application of the offshore crane.
Optionally, the direction of the operating speed of the operational mode is arranged at an acute angle to the horizontal plane of the offshore crane.
The arrangement that the direction of the operation speed and the horizontal plane of the offshore crane form an acute angle essentially reduces the gravity center of the offshore crane, but the effect which can be realized only by the counterweight is realized by changing the operation speed instead of the counterweight, and the industrial application cost is reduced on the basis of reasonably utilizing the existing equipment.
In addition, because the crane is a hoisting machine, the change of the movement speed can be realized almost perpendicular to the sea surface, so that the effect of changing the operation mode is reflected to the maximum, the power setting that the direction of the operation speed and the horizontal plane where the offshore crane is located form an acute angle is not needed to be additionally set, and the purpose of reducing the value of the shaking coefficient in the application can be realized only by changing the operation speed of the crane.
It should be noted that, due to the particularity of the marine crane, for the marine crane fixed on the marine floating platform to work, when the sea storm increases and the marine crane on the marine floating platform works, the cargo carried by the marine crane increases the stress of the marine crane due to swinging, causing the false alarm and overload of the marine crane, and causing the marine crane to fail to operate normally, therefore, the scheme of the application can also avoid the situation that the false alarm and overload of the marine crane cannot operate due to the overlarge value of the swinging coefficient of the marine crane, thereby ensuring the normal use of the equipment and the safety of personnel.
The present application also proposes a control system of an offshore crane, as shown in fig. 2 to 4, comprising:
a sway coefficient acquisition unit 100 for acquiring an actual sway coefficient value of the offshore crane;
the output end of the shaking coefficient acquisition unit 100 of the control unit 200 is connected with the detection end of the control unit 200. The control unit 200 is configured to determine a current operation mode according to the actual value of the jitter coefficient when the actual value of the jitter coefficient is greater than the preset value of the jitter coefficient;
and the controlled end of the power unit 300 is electrically connected with the control end of the control unit. The control unit 200 controls the power unit 300 to operate according to the operation mode to reduce the actual value of the sway coefficient of the marine crane.
In the above scheme, this application can rock the operation mode that the coefficient value adjusted marine loop wheel machine through detecting the reality to change and rock the coefficient value in real time and make it satisfy the safety coefficient value of rocking, can greatly promote the stability of marine loop wheel machine operation, and ensure staff's security.
Optionally, the oscillation coefficient obtaining unit 100 obtains an actual oscillation coefficient value from the tower crane, and the oscillation coefficient obtaining unit 100 may be a data transceiver module such as a wired interface or a wireless receiving module. Wherein, tower machine and marine loop wheel machine fixed connection set up. Therefore, the accuracy of detecting the actual shaking coefficient value is ensured.
Further, in one embodiment of the present invention, a plurality of operation modes are set inside the control unit 200. Each operation mode has different preset threshold ranges of the shaking coefficients. The control unit 200 selects the current operation mode according to the shaking coefficient preset threshold range in which the actual shaking coefficient value is located.
For example, the preset threshold range of the shaking coefficient corresponding to the operation mode a is 1-5, and when the shaking coefficient obtaining unit 100 detects that the actual shaking coefficient of the offshore crane is 3, the actual shaking coefficient 3 is within the preset threshold range of the shaking coefficient 1-5. At this time, the control unit 200 selects the current operation mode as the operation mode a. The control unit 200 controls the power unit 300 to operate at a safe speed corresponding to the operation mode a.
It should be understood herein that the actual sway coefficient values described above reflect the degree of sway of current marine cranes. The actual value of the sway coefficient can be evaluated according to the impact force of the wind speed, the wind direction and the sea waves on the floating platform. Of course, the degree of the swing of the offshore crane is not limited to the above determination indexes of the wind speed, the wind direction, and the impact force of the sea wave. Different judgment indexes can be replaced according to different working environments.
Through the above description, the actual shake coefficient value of the offshore crane in the current working environment can be detected by the tower crane shake coefficient acquisition unit 100 of the shake coefficient acquisition unit 100. The control unit 200 can receive the actual value of the oscillation coefficient, and select a corresponding operation mode according to the preset threshold range of the oscillation coefficient corresponding to the actual value of the oscillation coefficient. The control unit 200 controls the power unit 300 to operate at a corresponding safe speed according to the current operation mode. Therefore, the stability of the operation of the offshore crane can be greatly improved, and the safety of workers is guaranteed.
Optionally, the sloshing coefficient obtaining unit, the control unit and the power unit form an electric control assembly of the offshore crane.
In one embodiment of the present invention, the control unit 200 comprises a controller 201 and a frequency converter 202, wherein an output terminal of the controller 201 is connected to an input terminal of the frequency converter 202, and an output terminal of the frequency converter 202 is a control terminal of the control unit 200.
Among them, the controller 201 has a plurality of operation modes set therein. Different frequency preset values corresponding to the operation modes are set in the frequency converter 202. The frequency converter 202 is electrically connected to the controller 201. The controller 201 controls the frequency converter 202 to operate at a frequency preset value corresponding to the current operation mode.
Further, in one embodiment of the present invention, the power unit 300 is an electric motor. The frequency converter 202 is electrically connected to the motor. The controlled end of the motor is the controlled end of the power unit 300. The motor operates according to a preset frequency value output by the frequency converter 202.
As shown in fig. 3, the control unit 200 includes a controller 201 and a frequency converter 202. A plurality of operation modes are preset in the controller 201 according to different preset threshold ranges of the shaking coefficients. That is, a shaking coefficient preset threshold range corresponds to an operation mode.
As shown in fig. 4, the controller 201 is assumed to have an operation mode a, an operation mode B, an operation mode C, and an operation mode D set therein. In the frequency converter 202, a frequency a, a frequency B, a frequency C, and a frequency D are set accordingly. Wherein frequency a corresponds to operating mode a; frequency B corresponds to operating mode B; frequency C corresponds to operating mode C; frequency D corresponds to operating mode D.
The controller 201 is electrically connected to the frequency converter 202. Thereby, the controller 201 can control the frequency converter 202 to switch the frequency. Specifically, after receiving the actual sway coefficient value of the offshore crane sent by the sway coefficient acquisition unit 100, the controller 201 compares the actual sway coefficient value with a preset sway coefficient threshold range set inside the actual sway coefficient value, and selects a corresponding operation mode according to the comparison result. For example, if the actual value of the shake coefficient is within the preset threshold range of the shake coefficient corresponding to the operation mode a, the controller 201 selects to operate in the operation mode a currently. Further, the controller 201 can control the inverter 202 to operate in a state of the frequency a matched with the operation mode a. At this time, the inverter 202 can operate the motor at the rotation speed a corresponding to the frequency a. Finally, the motor can drive the offshore crane body to carry out hoisting operation at the running speed A corresponding to the rotating speed A.
Similarly, if the actual value of the jitter coefficient is within the preset threshold range of the jitter coefficient corresponding to the operation mode B, the controller 201 selects the current operation mode B. Further, the controller 201 can control the inverter 202 to operate in a state of frequency B matched with the operation mode B. At this time, the inverter 202 can operate the motor at the rotation speed B corresponding to the frequency B. Finally, the motor can drive the offshore crane 500 to perform a lifting operation in a state of an operation speed B corresponding to the rotation speed B.
Similarly, assuming that the actual value of the jitter coefficient is within the preset threshold range of the jitter coefficient corresponding to the operation mode C, the controller 201 selects to operate in the operation mode C currently. Further, the controller 201 can control the inverter 202 to operate in a state of the frequency C matched with the operation mode C. At this time, the inverter 202 can operate the motor at the rotation speed C corresponding to the frequency C. Finally, the motor can drive the offshore crane 500 to perform a lifting operation in a state of an operation speed C corresponding to the rotation speed C.
Assuming that the actual value of the jitter coefficient is within the preset threshold range of the jitter coefficient corresponding to the operation mode D, the controller 201 selects the current operation mode D. Further, the controller 201 can control the inverter 202 to operate in a state of the frequency D matching the operation mode D. At this time, the inverter 202 can operate the motor at the rotation speed D corresponding to the frequency D. Finally, the motor can drive the offshore crane 500 to perform a hoisting operation in a state of an operation speed D corresponding to the rotation speed D.
According to the above-described embodiments, the controller 201 receives the actual sway coefficient value of the offshore crane acquired by the sway coefficient acquisition unit 100, and selects the operation mode suitable for the current working environment according to the actual sway coefficient value. For example, when sea storms are large, the controller 201 may select and control the motor to operate in an operation mode with a low rotation speed, so as to improve the stability of the offshore crane 500 and ensure the personal safety of workers.
In one embodiment of the present invention, the control unit 200 is electrically connected to the offshore crane 500. Rated hoisting loads matched with the operation modes are set in the offshore crane 500. The control unit 200 is used to control the offshore crane 500 to operate at a nominal hoisting load corresponding to the current operation mode.
For example, as shown in fig. 2 and 4, an operation mode a, an operation mode B, an operation mode C, and an operation mode D are set in the controller 201. In the offshore crane 500, a rated hoisting load a, a rated hoisting load B, a rated hoisting load C, and a rated hoisting load D are set correspondingly. Wherein the rated hoisting load A corresponds to the operation mode A; the rated hoisting load B corresponds to the operation mode B; the rated hoisting load C corresponds to the operation mode C; the nominal hoisting load D corresponds to the operating mode D.
The controller 201 is electrically connected to the offshore crane 500. Thereby, the controller 201 can control the offshore crane 500 to switch the rated hoisting load. Specifically, after receiving the actual sway coefficient value of the offshore crane sent by the sway coefficient acquisition unit 100, the controller 201 compares the actual sway coefficient value with a preset sway coefficient threshold range set inside the actual sway coefficient value, and selects a corresponding operation mode according to the comparison result. For example, if the actual value of the shake coefficient is within the preset threshold range of the shake coefficient corresponding to the operation mode a, the controller 201 selects to operate in the operation mode a currently. Further, the controller 201 can control the marine crane 500 to operate in a state of a rated hoisting load a matched with the operation mode a.
Similarly, if the actual value of the jitter coefficient is within the preset threshold range of the jitter coefficient corresponding to the operation mode B, the controller 201 selects the current operation mode B. Further, the controller 201 can control the marine crane 500 to operate in a state of a rated hoisting load B matched with the operation mode B.
Similarly, assuming that the actual value of the jitter coefficient is within the preset threshold range of the jitter coefficient corresponding to the operation mode C, the controller 201 selects to operate in the operation mode C currently. Further, the controller 201 can control the marine crane 500 to operate in a state of a rated hoisting load C matched with the operation mode C.
Assuming that the actual value of the jitter coefficient is within the preset threshold range of the jitter coefficient corresponding to the operation mode D, the controller 201 selects the current operation mode D. Further, the controller 201 can control the marine crane 500 to operate in a state of a rated hoisting load D matched with the operation mode D.
In actual work, due to overlarge sea storm, the load carried by the marine crane 500 increases the stress of the marine crane 500 due to swinging, so that the marine crane 500 is mistakenly reported and overloaded, and the hoisting work cannot be normally performed. Through the offshore crane provided by the invention, the controller 201 can select the operation mode suitable for the current working environment according to the actual shaking coefficient value of the offshore crane, namely select the rated hoisting load of the offshore crane 500 suitable for the current environment, thereby effectively avoiding the problem that the hoisting work cannot be normally carried out due to the mistaken reporting of overload of the offshore crane 500.
In one embodiment of the invention, the offshore crane further comprises an operating unit 400. The operation unit 400 is electrically connected to the control unit 200. The operation unit 400 is used to control the control 200 unit to switch the operation mode.
As shown in fig. 2, the offshore crane further includes an operation unit 400. For example, the operation unit 400 may include an operation panel. The operation unit 400 is electrically connected to the control unit 200. The operator can directly select the operation mode of the controller 201 through the operation panel. Therefore, when a selection function or the like of the shaking coefficient acquisition unit 100 or the controller 201 fails, manual operation can be performed to switch the working mode of the controller 201, so as to ensure that the offshore crane 500 can perform hoisting work stably and safely.
For example, in one embodiment of the present invention, the operation unit 400 includes a touch operation screen that facilitates a hand touch operation.
It should be noted here that the present invention is not limited in any way to the specific type of touch operation screen. Meanwhile, the touch operation screen is also provided with a relevant control button. For example, a running mode switching button, a start button, a stop button, and an emergency stop button, etc., may be provided on the touch panel, but not limited thereto.
In an embodiment of the present invention, as shown in fig. 3, the operation unit 400 includes an operation panel having a switch 401, the switch 401 is disposed on the operation panel, the switch 401 is electrically connected to the control unit 200, the switch 401 sends a switching command to the control unit 200, the controller 201 in the control unit 200 performs command analysis and then sends a load switching command to a corresponding input point of the inverter, the inverter operates in a corresponding set load mode after receiving the command and correspondingly adjusts an output frequency, and an operation speed of the motor is changed to meet a requirement that the power plant can normally operate the offshore crane at a safe speed.
In one embodiment of the invention, the frequency converter 202 is configured to: in the process of switching the operation modes, the preset frequency value of the frequency converter 202 is switched in a gradual manner.
For example, when the frequency converter 202 is switched from the frequency a to the frequency B, the switching is performed in a gradual manner. Therefore, the motor can be ensured to stably switch the rotating speed, and the offshore crane 500 is further ensured to stably switch the hoisting operation speed.
The control unit of the offshore crane can be used for controlling the hoisting speed of the offshore crane or changing the rated hoisting load of the offshore crane and the like, so that the running state of the offshore crane is suitable for the current working environment, and the running stability of equipment and the safety of operators are further effectively guaranteed. Of course, the electrical control components of the marine crane are not limited to controlling the operating speed or the rated hoisting load of the marine crane.
Meanwhile, when a function of selecting an operation mode in the control unit 200 is obstructed, an operator may directly control switching of the operation mode through the operation unit 400.
Further, in the offshore crane of the present invention, the offshore crane can control the offshore crane 500 to adapt to the safe operation mode of the current working environment for stable and safe operation, thereby greatly improving the operation stability of the offshore crane 500 and the safety of workers, i.e., improving the stability and safety of the offshore crane, and avoiding false alarm and overload when the crane is disposed in the offshore crane.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling an offshore crane, comprising:
acquiring an actual shaking coefficient value of the offshore crane;
when the actual shaking coefficient value is larger than a preset shaking coefficient value, determining the operation mode of the offshore crane according to the actual shaking coefficient value;
controlling the offshore crane to operate in the operational mode to reduce an actual sway coefficient value of the offshore crane.
2. The method of controlling an offshore crane, of claim 1, wherein the step prior to obtaining the actual sway coefficient value for the offshore crane comprises:
changing the experimental load and/or the experimental movement speed of the offshore crane under the range of the original sway coefficient value of each different value, and determining a test sway coefficient value;
and establishing a plurality of operation modes comprising the shaking coefficient value range, the movement speed and the experiment load according to the experiment movement speeds, the test shaking coefficient value ranges and the experiment loads.
3. The method of controlling an offshore crane, of claim 1, wherein the step prior to obtaining the actual sway coefficient value for the offshore crane comprises:
changing the experimental load and/or the experimental movement speed of the offshore crane under each different test sway coefficient value, and determining a plurality of test sway coefficient values;
and establishing a plurality of operation modes comprising a shaking coefficient value, a movement speed and an experiment load according to the experiment movement speeds, the test shaking coefficient values and the experiment loads.
4. Method for controlling an offshore crane, according to claim 2 or 3, characterized in that the direction of the operating speed of the operational mode is arranged at an acute angle to the horizontal plane of the offshore crane.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method of controlling a marine crane according to any of claims 1 to 4.
6. A storage medium having stored thereon a computer program, characterized in that the computer program, when being executed by a processor, carries out the steps of the method for controlling an offshore crane according to any one of claims 1 to 4.
7. A control system for an offshore crane, the control system comprising:
the shaking coefficient acquisition unit is used for acquiring the actual shaking coefficient value of the offshore crane;
the output end of the shaking coefficient acquisition unit is connected with the detection end of the control unit and used for determining the current operation mode according to the actual shaking coefficient value when the actual shaking coefficient value is larger than the preset shaking coefficient value;
and the controlled end of the power unit is electrically connected with the control end of the control unit and is used for controlling the power unit to operate according to the operation mode so as to reduce the actual shaking coefficient value of the offshore crane.
8. The control system of an offshore crane, of claim 7, further comprising an operational unit, the operational unit being electrically connected to the control unit;
and the operation unit is used for acquiring a control instruction and inputting the control instruction into the control unit to switch the operation mode.
9. The control system of an offshore crane, as recited in claim 7, wherein the operating unit comprises an operating panel having a transfer switch disposed thereon, the transfer switch being electrically connected to the control unit;
the change-over switch is used for outputting an operation mode switching instruction to the control unit.
10. The control system of an offshore crane, as recited in claim 7, wherein the control unit comprises a controller and a frequency converter, an output of the controller is connected with an input of the frequency converter, and an output of the frequency converter is a control end of the control unit;
a plurality of operation modes are set in the controller, and different frequency preset values corresponding to the operation modes are set in the frequency converter;
and the controller is used for controlling the frequency converter to operate at the frequency preset value corresponding to the current operation mode.
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| CN202110832831.5A CN113625619A (en) | 2021-07-22 | 2021-07-22 | Control method and control system for offshore crane, electronic device, and storage medium |
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Application publication date: 20211109 |