CN117208769A - Method, controller and control system for controlling fixed amplitude lifting of movable arm tower crane - Google Patents
Method, controller and control system for controlling fixed amplitude lifting of movable arm tower crane Download PDFInfo
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Abstract
The application discloses a method, a controller and a control system for controlling fixed amplitude lifting of a movable arm tower crane. The method comprises the following steps: obtaining a structural geometric model of the movable arm tower crane; establishing a finite element model according to a structural geometric model of the movable arm tower crane; determining a target relation model of the amplitude deviation of the lifting hook of the movable arm tower crane according to the finite element model; in the lifting and elevating process of the movable arm tower crane, calculating the amplitude deviation of the lifting hook in real time according to the target relation model; based on the amplitude deviation of the lifting hook, the movable arm tower crane is controlled to perform amplitude variation action, and the amplitude deviation of the lifting hook is compensated, so that the amplitude of the lifting hook is unchanged in the lifting and elevating process. According to the application, the amplitude deviation generated by the lifting deformation is compensated by controlling the luffing motion of the movable arm tower crane, so that the inclined-pulling inclined-hanging phenomenon in the lifting and off-ground process of the movable arm tower crane is avoided, and the super moment is prevented. Meanwhile, the compensation process based on the target relation model is smooth, and cannot be overcompensated or overcompensated, so that the requirement on an operator is reduced.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a method, a controller and a control system for controlling fixed amplitude lifting of a movable arm tower crane.
Background
In the lifting and off-ground process of the movable arm tower crane, the distance between the lifting hook and the rotation center is increased due to deformation of the lifting arm tip, so that the phenomenon of inclined lifting can occur, and meanwhile, the stress moment of the lifting arm is increased, even the moment is exceeded, so that the lifting is influenced. In the process of hoisting heavy load, the phenomena of oblique-pulling inclined hoisting and super moment are more obvious, and the phenomenon is a big pain point of the movable arm tower crane during hoisting.
In the prior art, the lifting load of the movable arm tower crane is completely based on the experience of an operator, so that the requirement on a driver is high and the risk is high.
Disclosure of Invention
The embodiment of the application aims to provide a method, a controller and a control system for controlling fixed amplitude lifting of a movable arm tower crane, which are used for solving the problem that the distance between a lifting hook and a rotation center is increased due to deformation of a lifting arm tip in the lifting and lifting process of the movable arm tower crane, and the phenomenon of inclined lifting occurs.
In order to achieve the above object, a first aspect of the present application provides a method for controlling fixed amplitude lifting of a swing arm tower crane, which is applied to a controller of a fixed amplitude lifting system of the swing arm tower crane, and the method comprises:
obtaining a structural geometric model of the movable arm tower crane;
establishing a finite element model according to a structural geometric model of the movable arm tower crane;
determining a target relation model of the amplitude deviation of the lifting hook of the movable arm tower crane according to the finite element model;
in the lifting and elevating process of the movable arm tower crane, calculating the amplitude deviation of the lifting hook in real time according to the target relation model;
based on the amplitude deviation of the lifting hook, the movable arm tower crane is controlled to perform amplitude variation action, and the amplitude deviation of the lifting hook is compensated, so that the amplitude of the lifting hook is unchanged in the lifting and elevating process.
In the embodiment of the application, the target relation model for determining the deviation of the amplitude of the lifting hook of the movable arm tower crane according to the finite element model comprises the following steps:
carrying out finite element analysis on the elevation angle, the lifting load, the arm length and the tower height of the lifting arm according to the finite element model so as to obtain an initial relation model of the amplitude deviation of the lifting hook;
and correcting parameters of the initial relation model of the amplitude deviation of the lifting hook through a preset experiment to obtain a target relation model of the amplitude deviation of the lifting hook.
In the embodiment of the application, the preset experiments are boom tower crane fixed amplitude lifting experiments under the combination of different boom elevation angles, different lifting hook loads, different boom lengths and different tower heights.
In the embodiment of the application, the target relation model of the amplitude deviation of the lifting hook meets the formula (1):
R＝f(α,W,L,H)； (1)
wherein R is the deviation of the amplitude of the lifting hook; alpha is the elevation angle of the crane boom; w is the load of the lifting hook; l is the length of the crane boom; h is the tower height.
In the embodiment of the application, in the process of lifting and elevating a boom tower crane, according to a target relation model, the amplitude deviation of a lifting hook is calculated in real time, and the method comprises the following steps:
and in the lifting and elevating process of the movable arm tower crane, acquiring the elevation angle of the lifting arm, the load of the lifting hook, the length of the lifting arm and the tower height in real time, and calculating the amplitude deviation of the lifting hook based on the target relation model.
In the embodiment of the application, based on the amplitude deviation of the lifting hook, the movable arm tower crane is controlled to perform amplitude variation action, and the amplitude deviation of the lifting hook is compensated to ensure that the amplitude of the lifting hook is unchanged in the lifting and lifting load off the ground process, and the method comprises the following steps:
controlling the amplitude variation motor to perform amplitude variation action at an amplitude variation speed rLimitSpeed;
the luffing speed rLimitSpeed satisfies equation (2):
wherein, the rLimitSpeed_level is the maximum speed allowed by the current position of the luffing motor in the horizontal direction; r is the amplitude deviation of the lifting hook; rstoptimal is the time required for decomposing the current speed of the variable amplitude motor to the speed of 0 in the horizontal direction; rDelaytime is the communication delay time plus the program execution time; rLimitSpeed is the luffing speed; alpha is the boom elevation angle.
A second aspect of the present application provides a controller, comprising:
a memory configured to store instructions; and
and the processor is configured to call the instruction from the memory and realize the method for controlling the fixed amplitude lifting of the movable arm tower crane according to the instruction when the instruction is executed.
The third aspect of the application provides a control system for fixed amplitude lifting of a movable arm tower crane, comprising:
a controller according to the above; and
a weight sensor in communication with the controller configured to obtain a hook load;
a luffing absolute value encoder in communication with the controller and configured to determine a location at which the luffing motor is operating;
an inclination sensor in communication with the controller configured to obtain boom elevation;
and the variable amplitude frequency converter is respectively communicated with the controller and the variable amplitude motor and is configured to dynamically adjust the speed of the variable amplitude motor.
The fourth aspect of the application provides a swing arm tower crane, which comprises the control system for fixed amplitude lifting of the swing arm tower crane.
A fifth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform a method of boom tower crane fixed amplitude hoist control according to the above.
Through the technical scheme, the structure geometric model of the movable arm tower crane is firstly obtained, the finite element model is built according to the structure geometric model of the movable arm tower crane, and then the target relation model of the amplitude deviation of the lifting hook of the movable arm tower crane is determined according to the finite element model. And finally, controlling the movable arm tower crane to perform amplitude variation action based on the lifting hook amplitude deviation to compensate the lifting hook amplitude deviation so as to ensure that the lifting hook amplitude is unchanged in the lifting and lifting load off-ground process. According to the application, the amplitude deviation generated by the lifting deformation is compensated by controlling the luffing motion of the movable arm tower crane, so that the inclined-pulling inclined-hanging phenomenon in the lifting and off-ground process of the movable arm tower crane is avoided, and the super moment is prevented. Meanwhile, the compensation process based on the target relation model is smooth, and cannot be overcompensated or overcompensated, so that the requirement on an operator is reduced.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
FIG. 1 schematically illustrates a flow chart of a method of boom tower crane fixed amplitude hoist control in accordance with an embodiment of the present application;
FIG. 2 schematically illustrates a block diagram of a controller according to an embodiment of the present application;
fig. 3 schematically shows a block diagram of a control system for amplitude-fixed lifting of a boom tower crane according to an embodiment of the application.
Description of the reference numerals
301. Amplitude-variable absolute value encoder of controller 302
303. Inclination sensor 304 amplitude variable frequency device
305. Amplitude-variable motor 306 lifting absolute value encoder
307. Lifting frequency converter of rotary absolute value encoder 308
309. Lifting motor of rotary frequency converter 310
311. Rotary motor
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the detailed description described herein is merely for illustrating and explaining the embodiments of the present application, and is not intended to limit the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
Fig. 1 schematically shows a flow chart of a method of boom tower crane amplitude-setting lifting control according to an embodiment of the application. As shown in fig. 1, an embodiment of the present application provides a method for controlling fixed amplitude lifting of a swing arm tower crane, which is applied to a controller of a fixed amplitude lifting system of the swing arm tower crane, and the method may include the following steps.
Step 101, obtaining a structural geometric model of a movable arm tower crane;
102, establishing a finite element model according to a structural geometric model of the movable arm tower crane;
step 103, determining a target relation model of the amplitude deviation of the lifting hook of the movable arm tower crane according to the finite element model;
104, calculating the amplitude deviation of the lifting hook in real time according to the target relation model in the lifting and elevating process of the movable arm tower crane;
and 105, controlling the movable arm tower crane to perform amplitude variation action based on the deviation of the amplitude of the lifting hook, and compensating the deviation of the amplitude of the lifting hook so as to ensure that the amplitude of the lifting hook is unchanged in the lifting and lifting process.
The method for controlling the fixed amplitude lifting of the movable arm tower crane is applied to a controller of a fixed amplitude lifting system of the movable arm tower crane, and the controller performs data interaction with a frequency converter, an inclination angle sensor and an absolute value encoder in a CANOPEN communication mode and calculates according to received data. The controller firstly acquires a structural geometric model of the movable arm tower crane, and then carries out finite element analysis on the structural geometric model of the movable arm tower crane to obtain a target relation model of lifting hook amplitude deviation generated by boom tip deformation in the lifting load off-ground process, and boom elevation angle, lifting load, arm length and tower height. In the lifting and lifting load off-ground process of the movable arm tower crane, the controller acquires the elevation angle of the lifting arm, the load of the lifting hook, the length of the lifting arm and the height of the tower in real time, then calculates the amplitude deviation of the lifting hook in real time through a target relation model, and controls the movable arm tower crane to lift the arm and lie prone to the arm in a variable amplitude action based on the amplitude deviation of the lifting hook so as to offset the deformation quantity of the lifting arm tip in the lifting and lifting load off-ground process, ensure that the position change of the lifting hook in the horizontal direction is within an error allowance range, and ensure that the amplitude deviation of the lifting hook is within an error range. That is to say, the deviation of the amplitude of the lifting hook is compensated to ensure that the amplitude of the lifting hook is unchanged in the lifting and elevating process.
Through the technical scheme, the structure geometric model of the movable arm tower crane is firstly obtained, the finite element model is built according to the structure geometric model of the movable arm tower crane, and then the target relation model of the amplitude deviation of the lifting hook of the movable arm tower crane is determined according to the finite element model. And finally, controlling the movable arm tower crane to perform amplitude variation action based on the lifting hook amplitude deviation to compensate the lifting hook amplitude deviation so as to ensure that the lifting hook amplitude is unchanged in the lifting and lifting load off-ground process. According to the application, the amplitude deviation generated by the lifting deformation is compensated by controlling the luffing motion of the movable arm tower crane, so that the inclined-pulling inclined-hanging phenomenon in the lifting and off-ground process of the movable arm tower crane is avoided, and the super moment is prevented. Meanwhile, the compensation process based on the target relation model is smooth, and cannot be overcompensated or overcompensated, so that the requirement on an operator is reduced.
In an embodiment of the present application, the determining, according to the finite element model, the target relation model of the deviation of the amplitude of the hook of the boom tower crane may include:
carrying out finite element analysis on the elevation angle, the lifting load, the arm length and the tower height of the lifting arm according to the finite element model so as to obtain an initial relation model of the amplitude deviation of the lifting hook;
and correcting parameters of the initial relation model of the amplitude deviation of the lifting hook through a preset experiment to obtain a target relation model of the amplitude deviation of the lifting hook.
In the embodiment of the application, the target relation model of the amplitude deviation of the lifting hook meets the formula (1):
R＝f(α,W,L,H)； (1)
wherein R is the deviation of the amplitude of the lifting hook; alpha is the elevation angle of the crane boom; w is the load of the lifting hook; l is the length of the crane boom; h is the tower height.
In the embodiment of the application, a finite element model can be established through a computer according to a geometrical model of a movable arm tower crane structure, and then finite element analysis is carried out on different boom elevation angles, different lifting loads, different arm lengths and different tower heights to obtain a target relation model of the deviation of the lifting hook amplitude caused by the deformation of the boom tip. And modeling and analyzing the crane load deformation of the movable arm tower crane to obtain a target relation model. The deviation of the amplitude of the lifting hook refers to the value obtained by subtracting the distance between the center of revolution of the lifting arm tip after deformation and the center of the lifting hook from the center of revolution of the lifting arm tip before deformation.
In the embodiment of the application, the preset experiment can be a boom tower crane fixed amplitude lifting experiment under the combination of different boom elevation angles, different lifting hook loads, different boom lengths and different tower heights.
In the embodiment of the application, after the initial relation model is obtained, in order to ensure the accuracy of the relation model, the parameters of the initial relation model are required to be corrected so as to obtain the final target relation model. Specifically, the parameters of the initial model may be iterated through a series of field experiments, i.e., preset experiments, to obtain a target initial model that meets the accuracy requirement. The series of preset experiments refer to boom tower crane fixed amplitude lifting experiments under the combination of different boom elevation angles, different lifting hook loads, different boom lengths and different tower heights.
In the embodiment of the application, in the process of lifting and lifting the ground off of the movable arm tower crane, according to a target relation model, the method for calculating the amplitude deviation of the lifting hook in real time can comprise the following steps:
and in the lifting and elevating process of the movable arm tower crane, acquiring the elevation angle of the lifting arm, the load of the lifting hook, the length of the lifting arm and the tower height in real time, and calculating the amplitude deviation of the lifting hook based on the target relation model.
In the embodiment of the application, in the process of lifting and lifting the lifting load off the ground of the movable arm tower crane, the controller can acquire the elevation angle of the lifting arm, the load of the lifting hook, the length of the lifting arm and the tower height in real time, and then calculate the deviation of the amplitude of the lifting hook through a target relation model, so that the deformation of the tip of the lifting arm in the process of lifting and lifting the ground is counteracted by controlling the amplitude variation of the movable arm tower crane, and the position change of the lifting hook in the horizontal direction is ensured to be within an error allowance range, namely, the deviation of the amplitude of the lifting hook is ensured to be within the error range.
In the embodiment of the application, based on the amplitude deviation of the lifting hook, the movable arm tower crane is controlled to perform amplitude variation action, and the amplitude deviation of the lifting hook is compensated to ensure that the amplitude of the lifting hook is unchanged in the lifting and lifting load off the ground, and the method can comprise the following steps:
controlling the amplitude variation motor to perform amplitude variation action at an amplitude variation speed rLimitSpeed;
the luffing speed rLimitSpeed satisfies equation (2):
wherein, the rLimitSpeed_level is the maximum speed allowed by the current position of the luffing motor in the horizontal direction; r is the amplitude deviation of the lifting hook; rstoptimal is the time required for decomposing the current speed of the variable amplitude motor to the speed of 0 in the horizontal direction; rDelaytime is the communication delay time plus the program execution time; rLimitSpeed is the luffing speed; alpha is the boom elevation angle.
In the embodiment of the application, the variable amplitude action of the swing arm tower crane is utilized to lift and bend the arm, so that the deformation of the boom tip in the lifting and carrying process can be counteracted, and the deviation of the amplitude of the lifting hook is compensated, so that the position change of the lifting hook in the horizontal direction is ensured to be within the allowable error range, namely the amplitude of the lifting hook is unchanged in the lifting and carrying process. The luffing speed can be dynamically adjusted during luffing motion of the luffing jib tower crane. When compensating the amplitude deviation generated by the lifting deformation, the smaller the deviation is, the smaller the compensation speed is, and the compensation speed is changed to 0, so that the overcompensation or the undercompensation can be prevented. The requirement on operators is reduced, and the working efficiency is improved. Specifically, the controller receives signals sent by the inclination angle sensor and the amplitude variation absolute value encoder in real time, then determines the maximum speed allowed by the current position of the amplitude variation motor according to the signals sent by the inclination angle sensor and the amplitude variation absolute value encoder, and determines the maximum speed allowed by the current position of the amplitude variation motor according to the maximum speed allowed by the current position of the re-amplitude variation motor in the horizontal direction. And sending the maximum speed allowed by the current position of the variable amplitude motor to the variable amplitude frequency converter, and finally dynamically adjusting the speed of the variable amplitude motor through the variable amplitude frequency converter according to the maximum speed allowed by the current position of the variable amplitude motor.
Fig. 2 schematically shows a block diagram of a controller according to an embodiment of the application. As shown in fig. 2, an embodiment of the present application provides a controller, which may include:
a memory 210 configured to store instructions; and
the processor 220 is configured to call instructions from the memory 210 and to implement the method of boom tower crane amplitude setting lifting control described above when executing the instructions.
Specifically, in an embodiment of the present application, the processor 220 may be configured to:
obtaining a structural geometric model of the movable arm tower crane;
establishing a finite element model according to a structural geometric model of the movable arm tower crane;
determining a target relation model of the amplitude deviation of the lifting hook of the movable arm tower crane according to the finite element model;
in the lifting and elevating process of the movable arm tower crane, calculating the amplitude deviation of the lifting hook in real time according to the target relation model;
based on the amplitude deviation of the lifting hook, the movable arm tower crane is controlled to perform amplitude variation action, and the amplitude deviation of the lifting hook is compensated, so that the amplitude of the lifting hook is unchanged in the lifting and elevating process.
Further, the processor 220 may be further configured to:
carrying out finite element analysis on the elevation angle, the lifting load, the arm length and the tower height of the lifting arm according to the finite element model so as to obtain an initial relation model of the amplitude deviation of the lifting hook;
and correcting parameters of the initial relation model of the amplitude deviation of the lifting hook through a preset experiment to obtain a target relation model of the amplitude deviation of the lifting hook.
In the embodiment of the application, the preset experiments are boom tower crane fixed amplitude lifting experiments under the combination of different boom elevation angles, different lifting hook loads, different boom lengths and different tower heights.
In the embodiment of the application, the target relation model of the amplitude deviation of the lifting hook meets the formula (1):
R＝f(α,W,L,H)； (1)
wherein R is the deviation of the amplitude of the lifting hook; alpha is the elevation angle of the crane boom; w is the load of the lifting hook; l is the length of the crane boom; h is the tower height.
Further, the processor 220 may be further configured to:
and in the lifting and elevating process of the movable arm tower crane, acquiring the elevation angle of the lifting arm, the load of the lifting hook, the length of the lifting arm and the tower height in real time, and calculating the amplitude deviation of the lifting hook based on the target relation model.
Further, the processor 220 may be further configured to:
controlling the amplitude variation motor to perform amplitude variation action at an amplitude variation speed rLimitSpeed;
the luffing speed rLimitSpeed satisfies equation (1):
wherein, the rLimitSpeed_level is the maximum speed allowed by the current position of the luffing motor in the horizontal direction; r is the amplitude deviation of the lifting hook; rstoptimal is the time required for decomposing the current speed of the variable amplitude motor to the speed of 0 in the horizontal direction; rDelaytime is the communication delay time plus the program execution time; rLimitSpeed is the luffing speed; alpha is the boom elevation angle.
Through the technical scheme, the structure geometric model of the movable arm tower crane is firstly obtained, the finite element model is built according to the structure geometric model of the movable arm tower crane, and then the target relation model of the amplitude deviation of the lifting hook of the movable arm tower crane is determined according to the finite element model. And finally, controlling the movable arm tower crane to perform amplitude variation action based on the lifting hook amplitude deviation to compensate the lifting hook amplitude deviation so as to ensure that the lifting hook amplitude is unchanged in the lifting and lifting load off-ground process. According to the application, the amplitude deviation generated by the lifting deformation is compensated by controlling the luffing motion of the movable arm tower crane, so that the inclined-pulling inclined-hanging phenomenon in the lifting and off-ground process of the movable arm tower crane is avoided, and the super moment is prevented. Meanwhile, the compensation process based on the target relation model is smooth, and cannot be overcompensated or overcompensated, so that the requirement on an operator is reduced.
Fig. 3 schematically shows a block diagram of a control system for amplitude-fixed lifting of a boom tower crane according to an embodiment of the application. As shown in fig. 3, the embodiment of the present application further provides a control system for fixed amplitude lifting of a swing arm tower crane, which may include:
the controller 301 according to the above; and
a weight sensor (not shown) in communication with the controller 301 and configured to acquire a hook load;
a luffing absolute value encoder 302, in communication with the controller 301, configured to determine a location at which the luffing motor 305 is operating;
a tilt sensor 303 in communication with the controller 301 configured to obtain boom elevation;
a horn inverter 304, in communication with the controller 301 and the horn motor 305, respectively, is configured to dynamically adjust the speed of the horn motor 305.
In the embodiment of the application, a control system for fixed amplitude lifting of a swing arm tower crane comprises a controller 301, a weight sensor (not shown in the figure), an amplitude-variable absolute value encoder 302, an inclination angle sensor 303 and an amplitude-variable frequency converter 304. The controller performs data interaction with the frequency converter, the inclination angle sensor 303, the absolute value encoder and the like in a CANOPEN communication mode, and then performs specific calculation according to luffing motion characteristics of the swing arm tower crane. The absolute value encoder comprises a luffing absolute value encoder 302, a rotary absolute value encoder 307 and a lifting absolute value encoder 306; the frequency converters include a luffing frequency converter 304, a slewing frequency converter 309 and a lifting frequency converter 308. The control system for the fixed amplitude lifting of the movable arm tower crane further comprises an amplitude-variable motor 305, a rotary motor 311 and a lifting motor 310, and the movable arm tower crane is controlled to finish the action of the fixed amplitude lifting through the amplitude-variable motor 305, the rotary motor 311 and the lifting motor 310. The rotary absolute value encoder 307 and the rotary frequency converter 309 are used for controlling the rotary motor 311 to work; the lifting frequency converter 308 and the lifting motor 310 are used for controlling the lifting motor 310 to work. Specifically, the weight sensor is used for acquiring the hook load; the amplitude absolute value encoder 302 is used to determine the position at which the amplitude motor 305 is operating; the variable amplitude frequency converter 304 is used for dynamically adjusting the speed of the variable amplitude motor 305; the tilt sensor 303 is used to obtain boom elevation. It should be noted that the tilt sensor in the present application may be other devices for measuring the elevation angle of the boom, and the absolute value encoder may be an incremental encoder.
The embodiment of the application also provides a movable arm tower crane, which comprises the control system for fixed amplitude lifting of the movable arm tower crane.
The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions for enabling a machine to execute the method for controlling the fixed amplitude lifting of the swing arm tower crane.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A method for controlling fixed amplitude lifting of a swing arm tower crane, which is characterized by being applied to a controller of a fixed amplitude lifting system of the swing arm tower crane, the method comprising:
obtaining a structural geometric model of the movable arm tower crane;
establishing a finite element model according to the structural geometric model of the movable arm tower crane;
determining a target relation model of the amplitude deviation of the lifting hook of the movable arm tower crane according to the finite element model;
in the lifting and elevating process of the movable arm tower crane, calculating the amplitude deviation of the lifting hook in real time according to the target relation model;
and controlling the movable arm tower crane to perform amplitude variation action based on the amplitude deviation of the lifting hook to compensate the amplitude deviation of the lifting hook so as to ensure that the amplitude of the lifting hook is unchanged in the lifting and lifting process.
2. The method of claim 1, wherein the determining a target relationship model of the boom tower crane hook magnitude deviation from the finite element model comprises:
carrying out finite element analysis on the elevation angle, the lifting load, the arm length and the tower height of the lifting arm according to the finite element model so as to obtain an initial relation model of the amplitude deviation of the lifting hook;
and correcting parameters of the initial relation model of the amplitude deviation of the lifting hook through a preset experiment to obtain a target relation model of the amplitude deviation of the lifting hook.
3. The method of claim 2, wherein the predetermined test is a boom tower crane fixed amplitude lifting test at different boom elevations, different hook loads, different boom lengths, and different tower height combinations.
4. A method according to claim 3, wherein the target relationship model for the hook amplitude deviation satisfies equation (1):
R＝f(α,W,L,H)； (1)
wherein R is the deviation of the amplitude of the lifting hook; alpha is the elevation angle of the crane boom; w is the load of the lifting hook; l is the length of the crane boom; h is the tower height.
5. The method of claim 4, wherein calculating the deviation of the magnitude of the hook in real time during the lift-off of the lifting hook of the boom tower crane according to the target relationship model comprises:
and in the process of lifting and lifting the lifting load off the ground of the movable arm tower crane, acquiring the elevation angle of the lifting arm, the load of the lifting hook, the length of the lifting arm and the height of the tower in real time, and calculating the amplitude deviation of the lifting hook based on a target relation model.
6. The method of claim 1, wherein controlling the boom tower crane to perform a luffing motion based on the hook magnitude deviation compensates for the hook magnitude deviation to ensure that the hook magnitude is unchanged during lifting and lifting off the ground, comprises:
controlling the amplitude variation motor to perform amplitude variation action at an amplitude variation speed rLimitSpeed;
the luffing speed rLimitSpeed satisfies equation (2):
wherein, the rLimitSpeed_level is the maximum speed allowed by the horizontal direction of the current position of the variable amplitude motor; r is the amplitude deviation of the lifting hook; rstoptimal is the time required for decomposing the current speed of the variable amplitude motor to the speed which is reduced to 0 in the horizontal direction; rDelaytime is the communication delay time plus the program execution time; rLimitSpeed is the luffing speed; alpha is the boom elevation angle.
7. A controller, comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and when executing the instructions enable the method of boom tower crane fixed amplitude hoist control according to any one of claims 1 to 6.
8. A control system for fixed amplitude lifting of a movable arm tower crane is characterized by comprising:
the controller according to claim 7; and
a weight sensor in communication with the controller configured to acquire a hook load;
a luffing absolute value encoder in communication with the controller and configured to determine a location at which the luffing motor is operating;
a tilt sensor in communication with the controller configured to obtain boom elevation;
and the amplitude variable frequency device is respectively communicated with the controller and the amplitude variable motor and is configured to dynamically adjust the speed of the amplitude variable motor.
9. A luffing jib tower crane, characterized by comprising a luffing jib tower crane fixed amplitude hoisting control system according to claim 8.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method of boom tower crane amplitude modulation lift control according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311062639.8A CN117208769A (en) | 2023-08-22 | 2023-08-22 | Method, controller and control system for controlling fixed amplitude lifting of movable arm tower crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311062639.8A CN117208769A (en) | 2023-08-22 | 2023-08-22 | Method, controller and control system for controlling fixed amplitude lifting of movable arm tower crane |
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| CN202311062639.8A Pending CN117208769A (en) | 2023-08-22 | 2023-08-22 | Method, controller and control system for controlling fixed amplitude lifting of movable arm tower crane |
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| Country | Link |
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| CN (1) | CN117208769A (en) |
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