CN105110191A - Double-machine cooperative lifting control method and system - Google Patents
Double-machine cooperative lifting control method and system Download PDFInfo
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- CN105110191A CN105110191A CN201510447987.6A CN201510447987A CN105110191A CN 105110191 A CN105110191 A CN 105110191A CN 201510447987 A CN201510447987 A CN 201510447987A CN 105110191 A CN105110191 A CN 105110191A
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Abstract
The invention relates to the technical field of cooperative control, in particular to a double-machine cooperative lifting control method and a system. The double-machine cooperative lifting control method comprises the following steps: a first crane is controlled to act according to preset working conditions; cooperative control signals are generated according to the preset working conditions and acquired position information of the first crane; and a second crane is controlled to act according to the cooperative control signals. After the double-machine cooperative lifting control method is performed, the main crane is only required to operate in the whole process, and the auxiliary crane automatically follows to act in real time, so that intelligence of the whole process is realized.
Description
Technical field
The present invention relates to Collaborative Control technical field, particularly the control method that lifts of a kind of double computer cooperation and system.
Background technology
Along with Large-scale Hoisting is increasing, operating environment is increasingly sophisticated, and the Lifting Capacity of a hoisting crane is difficult to meet the demands, and a lot of occasion needs two or multiple stage hoisting crane to carry out common operational, and wherein the demand of two hoisting crane common operational is increasing.
Current two-shipper mode of operation is artificial co-ordination substantially, manual coordination comand way mainly relies on the observation coordination of commanding officer and the experience of operator to carry out lifting operation, the judgement made has subjectivity and one-sidedness, fully can not ensure that the safety of lifting operation is carried out, and work efficiency is very low, significantly increase hoisting cost.
Therefore, R and D two crane intelligents work in coordination with hoisting technology, are technical barriers urgently to be resolved hurrily,
Summary of the invention
In view of this, the present invention aims to provide control method and the system of the lifting of a kind of double computer cooperation, makes two automatic work compounds of lifting function, improves the safety of hoisting crane work compound, reliability and work efficiency and reduce job costs.
Particularly, the control method of this double computer cooperation lifting comprises the following steps: steps A: according to the operating conditions the first heavy-duty machine action preset; Step B: generate Collaborative Control signal according to described default operating mode and the location information of described the first heavy-duty machine that collects; Step C: according to the action of described Collaborative Control signal control second hoisting crane.
Further, described default operating mode is that when synchronously rising and falling operating mode, described Collaborative Control signal is the height under hook of described the first heavy-duty machine; Described step C comprises: according to the height under hook of described the first heavy-duty machine, and the height that rises and falls controlling the suspension hook of described second hoisting crane is consistent with the height under hook of described the first heavy-duty machine.
Further, when described default operating mode is for rotating operating mode, the location information of described the first heavy-duty machine comprises: the height under hook of the first heavy-duty machine; Described steps A comprises: the target amplitude calculating the suspension hook of described the first heavy-duty machine according to the revolution angle on target rotating operating mode and setting, and controls described the first heavy-duty machine according to described target amplitude and carry out luffing action; And adjust to make the height under hook of described the first heavy-duty machine to remain unchanged when described rotation operating mode in real time according to the height under hook of the first heavy-duty machine of described the first weighing arm angular transducer sensing.
Further, when described default operating mode is translation operating mode: described steps A comprises: according to translation operating mode, control described first crane amplitude variation and/or revolution, and the height of suspension hook in translation operating mode controlling described the first heavy-duty machine is constant; Described step B comprises: the vector of suspension hook in space movement determining described the first heavy-duty machine according to the amplitude information of described the first heavy-duty machine and/or the degreeof turn information of the first heavy-duty machine, and according to the described Collaborative Control signal that the vector of described space movement generates, described Collaborative Control signal comprises first object amplitude and/or the target degreeof turn of described second hoisting crane; Described step C comprises: the second crane amplitude variation and/or revolution according to described Collaborative Control signal control, to make described second hoisting crane identical at the vector of space movement with the suspension hook of described the first heavy-duty machine, and adjust to make the height of height under hook in translation operating mode of described second hoisting crane constant in real time to the height under hook of described second hoisting crane.
Further, when described default operating mode is for upset operating mode:
Described steps A comprises: according to translation operating mode, control described the first heavy-duty machine to turn round to the center of gyration line of described the first heavy-duty machine and described second hoisting crane, and the level interval d of suspension hook at the suspension hook and described second hoisting crane that return back to described the first heavy-duty machine
1during for preset pitch, the suspension hook controlling described the first heavy-duty machine hooks up, and meets the height under hook h of described the first heavy-duty machine
1with the height under hook h of described second hoisting crane
2difference h meet
wherein, l is the length of lifting object; Described level interval is the spacing in the horizontal direction system of axes determined according to degreeof turn and the amplitude of described the first heavy-duty machine and the second hoisting crane; Described step B comprises: the sensing result according to described first degreeof turn coder generates described synchronous revolving control signal, and described synchronous revolving control signal is described Collaborative Control signal; Described step C comprises: turn round to the center of gyration line of described the first heavy-duty machine and described second hoisting crane according to described synchronous revolving control signal described second hoisting crane of control and described the first heavy-duty machine simultaneously, and the height under hook of described second hoisting crane is determined by the sensing result of described second elevator rotary encoder, adjust in real time to make the height of the height under hook of described second hoisting crane in upset operating mode constant to the height under hook of described second hoisting crane.
Further, the control method of described double computer cooperation lifting also comprises: when described the first heavy-duty machine and the second crane rotation are preset pitch to the level interval d1 of the suspension hook of described the first heavy-duty machine and the suspension hook of described second hoisting crane, and the suspension hook of described the first heavy-duty machine hooks up after operation completes, the suspension hook controlling described the first heavy-duty machine hooks up, and calculate the real-time height h1 of the suspension hook of described the first heavy-duty machine according to the sensing result of described first elevator rotary encoder, and control described second crane height h
2constant, and with the level interval d of the suspension hook of the suspension hook of described the first heavy-duty machine and described second hoisting crane
1meet
for constraint condition calculates the second target amplitude of described second hoisting crane; And control described second hoisting crane execution luffing action according to described second target amplitude.
Further, also comprised before described steps A: according to each operating mode and the corresponding relation of locus of described the first heavy-duty machine preset and the location information of the first heavy-duty machine of described primary importance sensing unit senses, determine the default operating mode that the location information of described the first heavy-duty machine is corresponding.
Particularly, the control system of this double computer cooperation lifting comprises primary importance sensing unit, the first control unit, first data transmission unit, the second data transmission unit and described second control unit that signal successively connects; Described first control unit is for receiving the location information of the first heavy-duty machine of primary importance sensing unit senses, and according to the operating conditions the first heavy-duty machine action preset, and generate Collaborative Control signal according to the location information of described default operating mode and described the first heavy-duty machine, and described Collaborative Control signal is sent to the second control unit by first data transmission unit and the second data transmission unit by described Collaborative Control signal; Described second control unit is used for according to the action of described Collaborative Control signal control second hoisting crane.
Further, described primary importance sensing unit comprises the first elevator rotary encoder, the first weighing arm angular transducer and the first degreeof turn coder, and described first elevator rotary encoder, described the first weighing arm angular transducer and described first degreeof turn coder are connected with described first control unit signal respectively.
Further, the control system of described double computer cooperation lifting also comprises: the second elevator rotary encoder, the second crane arm angular transducer and the second degreeof turn coder, described second elevator rotary encoder, described second crane arm angular transducer and described second degreeof turn coder are connected with described second control unit signal respectively.
The present invention is in whole system control process, first control unit of the main hoisting crane of corresponding control is directly according to preassigned operating mode, main hoisting crane is operated, and automatically generate Collaborative Control signal according to the real-time position information (action executing situation) of main hoisting crane, to make the corresponding servo antrol of the second control unit realization to auxiliary hoisting crane controlling auxiliary hoisting crane, that is, operator only needs to operate main hoisting crane (main hoisting crane being specified to operating mode etc.) in whole process, auxiliary hoisting crane can follow action in real time automatically, the intellectuality of whole process implementation.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
The diagram of circuit of the control method of a kind of double computer cooperation lifting that Fig. 1 provides for the embodiment of the present invention;
Two suspension hooks position view in the horizontal direction in the control method that Fig. 2 lifts for double computer cooperation shown in Fig. 1;
Two suspension hooks position view in vertical direction in the control method that Fig. 3 lifts for double computer cooperation shown in Fig. 1;
The structured flowchart of the control system of a kind of double computer cooperation lifting that Fig. 4 provides for the embodiment of the present invention;
Another structured flowchart of the control system of a kind of double computer cooperation lifting that Fig. 5 provides for the embodiment of the present invention.
Detailed description of the invention
To it should be pointed out that in this part to the description of concrete structure and description order it is only explanation to specific embodiment, should not be considered as there is any restriction to protection scope of the present invention.In addition, when not conflicting, the embodiment in this part and the feature in embodiment can combine mutually.
Please also refer to Fig. 1, Fig. 2 and Fig. 3, below accompanying drawing is elaborated to the control method that the double computer cooperation of the embodiment of the present invention lifts.
As shown in Figure 1, the control method of the double computer cooperation lifting of this embodiment can comprise the steps:
S11: the first control unit receives the location information of the first heavy-duty machine (hereinafter referred to as main hoisting crane) of primary importance sensing unit senses;
S12: the first control unit is according to the main hoisting crane action of operating conditions preset;
S13: the first control unit generates Collaborative Control signal according to the location information of the operating mode preset and main hoisting crane;
Collaborative Control signal is sent to the second control unit by first data transmission unit and the second data transmission unit by the S14: the first control unit, and first data transmission unit and the second data transmission unit communicate to connect;
S15: the second control unit is according to Collaborative Control signal control second hoisting crane (hereinafter referred to as auxiliary hoisting crane) action.
In above-mentioned whole system control process, first control unit of the main hoisting crane of corresponding control is directly according to preassigned operating mode, main hoisting crane is operated, and automatically generate Collaborative Control signal according to the real-time position information (action executing situation) of the operating mode preset and main hoisting crane, to make the corresponding servo antrol of the second control unit realization to auxiliary hoisting crane controlling auxiliary hoisting crane, that is, the whole process of operator only needs to operate main hoisting crane (main hoisting crane being specified to operating mode etc.), auxiliary hoisting crane follows action in real time automatically, the intellectuality of whole process implementation.
During concrete operations, location sensing can be carried out in course of action at main hoisting crane, certain location sensing operation also can independent of the action of main hoisting crane, that is: the execution sequence between S11 and S12 can be arranged as required, and the index order of S11 and S12 does not limit the execution order of the two herein.
Have revolution, luffing as separate unit crane hanging component and rise the action such as off the hook, the typical condition of general two crane liftings has four kinds, is respectively: synchronously rise and fall, translation, rotation and upset, lift the combination that process is these four kinds of operating modes substantially.Simultaneously for ensureing without oblique pull, set up the space coordinates of two crane horizontal directions and vertical direction respectively, horizontal direction coordinate is determined (specifically as shown in Figure 2 by the degreeof turn of each hoisting crane and crane arm luffing amplitude, wherein A and B is respectively the center of gyration of main hoisting crane and auxiliary hoisting crane, O
aand O
bshown position is corresponding respectively represents the suspension hook of main hoisting crane and the suspension hook position in the horizontal direction of auxiliary hoisting crane, d
1represent the spacing between the suspension hook of main hoisting crane in horizontal direction and the suspension hook of auxiliary hoisting crane, R
a1represent that the suspension hook of main hoisting crane is at O
aamplitude during shown position, R
a2represent that the suspension hook of main hoisting crane is at P
aamplitude during shown position, R
b1represent that the suspension hook of auxiliary hoisting crane is at O
bamplitude during shown position, R
b2represent that the suspension hook of auxiliary hoisting crane is at O
bamplitude during shown position, the distance between the center of gyration of the main hoisting crane of d and auxiliary hoisting crane is that the suspension hook of auxiliary hoisting crane is by O
bshown position returns back to P
bdegreeof turn corresponding during shown position), vertical direction coordinate is determined (specifically as shown in Figure 3) by the height under hook of each hoisting crane, and above-mentioned four kinds of operating modes can control from horizontal direction and vertical direction respectively.Now explain above-mentioned steps S11-S15 in detail in conjunction with four kinds of operating modes, specific as follows:
1) synchronously to rise and fall operating mode: this operating mode is that the height under hook of main hoisting crane and auxiliary hoisting crane changes, degreeof turn and the crane arm amplitude of main hoisting crane and auxiliary hoisting crane are constant, namely during concrete operations, first operate main hoisting crane and play off the hook, simultaneously by main crane hook height h
1feed back to auxiliary hoisting crane, as auxiliary crane hook height h
2target reference, the height under hook controlling main hoisting crane is consistent with the height under hook of auxiliary hoisting crane, can ensure that two hoisting cranes synchronously rise and fall.
Collaborative Control thinking corresponding to above-mentioned operating mode of synchronously rising and falling: operating mode for synchronously to rise and fall operating mode time, primary importance sensing unit at least comprises the first elevator rotary encoder;
S12 comprises: the first control unit controls main hoisting crane and plays off the hook;
S13 comprises: the height under hook of the main hoisting crane that the first control unit generates according to the sensing result of the first elevator rotary encoder, and Collaborative Control signal is the height under hook of main hoisting crane;
S15 comprises: the height that rises and falls that the second control unit controls the suspension hook of auxiliary hoisting crane is consistent with the height under hook of main hoisting crane; In order to perform S15 better, preferably, can also be sensed the height that rises and falls of the suspension hook of auxiliary hoisting crane in real time by the second elevator rotary encoder, the height that rises and falls adjusting the suspension hook guaranteeing auxiliary hoisting crane according to the sensing result of the second elevator rotary encoder is in real time consistent with the height under hook of main hoisting crane.
2) rotate operating mode: easy and simple to handle in order to make, when rotating operating mode, set auxiliary hoisting crane and not doing any action, keeping motionless, only operate main crane rotation to realize rotating; Whole rotary course, controls the height under hook h of main hoisting crane
1constant, the spacing d in horizontal direction between the suspension hook of main hoisting crane and the suspension hook of auxiliary hoisting crane
1(when changing without placement state, being generally weight length l) is constant, the suspension hook being equivalent to main hoisting crane with the suspension hook of auxiliary hoisting crane for the center of circle, spacing d
1for radius carries out circular movement; The target amplitude R of the suspension hook of main hoisting crane can be calculated according to the revolution angle on target of main hoisting crane
b2the amplitude of carrying out main hoisting crane controls, simultaneously due to the height under hook of main hoisting crane can be caused in the amplitude changing process of main hoisting crane to change, therefore in rotation operating mode, also need the height under hook h adjusting to control main hoisting crane according to the real-time sensing result of the first elevator rotary encoder in real time
1constant, and then realize the collaborative rotation of suspension hook without beat.
Collaborative Control thinking corresponding to above-mentioned rotation operating mode: when operating mode is for rotating operating mode, primary importance sensing unit also comprises the first weighing arm angular transducer and the first degreeof turn coder;
S12 also comprises: the first control unit calculates the target amplitude of the suspension hook of main hoisting crane according to the revolution angle on target of setting, and carry out luffing action according to target amplitude control hoisting crane, and adjust in real time the height under hook of winner's hoisting crane is remained unchanged when rotating operating mode according to the height under hook of the main hoisting crane of the first weighing arm angular transducer sensing.
3) translation operating mode: this operating mode can correspond to position O (the i.e. O shown in Fig. 2
aand O
bshown position) move to position P (P
aand P
bshown position), operate the revolution of main hoisting crane and luffing (certainly according to the situation of actual translation can also be revolution and luffing action any one), the height controlling major-minor crane hook in whole translation operating mode is constant, is all the target amplitude R that constraint condition calculates auxiliary hoisting crane with the suspension hook of major-minor hoisting crane mutually at the vector of space movement
b2(can be called first object amplitude) and degreeof turn θ, to control the auxiliary hoisting crane of control, realize without oblique pull and the constant collaborative translation of weight placement state.
Collaborative Control thinking corresponding to above-mentioned translation operating mode: when operating mode is translation operating mode,
S12 comprises: the first control unit controls main crane amplitude variation and/or revolution, and the height of suspension hook in translation operating mode controlling main hoisting crane is constant;
S13 comprises: the first control unit determines the vector of the suspension hook of main hoisting crane in space movement according to the sensing result of the first weighing arm angular transducer and/or the first degreeof turn coder, and according to the Collaborative Control signal that the vector of space movement generates, Collaborative Control signal comprises first object amplitude and/or the target degreeof turn of auxiliary hoisting crane;
S15 comprises: the second control unit is according to the auxiliary crane amplitude variation of Collaborative Control signal control and/or revolution, to make auxiliary hoisting crane identical at the vector of space movement with the suspension hook of main hoisting crane, and the height under hook of auxiliary hoisting crane is determined by the second elevator rotary encoder sensing result, adjust in real time to make the height of the height under hook of auxiliary hoisting crane in translation operating mode constant to the height under hook of auxiliary hoisting crane.
4) operating mode is overturn: upset operating mode is as turning to plumbness by weight by horizontality, and major-minor hoisting crane spacing in the horizontal direction can be made to change, and meanwhile, the height under hook of main hoisting crane can change; Therefore in the horizontal direction corresponded in the present invention and vertical direction, be first that the suspension hook of major-minor two machines is simultaneously to center of gyration connection lead upper rotary, at this moment the level interval d of two suspension centres
1reduce (specifically can see the P position in Fig. 2 to the pivotal process of AB line), then the elevator controlling main hoisting crane hooks up, main and auxiliary crane hook diff-H is met
(as shown in Figure 3), just can ensure that switching process is without oblique pull;
Collaborative Control thinking corresponding to above-mentioned upset operating mode: when default operating mode is for upset operating mode:
S12 comprises: the first control unit controls main hoisting crane and turns round to the center of gyration line of main hoisting crane and auxiliary hoisting crane, and the level interval d of suspension hook at the suspension hook and auxiliary hoisting crane that return back to main hoisting crane
1when (this spacing is minimum when returning back to AB line) is for preset pitch (can overturn demand according to reality to arrange), the suspension hook controlling main hoisting crane hooks up, and meets the height under hook h of main hoisting crane
1with the height under hook h of auxiliary hoisting crane
2difference h meet
this level interval d
1for the spacing in the horizontal direction system of axes determined according to degreeof turn and the amplitude of main hoisting crane and auxiliary hoisting crane;
S13 comprises: the synchronous revolving control signal that the first control unit generates according to the sensing result of the first degreeof turn coder, and synchronous revolving control signal is Collaborative Control signal;
S15 comprises: the second control unit controls auxiliary hoisting crane according to synchronous revolving control signal and main hoisting crane turns round to the center of gyration line of main hoisting crane and auxiliary hoisting crane simultaneously, and the height under hook of auxiliary hoisting crane is determined by the second elevator rotary encoder sensing result, adjust in real time to make the height of the height under hook of auxiliary hoisting crane in upset operating mode constant to the height under hook of auxiliary hoisting crane.
During concrete operations, consider, turned round by above-mentioned major-minor hoisting crane simultaneously and again the suspension hook of main hoisting crane is hooked up the predetermined upset object of possibility out of reach, then can cause subsidiary engine slipping tail phenomenon, now need to operate main hoisting crane and hook up, and control auxiliary crane height h
2constant, and the level interval d of two suspension centres
1meet
calculate the target amplitude (for being different from the target amplitude of translation operating mode, can be called the second target amplitude) of auxiliary hoisting crane as constraint, control auxiliary crane amplitude variation, then switching process is without oblique pull, until overturn.Correspondingly, for above-mentioned situation, the control method of double computer cooperation lifting also comprises:
At main hoisting crane and auxiliary crane rotation to the level interval d of the suspension hook of main hoisting crane and the suspension hook of auxiliary hoisting crane
1for preset pitch, and the suspension hook of main hoisting crane hooks up after operation completes, and the suspension hook that the first control unit controls main hoisting crane hooks up, and calculates the real-time height h of the suspension hook of main hoisting crane according to the sensing result of the first elevator rotary encoder
1, and according to auxiliary crane height h
2constant and constraint condition
calculate the second target amplitude of auxiliary hoisting crane;
Second target amplitude is sent to the second control unit by first data transmission unit and the second data transmission unit by the first control unit, and the second control unit controls auxiliary hoisting crane according to the second target amplitude and performs luffing action.
In specific implementation process, the control method of the double computer cooperation lifting of above-described embodiment can also adopt some prioritization schemes, such as, the real-time position information of the first heavy-duty machine is sent to the first display unit by the first control unit, so that monitor the operating state of the first heavy-duty machine; In like manner, the real-time position information of the second hoisting crane is sent to the second display unit by the second control unit, so that monitor the operating state of the second hoisting crane; For another example, can by the sensing result of the second elevator rotary encoder of the location information of corresponding sensing the second hoisting crane, the second crane arm angular transducer and the second degreeof turn coder, determine the actual implementation status of the concerted action of the second hoisting crane, if error exceedes preset range, then feed back to main hoisting crane, reduce the speed of main hoisting crane action, until synchronously follow.
The present embodiment by realizing the collaborative work of these four kinds of operating modes, and selects different operating modes (as selected synchronously to rise and fall operating mode when starting, ensureing two suspension hook synchronous ascendings) on request at diverse location, thus completes the collaborative of whole lifting.Whole process all only operates main hoisting crane, according to the condition that two position of crane hooks under various operating mode need meet, according to space geometry rule, calculate the respective target locations of two crane hooks, and draw the three degree of freedom of corresponding hoisting crane: degreeof turn, amplitude and height under hook, again auxiliary hoisting crane is controlled, making auxiliary hoisting crane automatically follow action in real time, the intellectuality of whole process implementation.
Please also refer to Fig. 4 and Fig. 5, below accompanying drawing is described in detail the control system that the double computer cooperation of the embodiment of the present invention lifts.
As shown in Figure 4, the control system of the double computer cooperation lifting of this embodiment can comprise: successively signal connect primary importance sensing unit, the first control unit, the data transmission unit comprising first data transmission unit and the second data transmission unit and the second control unit; First control unit is for receiving the location information of the main hoisting crane of primary importance sensing unit senses, and control main hoisting crane action according to the operating mode preset (control output unit by first and export signal to corresponding performance element), and generate Collaborative Control signal according to the location information of the operating mode preset and main hoisting crane, and Collaborative Control signal is sent to the second control unit by first data transmission unit and the second data transmission unit by Collaborative Control signal; Second control unit is used for controlling auxiliary hoisting crane action according to Collaborative Control signal (control output unit by second and export signal to corresponding performance element).
In specific implementation process, the control system of the double computer cooperation lifting of above-described embodiment can also adopt some prioritization schemes, such as, by arranging the first display unit, and by the first control unit, the real-time position information of the first heavy-duty machine is sent to the first display unit, so that the operating state of the first heavy-duty machine is monitored; In like manner, the second display unit can also be set, by the second control unit, the real-time position information of the second hoisting crane be sent to the second display unit, so that monitor the operating state of the second hoisting crane; Certainly, above-mentioned first display unit and the second display unit, except for monitoring current two crane hanging component states, can also be used for operator and carrying out operating mode selection and hoisting crane pairing selection operation; For another example, second place sensor can be set, by the location information of second place sensor correspondence sensing the second hoisting crane, determine the actual implementation status of the concerted action of the second hoisting crane, the concerted action of the second hoisting crane is adjusted in real time, preset range can also be exceeded at actuated error, then feed back to main hoisting crane, reduce the speed of main hoisting crane action, until synchronously follow.
Particularly, as shown in Figure 5, primary importance sensing unit can comprise the first elevator rotary encoder, the first weighing arm angular transducer and the first degreeof turn coder that are connected with the first control unit signal respectively, distinguish the height under hook of corresponding sensing the first heavy-duty machine, amplitude and degreeof turn information, and then realize the detection to main position of crane hook.In like manner, second place sensing unit can comprise the second elevator rotary encoder, the second crane arm angular transducer and the second degreeof turn coder that are connected with the second control unit signal respectively.During concrete operations, by wireless or wired data transmission unit, two hoisting cranes are made to set up real-time data sharing.Wherein, first data transmission unit and the second data transmission unit are respectively the first wireless transmission unit and the second wireless transmission unit, certainly, as required, also can adopt wire transmission.
Now for the double computer cooperation control system of the car hosit of certain model, for obtaining the locus coordinate of two hoisting cranes, two hoisting cranes are equipped with crane arm angular transducer, degreeof turn sensor and elevator rotary encoder; The transmission of data is carried out by respective wireless data transmission unit; Respective display unit (as read-out) arranges two hoisting crane roles separately, and the mode of operation of display two hoisting cranes; According to the rule lifted under each operating mode, export the action of execution two hoisting cranes by the control of controller.Concrete implementation step is:
1) lift preparation work: the position two hoisting cranes being placed in setting, and complete auxiliary lifting measure, suspension hook has been hung weight.
2) hoisting crane pairing: arranged by read-out, configuration needs two hoisting cranes of collaborative work, realizes two hoisting crane data sharings, and to arrange a wherein hoisting crane be main hoisting crane, and be A, then another hoisting crane is auxiliary hoisting crane, is B.Double computer cooperation pattern is set simultaneously.
3) path is arranged: for ensureing safety (non-overloading, collisionless) and the fluency of whole operating process, carry out path planning in advance, operator operates by the path preset.
4) operating mode is selected: after path planning is good, selects the operating mode next need done, first selects operating mode of synchronously rising and falling.
5) weight lifts: main hoisting crane hooks up, and auxiliary hoisting crane is according to the height of feedback, and procedure auto-control is synchronously followed, until object height.
6) operating mode is switched: select the operating mode be applicable to according to path planning, controller stores the locus coordinate of two crane hooks under this state, i.e. degreeof turn, amplitude and height under hook; Operating mode switches once, stores information updating once.
7) operation controls: according to the path of setting and the operating mode of selection, main hoisting crane operates accordingly, and system calculates the target reference of two crane location coordinates in real time, carries out controlled reset, realizes the collaborative lifting of automatically following.
The control system of the double computer cooperation lifting of the present embodiment is followed in real time automatically by operation hoisting crane, simultaneously another hoisting crane of programming control, realize synchronously rising and falling in lifting, translation, the operating mode such as rotation and upset collaborative lifting, and then achieve two whole intellectualities lifting collaborative lifting in process of hoisting crane, easy and simple to handle, ensure the safety of double-machine lifting crane, improve the efficiency of double-machine lifting crane, and it is low to realize cost; Controlled respectively by horizontal and vertical directions simultaneously, make suspension hook without oblique pull.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a control method for double computer cooperation lifting, is characterized in that, comprise the following steps:
Steps A: according to the operating conditions the first heavy-duty machine action preset;
Step B: generate Collaborative Control signal according to described default operating mode and the location information of described the first heavy-duty machine that collects;
Step C: according to the action of described Collaborative Control signal control second hoisting crane.
2. the control method of double computer cooperation lifting as claimed in claim 1, is characterized in that, described default operating mode is that when synchronously rising and falling operating mode, described Collaborative Control signal is the height under hook of described the first heavy-duty machine;
Described step C comprises: according to the height under hook of described the first heavy-duty machine, and the height that rises and falls controlling the suspension hook of described second hoisting crane is consistent with the height under hook of described the first heavy-duty machine.
3. the control method of double computer cooperation lifting as claimed in claim 2, it is characterized in that, when described default operating mode is for rotating operating mode, the location information of described the first heavy-duty machine comprises: the height under hook of the first heavy-duty machine;
Described steps A comprises: the target amplitude calculating the suspension hook of described the first heavy-duty machine according to the revolution angle on target rotating operating mode and setting, and controls described the first heavy-duty machine according to described target amplitude and carry out luffing action; And adjust to make the height under hook of described the first heavy-duty machine to remain unchanged when described rotation operating mode in real time according to the height under hook of the first heavy-duty machine of described the first weighing arm angular transducer sensing.
4. the control method of double computer cooperation lifting as claimed in claim 3, is characterized in that, when described default operating mode is translation operating mode:
Described steps A comprises: according to translation operating mode, controls described first crane amplitude variation and/or revolution, and the height of suspension hook in translation operating mode controlling described the first heavy-duty machine is constant;
Described step B comprises: the vector of suspension hook in space movement determining described the first heavy-duty machine according to the amplitude information of described the first heavy-duty machine and/or the degreeof turn information of the first heavy-duty machine, and according to the described Collaborative Control signal that the vector of described space movement generates, described Collaborative Control signal comprises first object amplitude and/or the target degreeof turn of described second hoisting crane;
Described step C comprises: the second crane amplitude variation and/or revolution according to described Collaborative Control signal control, to make described second hoisting crane identical at the vector of space movement with the suspension hook of described the first heavy-duty machine, and adjust to make the height of height under hook in translation operating mode of described second hoisting crane constant in real time to the height under hook of described second hoisting crane.
5. the control method of double computer cooperation lifting as claimed in claim 4, is characterized in that, when described default operating mode is for upset operating mode:
Described steps A comprises: according to translation operating mode, control described the first heavy-duty machine to turn round to the center of gyration line of described the first heavy-duty machine and described second hoisting crane, and the level interval d of suspension hook at the suspension hook and described second hoisting crane that return back to described the first heavy-duty machine
1during for preset pitch, the suspension hook controlling described the first heavy-duty machine hooks up, and meets the height under hook h of described the first heavy-duty machine
1with the height under hook h of described second hoisting crane
2difference h meet
wherein, l is the length of lifting object; Described level interval is the spacing in the horizontal direction system of axes determined according to degreeof turn and the amplitude of described the first heavy-duty machine and the second hoisting crane;
Described step B comprises: the sensing result according to described first degreeof turn coder generates described synchronous revolving control signal, and described synchronous revolving control signal is described Collaborative Control signal;
Described step C comprises: turn round to the center of gyration line of described the first heavy-duty machine and described second hoisting crane according to described synchronous revolving control signal described second hoisting crane of control and described the first heavy-duty machine simultaneously, and the height under hook of described second hoisting crane is determined by the sensing result of described second elevator rotary encoder, adjust in real time to make the height of the height under hook of described second hoisting crane in upset operating mode constant to the height under hook of described second hoisting crane.
6. the control method of double computer cooperation lifting as claimed in claim 5, is characterized in that, also comprise:
When described the first heavy-duty machine and the second crane rotation are preset pitch to the level interval d1 of the suspension hook of described the first heavy-duty machine and the suspension hook of described second hoisting crane, and the suspension hook of described the first heavy-duty machine hooks up after operation completes, the suspension hook controlling described the first heavy-duty machine hooks up, and calculate the real-time height h1 of the suspension hook of described the first heavy-duty machine according to the sensing result of described first elevator rotary encoder, and control described second crane height h
2constant, and with the level interval d of the suspension hook of the suspension hook of described the first heavy-duty machine and described second hoisting crane
1meet
for constraint condition calculates the second target amplitude of described second hoisting crane; And control described second hoisting crane execution luffing action according to described second target amplitude.
7. the control method of the double computer cooperation lifting according to any one of claim 1-6, is characterized in that, also comprised before described steps A:
According to each operating mode and the corresponding relation of locus of described the first heavy-duty machine preset and the location information of the first heavy-duty machine of described primary importance sensing unit senses, determine the default operating mode that the location information of described the first heavy-duty machine is corresponding.
8. a control system for double computer cooperation lifting, is characterized in that, comprising: successively signal connect primary importance sensing unit, the first control unit, first data transmission unit, the second data transmission unit and described second control unit;
Described first control unit is for receiving the location information of the first heavy-duty machine of primary importance sensing unit senses, and according to the operating conditions the first heavy-duty machine action preset, and generate Collaborative Control signal according to the location information of described default operating mode and described the first heavy-duty machine, and described Collaborative Control signal is sent to the second control unit by first data transmission unit and the second data transmission unit by described Collaborative Control signal;
Described second control unit is used for according to the action of described Collaborative Control signal control second hoisting crane.
9. the control system of double computer cooperation lifting as claimed in claim 8, it is characterized in that, described primary importance sensing unit comprises the first elevator rotary encoder, the first weighing arm angular transducer and the first degreeof turn coder, and described first elevator rotary encoder, described the first weighing arm angular transducer and described first degreeof turn coder are connected with described first control unit signal respectively.
10. the control system of double computer cooperation lifting as claimed in claim 9, it is characterized in that, also comprise: the second elevator rotary encoder, the second crane arm angular transducer and the second degreeof turn coder, described second elevator rotary encoder, described second crane arm angular transducer and described second degreeof turn coder are connected with described second control unit signal respectively.
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