CN101691192A - Method for controlling torque of heavy-duty crane at zero speed - Google Patents
Method for controlling torque of heavy-duty crane at zero speed Download PDFInfo
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- CN101691192A CN101691192A CN200910018568A CN200910018568A CN101691192A CN 101691192 A CN101691192 A CN 101691192A CN 200910018568 A CN200910018568 A CN 200910018568A CN 200910018568 A CN200910018568 A CN 200910018568A CN 101691192 A CN101691192 A CN 101691192A
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Abstract
The invention provides a method for controlling torque of a heavy-duty crane at zero speed, belonging to the technical field of crane manufacturing. The method is based on the condition that the heavy-duty crane is at low rotating speed or zero rotating speed. The method detects the torque and rotating speed of a load motor in real time, high torque is output to the motor at low speed or zero speed, and the method comprises a rapid zero-crossing torque control method, a high torque output control method and a brake sequence control method. The method can solve the problem of insufficient moment for starting a drive system and avoid zero hook gliding from occurring.
Description
Technical field
The invention belongs to hoisting crane manufacturing technology field, be specifically related to a kind of method for controlling torque of heavy-duty crane at zero speed.
Background technology
Heavy duty crane is the highest equipment of safety performance requirement in the hoisting crane industry. wherein lifting mechanism be as the most key in the total system structure, technical requirements is high and the also demanding system of safety.
Lift system for heavy duty crane, the hook that prevents to slip be very important also be the most key requirement, realize that this is that requirement will accomplish that (1) drive system should have big detent torque, usually surpass 150% torque rating, if consider factors such as overloading experiment, at least should provide 200% torque rating in the starting accelerator, (2) are because the existence of mechanical brake.The output torque of drive system and the braking torque of mechanical brake are taken over seamlessly, can not produce slide hook phenomenon, so the control sequential of the actuation signal of drive system and mechanical brake actuating signal also is very important.
The drive system of heavy duty crane is not fine in the control system of low speed and zero-speed at present, can't under low speed or even zero-speed situation, export bigger torque, slip easily when so probably causing (1) can't start (2) to stop and slip hook (4) when hook (3) opens car midway once more easily and can slip hook when running into zero-bit when being transformed into counter-rotating fast easily by just changeing.When heavy duty crane is handled the problem of zero-speed and low speed existence at present, adopt following method:
Not enough and can't starting load at starting drive system moment, by improving the capacity of drive system, promptly by expanding the power-handling capability that shelves improve drive system, drive system generally can be exaggerated 2 grades, will increase cost greatly like this.
Slip the phenomenon of hook easily at crossing zero-bit, then select to install additional encode axis and drive system formation closed loop system and prevent to slip hook.But, still have the possibility of slide hook if the switching of positive and negative speed is too fast
The easy hook that slips in the time of at parking, the general employing under the high-speed state of drive system energy output torque be carried out the band-type brake processing to motor.But will cause great impact at motor and brake system like this, can influence the service life of machinery on the one hand greatly, on the one hand drive system is transshipped through regular meeting in addition.
Summary of the invention
The present invention has overcome the deficiencies in the prior art, method for controlling torque of heavy-duty crane at zero speed has been proposed, its invention aim is based on the zero-speed method for controlling torque that heavy duty crane is designed under slow speed of revolution or zero speed conditions, keep away rabbit zero-bit slide hook phenomenon and take place, and effectively solve startup drive system moment deficiency problem.
In order to solve the problem that prior art exists, the present invention by the following technical solutions:
The present invention detects the torque and the rotating speed of load motor in real time, exports high torque (HT) to motor when low speed or zero-speed, and it comprises zero passage method for controlling torque, big torque output control method and band-type brake sequential control method;
Described zero passage method for controlling torque adopts zero passage computational mathematics model, adjusts and calculate the operational factor of motor in real time;
Described big torque output control method employing is carried out compensated torque with the vector controlled model that stator magnetic flux is estimated as core to motor.
Described band-type brake sequential control method by regulate excitation the time chien shih electrical motor starting match with the drop away time of mechanical brake, and send the accuracy control sequential after the signal of gathering calculated through program, carry out built-in band-type brake and control.
Described zero passage computational mathematics model comprises magnetic flux regulon, current control unit, driving arithmetic element and auxiliary current evaluation unit.
Described zero passage method for controlling torque adopts the TMS320C32 control chip to control.
Described vector controlled model comprises speed control unit, flux regulator unit, space vector regulon, current control unit, voltage calculating unit, stator magnetic flux evaluation unit and velocity estimation unit.
Described compensated torque is providing the required torque current of signal forward direction motor output load that declutches.
Described torque current calculates the back through the stator magnetic flux evaluation unit and obtains.
Described built-in band-type brake control sends speed-slackening signal by torque and the rotating speed that detects motor.
The present invention compares with traditional control system, has the advantage of following three aspects:
(1) can be implemented in, realize in the stop process even the acceleration;
(2) built-in band-type brake function has improved the reliability of electric apparatus system;
(3) can avoid slipping the hook phenomenon, guarantee device security to greatest extent, and prolong service life of equipment.
Description of drawings
Further specify the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 is a zero passage computational mathematics model structure scheme drawing of the present invention.
Fig. 2 vector controlled model structure scheme drawing that is estimated as core with stator magnetic flux of the present invention.
Fig. 3 view that declutches during for electric motor starting of the present invention.
Band-type brake view when Fig. 4 stops for motor of the present invention.
Among the figure, 1. magnetic flux regulon; 2. current control unit; 3. driving arithmetic element; 4. auxiliary current evaluation unit; 5. speed control unit; 6. flux regulator unit; 7. motor; 8. space vector regulon; 9. current control unit; 10. voltage calculating unit; 11. stator magnetic flux evaluation unit; 12. velocity estimation unit; A is the system start-up time point; B is a motor torque response band-type brake period point; C is the motor response time point that declutches; D is system's band-type brake signal time point; E is a band-type brake drive signal time point.
The specific embodiment
Consult shown in Figure 1, for the zero passage computational mathematics model scheme drawing of zero passage method for controlling torque of the present invention comprises magnetic flux regulon 1, current control unit 2, drives arithmetic element 3 and auxiliary current evaluation unit 4.
Owing to the various parameter characteristics of motor 7 along with temperature and change in rotational speed change, so system quick and precisely discerns, estimation and given motor 7 parameters are very important and crucial.If can be when motor 7 forward and backward zero passages state, and the estimation and the given correlation parameter timely of quick identification motor, situation that will fine solution drive system drive performance difference when motor 7 zero passages, this also is to solve motor 7 heavily loaded zero passages not slip the tactful key point place of hook.The principal feature of the zero passage computational mathematics model of zero passage torque control is fast: by the signal of self gathering, can adjust and calculate motor 7 in real time and be in the required given correlation parameter of drive system under the different conditions.Among the figure, the motor 7 that drives in order to give is with suitable current i
Qs eAnd argument λ
Ds eCharacteristic, zero passage computational mathematics model have adopted magnetic flux governing loop unit 1 and auxiliary current evaluation unit 4 in conjunction with current control unit 2, give to drive the comparatively desirable input reference signal of arithmetic element 3 (as the v among the figure
Ds e), like this, drive arithmetic element 3 and just can obtain the key parameter under more satisfactory d/q (2S) system of axes, in conjunction with v
Qs e,, can obtain i accurately through computing
Qs e, and λ
Ds eNumerical value, and then, finally export a suitable drive signal through 2S change 3S coordinate transform.Because this method of calculating is a closed loop system, the λ of output
Ds eSignal will be sent to magnetic flux regulon 1, auxiliary current evaluation unit 4, current control unit 2, regulate through constantly carrying out parameter, finally can export comparatively desirable numerical value.Because the entire process process is based on TMS320C32 (dsp chip), so gather and the speed of computing is very fast, therefore the judgement that is in any state (ultimate limit state) for motor also is very accurately with timely.Torque control when this model can solve under motor 7 heavily loaded situations zero passage fully.
Consult shown in Figure 2ly, the vector controlled model that is estimated as core with stator magnetic flux comprises speed control unit 5, flux regulator unit 6, space vector regulon 8, current control unit 9, voltage calculating unit 10, stator magnetic flux evaluation unit 11 and velocity estimation unit 12.
The vector controlled model be with stator magnetic flux be estimated as core vector controlled, be characterized in the quadrant and zone of low frequency and low pressure, can give motor 7 with compensated torque.Thereby can overcome the bad phenomenon of drive performance under the state of low frequency.Can accomplish the high torque (HT) under low frequency or the zero-speed, as shown in the figure, control is divided into three phase current with electric current and controls the vector controlled model to the space vector of motor, the vector controlled model sends corresponding magnetic flux and speed signal according to the result of self speed and stator magnetic flux evaluation unit 11, by the detection of voltage calculating unit 10, send driving voltage V then
s, with current i
sOutput to together in the stator magnetic flux evaluation unit 11, through with the contrast of former estimation parameter, stator magnetic flux evaluation unit 11 sends speed reference to velocity estimation unit 12
, r
θSend reference value to flux regulator unit 6
, send the phase reference value to current control unit 9
Meanwhile, velocity estimation unit 12 is transported in the speed control unit 5 after the result superposes through calculating and contrast to export, process is to arriving current control unit 9 with signal conveys after the signal conditioning, ultimate current control unit 9 sends to current signal in the space vector regulon 8 like this, and the current signal of Xing Chenging is through the result after the closed loop control relatively of constantly contrast and correction at last.Under this controlling models, even under the situation that load changes suddenly, system still can realize effectively flexible control, and system can send corresponding torque and electric current according to the variation of load.When system works in low frequency or zero-speed the time, stator magnetic flux evaluation unit 11 will send comparatively suitable compensating parameter, and the system that makes also has comparatively powerful torque current in low frequency.
Before motor 7 starts, receive after drg opens a sluice gate signal, the system outlet torque current, after the electric current of drive system output reaches the required current values of load, drive system is just given real signal that declutches of drg, and at this moment drg is opened, in whole process of opening a sluice gate, if the starting current of drive system is very big, can provide the electric current of load 150%.So just can give motor 7 under the situation of heavy burden with powerful detent torque.So just solved motor 7 and big torque output has been arranged at startup and glancing impact (than low velocity or zero-speed).
Consult shown in Figure 3, the state sequential chart declutches when this is electric motor starting, when drive system can be sent bigger torque when zero velocity or slow speed of revolution are spent when, carry out built-in band-type brake control, by regulate excitation the time chien shih electrical motor starting match with the drop away time of mechanical brake, and send after the signal of gathering calculated through program and control sequential comparatively accurately, thereby avoid " slide hook " phenomenon of only utilizing mechanical braking to occur.As shown in the figure, when the actuation signal of system when 0 becomes 1, at the A of time shaft point place, starter motor, this moment, the release signal of electromotor brake still was 0, by the real-time detection of inside to torque, motor is carried out zero-speed torque output, when reaching frequency converter the motor band-type brake being controlled required moment, motor speed has reached certain speed at the B of time shaft point place, detects the torque and the rotating speed of band-type brake system stress and motor in real time, when the band-type brake system stress near zero the time, be in the C point place of time shaft this moment, and the release signal of electromotor brake changes into 1, thereby has reached steady start and stop, prevent the purpose of heavy duty slide hook.The sequential that system declutches is shown in figure below four, and the high torque (HT) in the time of low speed by drive system can actv. be avoided starting and slipping the hook problem during zero crossing.
Consult shown in Figure 4ly, this is motor band-type brake state sequential chart when stopping, and in the drawings as can be seen, after system's band-type brake signal sent, be in the D point place of time shaft this moment, and because of motor still is in fast state, the band-type brake drive signal is ignored; In the motor braking process; after motor speed has dropped to certain speed; be in the E point place of time shaft this moment; start the band-type brake drive signal; detect the torque and the rotating speed of band-type brake system stress and motor this moment in real time, simultaneously motor is carried out the output of low speed moment, when the band-type brake system stress reaches certain numerical value; stop output motor moment, shut down.Sending of band-type brake drive signal is when motor has been in low speed or zero-speed, and such band-type brake process is steady, has prolonged mechanical service life.
Claims (5)
1. method for controlling torque of heavy-duty crane at zero speed, it is characterized in that: described method detects the torque and the rotating speed of load motor in real time, export high torque (HT) to motor when low speed or zero-speed, it comprises zero passage method for controlling torque, big torque output control method and band-type brake sequential control method;
Described zero passage method for controlling torque adopts zero passage computational mathematics model, adjusts and calculate the operational factor of motor in real time;
Described big torque output control method adopts the vector controlled model that motor is carried out compensated torque;
Described band-type brake sequential control method sends the control sequential to motor, carries out built-in band-type brake control.
2. method for controlling torque of heavy-duty crane at zero speed according to claim 1 is characterized in that: described zero passage computational mathematics model comprises magnetic flux regulon, current control unit, driving arithmetic element and auxiliary current evaluation unit.
3. method for controlling torque of heavy-duty crane at zero speed according to claim 1, it is characterized in that: described vector controlled model is estimated as core with stator magnetic flux and controls, and comprises speed control unit, magnetic flux regulon, space vector regulon, current control unit, voltage calculating unit, stator magnetic flux evaluation unit and velocity estimation unit.
4. method for controlling torque of heavy-duty crane at zero speed according to claim 1 is characterized in that: described compensated torque is to provide the signal forward direction motor output torque electric current that declutches.
5. according to claim 3 or 4 described method for controlling torque of heavy-duty crane at zero speed, it is characterized in that: described torque current obtains through after the calculating of described stator magnetic flux evaluation unit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910018568A CN101691192A (en) | 2009-09-24 | 2009-09-24 | Method for controlling torque of heavy-duty crane at zero speed |
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| CN200910018568A CN101691192A (en) | 2009-09-24 | 2009-09-24 | Method for controlling torque of heavy-duty crane at zero speed |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320532A (en) * | 2011-06-22 | 2012-01-18 | 常熟开关制造有限公司(原常熟开关厂） | Control method for preventing hook from slipping when electric hoist stops |
| CN103241604A (en) * | 2013-05-09 | 2013-08-14 | 日立电梯（中国）有限公司 | Method for controlling starting of elevator without aid of weighing device |
| CN103359633A (en) * | 2013-07-23 | 2013-10-23 | 中联重科股份有限公司 | Tower crane and raising control method, raising control equipment and raising control system of tower crane |
| CN103496651A (en) * | 2013-10-17 | 2014-01-08 | 昆明泰德威机电设备有限公司 | Method and device for determining gate-closing zero-point position in the process of descent of gate winch |
| CN103835332A (en) * | 2014-03-26 | 2014-06-04 | 上海振华重工(集团)股份有限公司 | Variable frequency driving system of grab machine of grab dredger |
| CN106185680A (en) * | 2016-08-30 | 2016-12-07 | 云南云铝涌鑫铝业有限公司 | The brakes of crane gear and braking method |
| CN104734594B (en) * | 2013-12-20 | 2018-09-18 | 包米勒公司 | Method for controlling and adjusting electromagnetic and mechanical and electromagnetic and mechanical |
| CN108599670A (en) * | 2018-05-07 | 2018-09-28 | 孟晓丽 | Speed regulation control method for special frequency converter for heavy-load motor |
| CN109849052A (en) * | 2018-12-20 | 2019-06-07 | 江苏集萃智能制造技术研究所有限公司 | A kind of submissive closing method of joint of robot |
| CN111039132A (en) * | 2019-12-25 | 2020-04-21 | 徐州中矿大传动与自动化有限公司 | Method and device for safe parking control of lifting system |
| CN113511590A (en) * | 2021-06-04 | 2021-10-19 | 北京自动化控制设备研究所 | Control method for heavy-load zero-speed starting of electric hoisting device |
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2009
- 2009-09-24 CN CN200910018568A patent/CN101691192A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320532A (en) * | 2011-06-22 | 2012-01-18 | 常熟开关制造有限公司(原常熟开关厂） | Control method for preventing hook from slipping when electric hoist stops |
| CN103241604A (en) * | 2013-05-09 | 2013-08-14 | 日立电梯（中国）有限公司 | Method for controlling starting of elevator without aid of weighing device |
| CN103241604B (en) * | 2013-05-09 | 2015-05-06 | 日立电梯（中国）有限公司 | Method for controlling starting of elevator without aid of weighing device |
| CN103359633A (en) * | 2013-07-23 | 2013-10-23 | 中联重科股份有限公司 | Tower crane and raising control method, raising control equipment and raising control system of tower crane |
| CN103359633B (en) * | 2013-07-23 | 2015-08-12 | 中联重科股份有限公司 | Tower machine and lift control method, apparatus and system thereof |
| CN103496651A (en) * | 2013-10-17 | 2014-01-08 | 昆明泰德威机电设备有限公司 | Method and device for determining gate-closing zero-point position in the process of descent of gate winch |
| CN104734594B (en) * | 2013-12-20 | 2018-09-18 | 包米勒公司 | Method for controlling and adjusting electromagnetic and mechanical and electromagnetic and mechanical |
| CN103835332A (en) * | 2014-03-26 | 2014-06-04 | 上海振华重工(集团)股份有限公司 | Variable frequency driving system of grab machine of grab dredger |
| CN106185680A (en) * | 2016-08-30 | 2016-12-07 | 云南云铝涌鑫铝业有限公司 | The brakes of crane gear and braking method |
| CN106185680B (en) * | 2016-08-30 | 2019-05-14 | 云南云铝涌鑫铝业有限公司 | The braking system and braking method of lifting equipment |
| CN108599670A (en) * | 2018-05-07 | 2018-09-28 | 孟晓丽 | Speed regulation control method for special frequency converter for heavy-load motor |
| CN108599670B (en) * | 2018-05-07 | 2019-07-23 | 孟晓丽 | Speed regulation control method for special frequency converter for heavy-load motor |
| CN109849052A (en) * | 2018-12-20 | 2019-06-07 | 江苏集萃智能制造技术研究所有限公司 | A kind of submissive closing method of joint of robot |
| CN109849052B (en) * | 2018-12-20 | 2021-11-02 | 江苏集萃智能制造技术研究所有限公司 | Robot joint flexible shutdown method |
| CN111039132A (en) * | 2019-12-25 | 2020-04-21 | 徐州中矿大传动与自动化有限公司 | Method and device for safe parking control of lifting system |
| CN113511590A (en) * | 2021-06-04 | 2021-10-19 | 北京自动化控制设备研究所 | Control method for heavy-load zero-speed starting of electric hoisting device |
| CN113511590B (en) * | 2021-06-04 | 2023-07-11 | 北京自动化控制设备研究所 | Heavy-load zero-speed starting control method for electric hoisting device |
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Application publication date: 20100407 |