CN102040160A - Method for controlling movement locus of hook of crane - Google Patents
Method for controlling movement locus of hook of crane Download PDFInfo
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- CN102040160A CN102040160A CN 201010268059 CN201010268059A CN102040160A CN 102040160 A CN102040160 A CN 102040160A CN 201010268059 CN201010268059 CN 201010268059 CN 201010268059 A CN201010268059 A CN 201010268059A CN 102040160 A CN102040160 A CN 102040160A
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- China
- Prior art keywords
- joint
- arm
- joint arm
- suspension hook
- telescopic boom
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/06—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements
- B66C23/08—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs mounted for jibbing or luffing movements and adapted to move the loads in predetermined paths
Abstract
The invention provides a method for controlling a movement locus of a hook of a crane. The method comprises the following steps of: acquiring an included angle between each arm and the horizontal plane and the length of each telescopic arm, setting parameters such as rotation angular velocity of each arm and the stretching speed of each telescopic arm and the like so as to acquire an inertia index of each arm; and according to the determined inertia index, judging whether to drive each hydraulic cylinder so as to drive the hook to move according to the angular velocity and stretching speed or not. By the method for controlling the movement locus of the hook of the crane, which is provided by the invention, the influence of the movement of the hook on the inertia of each arm can be mutually eliminated, so that the precision of controlling the movement locus of the hook by the crank can be improved, and the efficiency of the crane can be improved.
Description
Technical field
The present invention relates to control the method for the suspension hook path of motion of hoisting crane.
Background technology
Weight-lifting equipment plays important effect in current social life, it is widely used in the occasion that building ground, port and pier, metallurgical mine etc. need load and unload on a large scale and carry goods or ore.In order to adapt to the demand of different operating condition, weight-lifting equipment is also constantly taking place to change, and how to improve the performance of weight-lifting equipment, solves wherein to use the problem that runs in the weight-lifting equipment process, is engineering machinery field continuous one of problem of research for a long time.
Now, weight-lifting equipment is many by hydraulic-driven, each hydraulic actuating cylinder can be controlled the one degree of freedom (flexible or pitching) of every joint crane arm, respectively each hydraulic actuating cylinder is controlled by remote controller or electric control handle by operating personal, by jointly controlling of all hydraulic actuating cylinders, can realize weight is transported to from reference position the process of target location.But, the motion of hydraulic actuating cylinder needs the time (can not be too fast) on the one hand, the caused motional inertia of impact owing to hydraulic oil is not easy accurately to control on the other hand, this just causes on the one hand may be consuming time long when using weight-lifting equipment, also can the judgement of operating personal be impacted on the other hand.
In order to address these problems, need operate by experienced operating personal, they are very familiar to the telescopicing performance of hydraulic actuating cylinder, can reasonable contemplation arrive effect of inertia in operating process, and crane arm is operated more accurately, and because experience, they can more reasonably control different oil cylinder interlocks, thereby select the shortest carrying path, and shorten handling time, also improve the alerting ability and the sensitivity of crane arm greatly, thereby improved lifting efficient.
But these behaves are all failed from changing the service condition of current weight-lifting equipment in essence, on the one hand, even experienced again operating personal also mistake can occur unavoidably, this mistake gently then wastes time, heavy then cause thing to ruin the people and die, and operating personal is all right optimised to the joint operation of each hydraulic actuating cylinder to the selection in path.On the other hand, the effect of inertia of hydraulic actuating cylinder still exists, and especially after the joint number that has increased crane arm, this influence becomes more unpredictable and can not ignore.Thereby, need a kind of crane hook control method of motion trace that can integrate numerous functions such as selecting path, hydraulic combined control, inertia estimation and counteracting.
Summary of the invention
In order to solve the defective that lifting efficient is low and accuracy is not high enough that exists in the existing weight-lifting equipment, the present invention proposes the later-model method that is used to control the suspension hook path of motion of hoisting crane.
The invention provides a kind of method that is used to control the suspension hook path of motion of hoisting crane, wherein said hoisting crane has at least two joint arms, at least comprise a joint telescopic boom (the telescopic boom here can comprise cover arm and more piece telescopic arms joint) at least in the described two joint arms, described suspension hook is connected the outer end of minor details arm, the rotation of each joint arm and the flexible of each joint telescopic boom are controlled by hydraulic actuating cylinder respectively, and this method comprises the length of gathering each angle that saves arm and horizontal surface and each joint telescopic boom; For each joint arm is specified the cireular frequency of rotation and is specified stretching speed for each saves telescopic boom; Respectively according to for each joint angle of gathering of arm with for each saves the length that telescopic boom is gathered, and for each saves the specified cireular frequency of arm and determines that for the specified stretching speed of each joint telescopic boom each saves the inertia index of arm, the inertia index of wherein said each joint arm is binary parameter (A
x, A
y), A
xBe because the rotation of this joint arm and fore and aft motion make suspension hook depart from the displacement of desired location, A in the horizontal direction
yBe because the rotation and the fore and aft motion of this joint arm make suspension hook depart from the displacement of desired location at vertical direction; Judge according to described inertia index whether described cireular frequency and described stretching speed satisfy drive condition; And satisfy under the situation of described drive condition at described cireular frequency and described stretching speed, drive each hydraulic actuating cylinder so that the motion of described suspension hook according to described cireular frequency and stretching speed.
Preferably, this method also is included in described cireular frequency and described stretching speed does not satisfy under the situation of described drive condition, is returned as the step that each joint arm is specified the cireular frequency of rotation and specified stretching speed for each joint telescopic boom.
Preferably, described drive condition is the A of described each joint arm
xThe A of sum and described each joint arm
ySum is less than or equal to a threshold value respectively.
Preferably, described A
xAnd A
ySatisfy following formula respectively:
A
x＝a·m·L·Ω·sinα+b·m·v·cosα，
A
y＝a·m·L·Ω·cosα+b·m·v·sinα，
A=(A wherein
X1 2+ A
Y1 2)
1/2/ (mL Ω), b=(A
X2 2+ A
Y2 2)
1/2/ (mv),
Wherein α is the angle between this joint arm and the horizontal surface, and L is the length of this joint arm, and Ω is this joint arm rotational angular, and v is the stretching speed of this joint arm, and m is the quality of this joint arm, A
X1And A
Y1Be respectively suspension hook when only allowing this joint arm rotate with cireular frequency Ω in the horizontal direction with the displacement of vertical direction, A
X2And A
Y2Be respectively suspension hook when only allowing this joint arm stretch with speed v in the horizontal direction with the displacement of vertical direction.
Preferably, described hoisting crane also comprises the turntable by the rotary fluid motor driving rotational, and this method also comprises the angle of revolution of gathering described turntable, and the revolution that drives described rotary fluid motor control turntable according to the angle of revolution of being gathered.
The present invention also provides a kind of method that is used to control the suspension hook path of motion of hoisting crane, wherein said hoisting crane has turntable and at least two joint arms, at least comprise a joint telescopic boom in the described at least two joint arms, described suspension hook is connected the outer end of minor details arm, the flexible of each joint rotation of arm and each joint telescopic boom controlled by hydraulic actuating cylinder independently respectively, the rotation of described turntable is controlled by rotary fluid motor, and this method comprises: initial position and the target location of determining described suspension hook; The predetermined path of movement of described suspension hook is set according to described initial position and target location; Periodically gather the angle of each joint arm and horizontal surface, the length of each joint telescopic boom and the angle of revolution of described turntable; Specify the cireular frequency that rotates for each joint arm, be that each joint telescopic boom is specified stretching speed, and be that described turntable is specified speed of revolutions that wherein said cireular frequency, described stretching speed and described speed of revolutions can make described suspension hook move according to predetermined path of movement; Respectively according to for each joint angle of gathering of arm with for each saves the length that telescopic boom is gathered, and for each saves the specified cireular frequency of arm and determines that for the specified stretching speed of each joint telescopic boom each saves the inertia index of arm, the inertia index of wherein said each joint arm is binary parameter (A
x, A
y), A
xBe because the rotation of this joint arm and fore and aft motion make suspension hook depart from the displacement of desired location, A in the horizontal direction
yBe because the rotation and the fore and aft motion of this joint arm make suspension hook depart from the displacement of desired location at vertical direction; Judge according to described inertia index whether described cireular frequency and described stretching speed satisfy drive condition; And satisfy under the situation of described drive condition at described cireular frequency and described stretching speed, drive each hydraulic actuating cylinder according to described cireular frequency and stretching speed, and come the driving rotational HM Hydraulic Motor, so that the motion of described suspension hook according to described speed of revolutions.
Preferably, this method also is included in described cireular frequency and described stretching speed does not satisfy under the situation of described drive condition, is returned as each joint arm and specifies the cireular frequency of rotation, is each step that saves telescopic boom appointment stretching speed and specify speed of revolutions for described turntable.
Preferably, described drive condition is the A of described each joint arm
xThe A of sum and described each joint arm
ySum is less than or equal to a threshold value respectively.
Preferably, described A
xAnd A
ySatisfy following formula respectively:
A
x＝a·m·L·Ω·sinα+b·m·v·cosα，
A
y＝a·m·L·Ω·cosα+b·m·v·sinα，
A=(A wherein
X1 2+ A
Y1 2)
1/2/ (mL Ω), b=(A
X2 2+ A
Y2 2)
1/2/ (mv),
Wherein α is the angle between this joint arm and the horizontal surface, and L is the length of this joint arm, and Ω is this joint arm rotational angular, and v is the stretching speed of this joint arm, and m is the quality of this joint arm, A
X1And A
Y1Be respectively suspension hook when only allowing this joint arm rotate with cireular frequency Ω in the horizontal direction with the displacement of vertical direction, A
X2And A
Y2Be respectively suspension hook when only allowing this joint arm stretch with speed v in the horizontal direction with the displacement of vertical direction.
Preferably, in the step of the angle of revolution of the length of described angle of periodically gathering each joint arm and horizontal surface, each joint telescopic boom and described turntable, every data more than the collection in the time of can also surpassing a threshold value in the distance that described suspension hook departs from desired trajectory.
The method of the path of motion by the suspension hook that is used to control folding-jib crane provided by the invention, introduced the notion of inertia index, thereby when the motion of control suspension hook, the inertia effects of each joint arm is cancelled out each other, improved the levels of precision of hoisting crane, and can improve the efficient of hoisting crane the path of motion control of suspension hook.
Description of drawings
Fig. 1 shows a kind of folding-jib crane scheme drawing;
Fig. 2 shows a kind of diagram of circuit of method of the suspension hook path of motion that is used to control hoisting crane;
Fig. 3 shows the diagram of circuit of method that another kind is used to control the suspension hook path of motion of hoisting crane.
The specific embodiment
The present invention is directed to general crane structure and proposed the multiple method that is used to control the suspension hook path of motion of hoisting crane.In general crane structure, to the joint number of the arm of hoisting crane, wherein which joint is scalable, which joint is rotatable all without limits, therefore method proposed by the invention is applicable to the hoisting crane with any joint number.
In the following description, will be described at the exemplary hoisting crane with turntable and two joint crane arms, its intermediate station links to each other with the chassis by pivoting support and can rotate in horizontal surface, and the first segment arm is folding arm, and the second joint arm is a telescopic boom.Should be noted that, though only provided description among the present invention at this a kind of exemplary hoisting crane, but the situation that those skilled in the art obviously can be generalized to any joint number, rotate and stretch and require arbitrarily according to content of the present invention and essence, such as, summary of the invention of the present invention has covered hoisting crane and has had the situation that comprises a joint telescopic boom at least at least in turntable and two joint arms and this two joints arm at least.In general hoisting crane, outer end at the minor details arm is connected with suspension hook, and the flexible of each joint rotation of arm and each joint telescopic boom controlled by hydraulic actuating cylinder independently respectively, and the rotation of turntable is controlled by rotary fluid motor, and the chassis is supported on the ground by supporting leg usually.
As shown in Figure 1, Fig. 1 shows a kind of described exemplary scheme drawing with hoisting crane of turntable and two joint crane arms.This hoisting crane comprises turntable 1 (also can be referred to as revoliving arm or column), folding arm 2, telescopic boom 3 and chassis 4, and its intermediate station 1 is L with the ground-surface distance of hinge-point distance of folding arm 2
3, two hinge length of folding arm 2 are L
1, folding arm 2 is α with the angle of horizontal surface, the length of telescopic boom 3 is L
2, telescopic boom 3 is β with the angle of horizontal surface, and turntable 1 can turn round, and its angle of revolution is that γ (is the angle in horizontal surface between the initial position of the last bassinet structure formed of turntable 1, folding arm 2 and telescopic boom 3 and the target location, as shown in Figure 1).Turntable 1 can planar be made gyroscopic movement (i.e. " revolution action ") with respect to chassis 4; Folding arm 2 can rotate (i.e. " pitching action ") around the hinge-point with turntable 1 in the plane of described arm configuration, but non-telescoping; Telescopic boom 3 can rotate (i.e. " pitching action ") around the hinge-point with folding arm 2 in the plane of described arm configuration, and can be along the length direction flexible (i.e. " expanding-contracting action ") of telescopic boom 3.
Fig. 2 shows a kind of diagram of circuit of method of the suspension hook path of motion that is used to control hoisting crane, wherein said hoisting crane has at least two joint arms, at least comprise a joint telescopic boom in the described at least two joint arms, described suspension hook is connected the outer end of minor details arm, and the flexible of each joint rotation of arm and each joint telescopic boom controlled by hydraulic actuating cylinder independently respectively.
As shown in Figure 2, in step 210, at first gather angle of each joint arm and horizontal surface and each saves the length of telescopic boom, wherein the collection to angle can realize by angular transducer, can realize by linear movement pick-up the collection of the length of telescopic boom.
In one embodiment, selected angular transducer is used to measure the angle of each joint arm and horizontal surface, in other embodiment of the present invention, can also select to measure the angle between the alternate arm.Wherein, measure the angle of horizontal surface, simpler aspect setting up at formula, the design of controller also obtains simplifying, thereby makes the motion control of suspension hook also simpler relatively; Measure the angle between the alternate arm, anti-shake performance is relatively good, can reduce the error between computing value and the actual value.
In Fig. 1, need to gather angle α between turntable 1 and the angle (turntable among the figure is vertically placed, and angle is 90 degree) of horizontal surface, folding arm 2 and the horizontal surface and the angle β between telescopic boom 3 and the horizontal surface.
In step 220, for each joint arm is specified the cireular frequency of rotation and specified stretching speed for each saves telescopic boom.
In the rotational angular velocity allowed band of each joint arm, select rotational angular velocity for this joint arm, and in the allowed band of stretching speed of each joint telescopic boom, be this joint arm selection stretching speed, suspension hook path of motion is not being had under the situation of other restrictions, above allowed band is by the decision of the performance of each hydraulic actuating cylinder.
In one embodiment, can also further limit the optional scope of described cireular frequency and described stretching speed, such as the predetermined path of movement by the regulation suspension hook etc. by adding other conditions.
In one embodiment of the invention, owing to drive the rotation that respectively saves arm and respectively save the flexible of telescopic boom by hydraulic actuating cylinder, rotational angular velocity and stretching speed are to be directly proportional with the stretching speed of hydraulic actuating cylinder, therefore can set up the stretching speed of hydraulic actuating cylinder and the relation between corresponding cireular frequency and the stretching speed according to the connection location relation of hydraulic actuating cylinder on arm.
In step 230,, and be specified cireular frequency of each joint arm and the inertia index of determining each joint arm for the specified stretching speed of each joint telescopic boom respectively according to the angle of gathering for each joint arm with for each saves the length that telescopic boom is gathered.
When crane arm is worked, often need respectively to save arm teamwork, each hydraulic actuating cylinder is driven simultaneously, so that suspension hook moves to appointed positions according to projected path.But during actual the use, because the mobile of the oil in the hydraulic actuating cylinder can produce certain effect of inertia, this effect of inertia is transformed into the rotation of arm or stretches and then be presented as: the rotation and flexible can not being accurately controlled that make arm owing to the motion that can not stop oil cylinder immediately, in addition, the motion of each joint arm self also has very big inertia, and these add together can bring very big negative effect to the control of crane arm.Inertia is the intrinsic attributes of various objects, can not be eliminated, and all can produce inertia as long as have the object of which movement of quality.The present invention is directed to this point, introduced the inertia index, inertia of each joint arm is assessed, thereby it is more accurate to offset the control that makes crane arm (suspension hook) by the inertia effects between the difference joint arm.
Described inertia index is used to assess each joint arm owing to rotating and/or the flexible inertia effects of bringing.Owing to when considering that the different inertia effects that save between the arms are cancelled out each other, need consider the movement tendency of each joint arm, therefore with binary parameter (A
x, A
y) represent described inertia index, A
xThe horizontal direction component of expression inertia index, A
yThe vertical direction component of expression inertia index, each component A
xAnd A
yAll comprise rotating element and telescopic section two parts.In a kind of preferred implementation, A
xAnd A
yBe respectively because the rotation and the fore and aft motion of the arm of being considered make suspension hook depart from the displacement of desired location (promptly under the condition that is not subjected to inertia effects, wishing the target location that suspension hook reaches) in the horizontal direction with vertical direction.
In one embodiment of the invention, if the angle between a certain joint arm and the horizontal surface is α, length is L, and rotational angular velocity is Ω, and stretching speed is v, then definition:
A
x＝a·m·L·Ω·sinα+b·m·v·cosα
A
y＝a·m·L·Ω·cosα+b·m·v·sinα
In one embodiment, m is quality of this joint arm, and in another embodiment, m also can be from this joint arm and begins quality sum until all arms of minor details arm.A is the rotator inertia weight, and b is flexible inertia weight, and what a and b represented respectively is the degree size that rotation and flexible two kinds of motions are subjected to inertia effects, and a and b can measure in advance or rule of thumb be worth given.
Be understandable that, for arbitrary joint arm, that we were concerned about is the ratio a/b of two weighted values, a/b can be understood as the ratio that be exactly to rotate the inertia effects that the inertia effects brought and fore and aft motion brought, in fact, in case a/b is determined, and further the magnitude relationship between the rotator inertia weight of each joint arm is determined, just can realize technical scheme proposed by the invention, as long as when subsequently threshold k being selected, carry out suitable convergent-divergent.
In one embodiment, can come a and b are measured by following method: only make this joint arm be used to calculate A above rotating then
xAnd A
yTwo equatioies in second on equal sign right side be zero, this joint arm is stretched, and first on equal sign right side is zero in then top two equatioies, measures the displacement D that suspension hook departs from desired location in both cases respectively
aAnd D
b, D wherein
a=(A
X1 2+ A
Y1 2)
1/2, D
b=(A
X2 2+ A
Y2 2)
1/2,, D as can be known then
a/ D
b=a/b (mL Ω)/(mv) can derive the value of a/b thus.Can directly make D a kind of in preferred embodiment
a=a (mL Ω), D
b=b (mv) can directly obtain the value of a and b like this, in this preferred implementation, and A
xAnd A
yCorrespond respectively to because the rotation and the fore and aft motion of the arm of being considered make suspension hook depart from the displacement of desired location in the horizontal direction with vertical direction.
According to the understanding to existing crane arm, a and b are generally same magnitude, and the scope of a/b can be defined as the scope of 0.1-10 usually.
In other embodiment of the present invention, A
xAnd A
yAs long as the form that also can have other is (A
x, A
y) movement tendency (being similar to the notion of " momentum ") that can show its pairing that joint arm gets final product and (for example, can describe A with each corresponding rotor inertia I that saves arm
xAnd A
yIn first, promptly replace amL), so just can assess the influence of inertia of each joint arm, thereby in next step, it be cancelled out each other the operation accuracy, but measure and operation more accurate.
In one embodiment of the invention, even can neglect flexible in the inertia index, thereby make calculating more succinct, certainly the cost of doing like this is to make that the inertia assessment is not accurate enough, thereby the effect that inertia is offset reduces, even but also should have conspicuous advantage with respect to prior art like this.
In Fig. 1, can calculate the inertia index that respectively saves arm by above-mentioned embodiment according to the present invention.Do not consider earlier the revolution of turntable 1,, have only rotational term for folding arm 2, not flexible, so A
X2=a
2M
2L
1Ω
2Sin α, A
Y2=a
2M
2L
1Ω
2Cos α, wherein numeral 2 these parameters of expression all are that following numeral 3 also should so be understood corresponding to the parameter of folding arm 2.For telescopic boom 3, existing rotational term has flexible again, A
X3=a
3M
3L
2Ω
3Sin β+b
3M
3V
3Cos β, A
Y3=a
3M
3L
2Ω
3Cos β+b
3M
3V
3Sin β.
In step 240, judge according to described inertia index whether described cireular frequency and described stretching speed satisfy drive condition.
In one embodiment, described drive condition is the A of described each joint arm
xThe A of sum and described each joint arm
ySum is less than or equal to a threshold value respectively.
In one embodiment, can set the feasible A that respectively saves arm of a threshold k
xSum | ∑ A
x| and the A that respectively saves arm
ySum | ∑ A
y| all smaller or equal to A
x(in other embodiment of the present invention, also can limit, such as making [(∑ A by Else Rule
x)
2+ (∑ A
y)
2]
1/2Smaller or equal to K or the like), respectively save of the influence of the inertia of arm thereby offset to the full extent to suspension hook position control accuracy rate.Restriction rule given here has just provided the upper bound, in actual mechanical process, can provide a plurality of gears according to the goods demand (such as valuable grade, carrying accuracy requirement or the like) of hoisting crane carrying, and these gears correspond respectively to | ∑ A
x| and | ∑ A
y| equal K1, K2....Kn (K1＞K2＞...＞Kn) situation, for the high more K value of accuracy requirement just more little (for given a and b).
As mentioned before, in case a/b is determined, and further the magnitude relationship between the rotator inertia weight of each joint arm is determined, just can realize identical accuracy requirement as long as when subsequently threshold k being selected, carry out suitable convergent-divergent.With the single-unit arm is example, if got a=1 originally, b=2 needs K=constant c when reaching a certain precision, and then at a=2, under the situation of b=4, reaching same precision needs K=constant c * 2.
A kind of preferred embodiment in, threshold k is corresponding to the restriction that suspension hook is departed from the distance of desired location, in this preferred implementation, A
xAnd A
yCorrespond respectively to because the rotation and the fore and aft motion of the arm of being considered make suspension hook depart from the displacement of desired location in the horizontal direction with vertical direction.In this embodiment, usually the scope of K is restricted to 5 centimetres～100 centimetres scope.
Because the regulation crane arm comprises at least two joint arms, and wherein comprise a joint telescopic boom at least, therefore whole crane arm has three degree of freedom (i.e. at least three variablees) at least, and the path of motion of suspension hook requires a just restriction rule (i.e. equation), can not the operation of this crane arm be limited completely, therefore can also increase a restriction (promptly increasing an equation again) at least again, thereby the operation that limits crane arm by the inertia index can realize fully, can not occur because nothing is separated and locked situation, in fact, in existing hoisting crane control method, need that also certain restriction is carried out in the motion that hoisting crane respectively saves arm and could allow advancing automatically that crane arm do not hesitate, limit advancing of crane arm by introducing the inertia index among the present invention, can improve control accuracy greatly the suspension hook position.
In step 250, satisfy under the situation of described drive condition at described cireular frequency and described stretching speed, drive each hydraulic actuating cylinder so that the motion of described suspension hook according to described cireular frequency and stretching speed.
If described cireular frequency and described stretching speed do not satisfy described drive condition, then be returned as the step that each joint arm is specified the cireular frequency of rotation and specified stretching speed for each joint telescopic boom, reformulate described cireular frequency and described stretching speed, and from newly carrying out subsequent step, till obtaining the cireular frequency and speed that meets the demands.
In one embodiment, because the error that error that system parameter is measured and formula selection bring, under the accuracy requirement condition with higher, to the possible out of reach requirement of the control accuracy of suspension hook, therefore, in one embodiment of the invention, can also feed back by levels of precision the suspension hook position, revise the inertia index, this correction can realize by add constant term in the formula of inertia index, also can realize that described correction can be carried out in real time by revising inertia weight a and b, also can be after finishing once carrying work, be undertaken by the position data in this time handling process added up.
In one embodiment, described hoisting crane also comprises the turntable by the rotary fluid motor driving rotational, thereby described method can also comprise the angle of revolution of gathering described turntable, and the revolution that drives described rotary fluid motor control turntable according to the angle of revolution of being gathered.Among Fig. 1, the angle of revolution of turntable 1 (is γ.
Should be noted that, the inertia index is irrelevant with the rotation of turntable, though the rotation of turntable also has inertia, also can influence the accuracy of the motion of suspension hook in horizontal surface, but in the rotational freedom in horizontal surface, only in this way a kind of motion is so the method according to this invention can't weaken the influence of the rotator inertia in this degree of freedom or eliminate.
Fig. 3 shows the diagram of circuit of method that another kind is used to control the suspension hook path of motion of hoisting crane.In this method, hoisting crane has turntable and at least two joint arms, at least comprise a joint telescopic boom in the described at least two joint arms, described suspension hook is connected the outer end of minor details arm, the flexible of each joint rotation of arm and each joint telescopic boom controlled by hydraulic actuating cylinder independently respectively, and the rotation of described turntable is controlled by rotary fluid motor.
Compare with Fig. 2, the method among Fig. 3 has been added the step of definite suspension hook path of motion.In step 302, at first determine the initial position and the target location of described suspension hook.The collection of suspension hook position can realize that wherein in one embodiment, described initial position can directly be taken as last target location of moving by position transduser.
In step 307, can be according to the position of gathering in the step 302, at least one in numerous factors such as incorporating cargo situation, path requirement, transporting velocity requirement determined the predetermined path of movement of suspension hook again.Preferably, can make suspension hook as far as possible, thereby save handling time by straightaway.
According to determined predetermined path of movement, can drive the motion of all hydraulic cylinder, thereby suspension hook is advanced according to desired trajectory.
In step 310, can gather the angle of each joint arm and horizontal surface, the length of each joint telescopic boom and the angle of revolution of described turntable in setting cycle ground.
Wherein said collection period can preestablish, also can be according to the actual motion track of suspension hook and stipulate dynamically.Such as, in one embodiment of the invention, can monitor the actual position of suspension hook in real time, when the actual position of suspension hook departs from desired trajectory and reaches certain threshold value, just each parameter of defined in the acquisition step 310.The simplest mode, or timing acquiring are every a predefined time cycle, just each parameter is once gathered, it is more little that the time cycle is set, collection frequent more, control to the suspension hook track is just accurate more,, also can be called " gathering in real time " when enough hour of cycle time.
In step 320, specify the cireular frequency of rotation for each joint arm, for each joint telescopic boom is specified stretching speed, and be that described turntable is specified speed of revolutions, wherein said cireular frequency, described stretching speed and described speed of revolutions can make described suspension hook move according to predetermined path of movement
In step 330,, and be specified cireular frequency of each joint arm and the inertia index of determining each joint arm for the specified stretching speed of each joint telescopic boom respectively according to the angle of gathering for each joint arm with for each saves the length that telescopic boom is gathered.
In step 340, judge according to described inertia index whether described cireular frequency and described stretching speed satisfy drive condition.
In step 350, satisfy under the situation of described drive condition at described cireular frequency and described stretching speed, drive each hydraulic actuating cylinder and come the driving rotational HM Hydraulic Motor according to described cireular frequency and stretching speed, so that the motion of described suspension hook according to described speed of revolutions.
Description about step 320-350 can be referring to the associated description among Fig. 2.
In the method for Fig. 3, determining initial position and target location, and determined thus after the predetermined path of motion, each hydraulic actuating cylinder begins to drive and respectively saves arm and do initial motion, this initial motion refer to the current initial parameter condition that respectively saves arm (angle and length) down the drive suspension hook move according to desired trajectory.In case after moving, change has all taken place in each parameter that saves arm, if do not adjust, suspension hook just can depart from the track of setting, therefore, need reselect the cireular frequency and the speed that satisfy condition, just need the setting of each hydraulic actuating cylinder is adjusted, so that the arm continuation drive suspension hook that respectively saves after the parameter variation moves according to projected path.In fact, suspension hook can not move in strict accordance with projected path, generally, if suspension hook departs from the distance of desired trajectory within certain scope, just can assert that suspension hook moves according to desired trajectory.Therefore, in the superincumbent step 310, can also determine whether data are gathered once more according to the distance that suspension hook departs from desired trajectory, certainly, the detecting device that this need add, in preferred embodiment, automatic data collection that can setting cycle, collection period is short more, and is also just accurate more to the position control of suspension hook.
In the above-described method that is used for controlling the suspension hook path of motion of hoisting crane, stipulated that hoisting crane has two joint arms at least, and wherein has a joint telescopic boom at least, the general hoisting crane of regulation one side meets this structural requirement like this, also be in order to make whole crane arm have three degree of freedom at least, to limit it on the other hand thereby can introduce the inertia index.Certainly, method provided by the present invention also is applicable to the hoisting crane that does not comprise telescopic boom, but at this moment needs to have at least three joint arms, thereby keeps degree of freedom to be at least three.
The whole bag of tricks of the present invention is controlled the path of motion of suspension hook, kinematic velocity to suspension hook does not limit, in the embodiment of the whole bag of tricks provided by the present invention, all but the regulation hoisting crane has at a high speed and two kinds of operational modes of low speed at least, thereby selects according to demand and switch.
The method of the path of motion by the suspension hook that is used to control folding-jib crane provided by the invention, introduced the notion of inertia index, thereby when the motion of control suspension hook, the inertia effects of each joint arm is cancelled out each other, improved the levels of precision of hoisting crane, and can improve the efficient of hoisting crane the path of motion control of suspension hook.
Claims (10)
1. method that is used to control the suspension hook path of motion of hoisting crane, wherein said hoisting crane has at least two joint arms, at least comprise a joint telescopic boom in the described at least two joint arms, described suspension hook is connected the outer end of minor details arm, the rotation of each joint arm and the flexible of each joint telescopic boom are controlled by hydraulic actuating cylinder respectively, and this method comprises:
Gather the length of angle and each joint telescopic boom of each joint arm and horizontal surface;
For each joint arm is specified the cireular frequency of rotation and is specified stretching speed for each saves telescopic boom;
Respectively according to for each joint angle of gathering of arm with for each saves the length that telescopic boom is gathered, and for each saves the specified cireular frequency of arm and determines that for the specified stretching speed of each joint telescopic boom each saves the inertia index of arm, the inertia index of wherein said each joint arm is binary parameter (A
x, A
y), A
xBe because the rotation of this joint arm and fore and aft motion make suspension hook depart from the displacement of desired location, A in the horizontal direction
yBe because the rotation and the fore and aft motion of this joint arm make suspension hook depart from the displacement of desired location at vertical direction;
Judge according to described inertia index whether described cireular frequency and described stretching speed satisfy drive condition; And
Satisfy under the situation of described drive condition at described cireular frequency and described stretching speed, drive each hydraulic actuating cylinder so that the motion of described suspension hook according to described cireular frequency and stretching speed.
2. method according to claim 1, wherein this method also comprises:
Do not satisfy under the situation of described drive condition at described cireular frequency and described stretching speed, be returned as the step that each joint arm is specified the cireular frequency of rotation and specified stretching speed for each joint telescopic boom.
3. method according to claim 1 and 2, wherein said drive condition is: the A of described each joint arm
xThe A of sum and described each joint arm
ySum is less than or equal to a threshold value respectively.
4. method according to claim 1 and 2, wherein said A
xAnd A
ySatisfy following formula respectively:
A
x＝a·m·L·Ω·sinα+b·m·v·cosα，
A
x＝a·m·L·Ω·cosα+b·m·v·sinα，
Wherein a is the rotator inertia weight, a=(A
X1 2+ A
Y1 2)
1/2/ (mL Ω), b is flexible inertia weight, b=(A
X2 2+ A
Y2 2)
1/2/ (mv),
Wherein α is the angle between this joint arm and the horizontal surface, and L is the length of this joint arm, and Ω is this joint arm rotational angular, and v is the stretching speed of this joint arm, and m is the quality of this joint arm, A
X1And A
Y1Be respectively suspension hook when only allowing this joint arm rotate with cireular frequency Ω in the horizontal direction with the displacement of vertical direction, A
X2And A
Y2Be respectively suspension hook when only allowing this joint arm stretch with speed v in the horizontal direction with the displacement of vertical direction.
5. method according to claim 1 and 2, wherein said hoisting crane also comprises the turntable by the rotary fluid motor driving rotational, this method also comprises:
Gather the angle of revolution of described turntable; And
Drive the revolution of described rotary fluid motor control turntable according to the angle of revolution of being gathered.
6. method that is used to control the suspension hook path of motion of hoisting crane, wherein said hoisting crane has turntable and at least two joint arms, at least comprise a joint telescopic boom in the described at least two joint arms, described suspension hook is connected the outer end of minor details arm, the rotation of each joint arm and the flexible of each joint telescopic boom are controlled by hydraulic actuating cylinder respectively, the revolution of described turntable is controlled by rotary fluid motor, and this method comprises:
Determine the initial position and the target location of described suspension hook;
The predetermined path of movement of described suspension hook is set according to described initial position and target location;
Periodically gather the angle of each joint arm and horizontal surface, the length of each joint telescopic boom and the angle of revolution of described turntable;
Specify the cireular frequency that rotates for each joint arm, be that each joint telescopic boom is specified stretching speed, and be that described turntable is specified speed of revolutions that wherein said cireular frequency, described stretching speed and described speed of revolutions can make described suspension hook move according to predetermined path of movement;
Respectively according to for each joint angle of gathering of arm with for each saves the length that telescopic boom is gathered, and for each saves the specified cireular frequency of arm and determines that for the specified stretching speed of each joint telescopic boom each saves the inertia index of arm, the inertia index of wherein said each joint arm is binary parameter (A
x, A
y), A
xBe because the rotation of this joint arm and fore and aft motion make suspension hook depart from the displacement of desired location, A in the horizontal direction
yBe because the rotation and the fore and aft motion of this joint arm make suspension hook depart from the displacement of desired location at vertical direction;
Judge according to described inertia index whether described cireular frequency and described stretching speed satisfy drive condition; And
Satisfy under the situation of described drive condition at described cireular frequency and described stretching speed, drive each hydraulic actuating cylinder according to described cireular frequency and stretching speed, and drive described rotary fluid motor, so that the motion of described suspension hook according to described speed of revolutions.
7. method according to claim 6, wherein this method also comprises:
Do not satisfy under the situation of described drive condition at described cireular frequency and described stretching speed, be returned as each joint arm and specify the cireular frequency of rotation, be each step that saves telescopic boom appointment stretching speed and specify speed of revolutions for described turntable.
8. according to claim 6 or 7 described methods, wherein said drive condition is: the A of described each joint arm
xThe A of sum and described each joint arm
ySum is less than or equal to a threshold value respectively.
9. according to claim 6 or 7 described methods, wherein said A
xAnd A
ySatisfy following formula respectively:
A
x＝a·m·L·Ω·sinα+b·m·v·cosα，
A
y＝a·m·L·Ω·cosα+b·m·v·sinα，
A=(A wherein
X1 2+ A
Y1 2)
1/2/ (mL Ω), b=(A
X2 2+ A
Y2 2)
1/2/ (mv),
Wherein α is the angle between this joint arm and the horizontal surface, and L is the length of this joint arm, and Ω is this joint arm rotational angular, and v is the stretching speed of this joint arm, and m is the quality of this joint arm, A
X1And A
Y1Be respectively suspension hook when only allowing this joint arm rotate with cireular frequency Ω in the horizontal direction with the displacement of vertical direction, A
X2And A
Y2Be respectively suspension hook when only allowing this joint arm stretch with speed v in the horizontal direction with the displacement of vertical direction.
10. according to claim 6 or 7 described methods, wherein in the step of the angle of revolution of the length of described angle of periodically gathering each joint arm and horizontal surface, each joint telescopic boom and described turntable, every data more than the collection in the time of can also surpassing a threshold value in the distance that described suspension hook departs from desired trajectory.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010268059A CN102040160B (en) | 2010-08-30 | 2010-08-30 | Method for controlling movement locus of hook of crane |
| PCT/CN2011/076785 WO2012028032A1 (en) | 2010-08-30 | 2011-07-01 | Method for controlling movement track of crane hook |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010268059A CN102040160B (en) | 2010-08-30 | 2010-08-30 | Method for controlling movement locus of hook of crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102040160A true CN102040160A (en) | 2011-05-04 |
| CN102040160B CN102040160B (en) | 2012-10-10 |
Family
ID=43906759
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010268059A Active CN102040160B (en) | 2010-08-30 | 2010-08-30 | Method for controlling movement locus of hook of crane |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102040160B (en) |
| WO (1) | WO2012028032A1 (en) |
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| WO2012028032A1 (en) * | 2010-08-30 | 2012-03-08 | 长沙中联重工科技发展股份有限公司 | Method for controlling movement track of crane hook |
| CN102538851A (en) * | 2011-12-15 | 2012-07-04 | 长沙中联消防机械有限公司 | Equipment, method and system for recording movement trace of boom and engineering machinery equipment |
| CN102897674A (en) * | 2012-10-11 | 2013-01-30 | 中联重科股份有限公司 | Method and device for determining hoisting path |
| CN103496632A (en) * | 2013-09-18 | 2014-01-08 | 中南大学 | Cloud-computing-based crane three-dimensional simulation route planning method |
| CN104495623A (en) * | 2014-12-30 | 2015-04-08 | 中联重科股份有限公司 | Crane telescopic boom control device and method and crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2012028032A1 (en) * | 2010-08-30 | 2012-03-08 | 长沙中联重工科技发展股份有限公司 | Method for controlling movement track of crane hook |
| CN102538851A (en) * | 2011-12-15 | 2012-07-04 | 长沙中联消防机械有限公司 | Equipment, method and system for recording movement trace of boom and engineering machinery equipment |
| CN102538851B (en) * | 2011-12-15 | 2014-12-10 | 长沙中联消防机械有限公司 | Equipment, method and system for recording movement trace of boom and engineering machinery equipment |
| CN102897674A (en) * | 2012-10-11 | 2013-01-30 | 中联重科股份有限公司 | Method and device for determining hoisting path |
| CN102897674B (en) * | 2012-10-11 | 2014-09-24 | 中联重科股份有限公司 | Method and device for determining hoisting path |
| CN103496632A (en) * | 2013-09-18 | 2014-01-08 | 中南大学 | Cloud-computing-based crane three-dimensional simulation route planning method |
| CN103496632B (en) * | 2013-09-18 | 2015-04-08 | 中南大学 | Cloud-computing-based crane three-dimensional simulation route planning method |
| CN104495623A (en) * | 2014-12-30 | 2015-04-08 | 中联重科股份有限公司 | Crane telescopic boom control device and method and crane |
| CN104891357B (en) * | 2015-06-08 | 2018-07-10 | 中国人民解放军空军工程大学 | lifting operation auxiliary system |
| CN104891357A (en) * | 2015-06-08 | 2015-09-09 | 中国人民解放军空军工程大学 | Lifting operation auxiliary system |
| CN104909273B (en) * | 2015-06-12 | 2016-08-24 | 华电重工股份有限公司 | Grab bucket ship unloader and driving method thereof and device |
| CN109641730A (en) * | 2016-06-13 | 2019-04-16 | 卡哥特科专利许可有限公司 | Hydraulic crane |
| CN109641730B (en) * | 2016-06-13 | 2020-02-21 | 卡哥特科专利许可有限公司 | Hydraulic crane |
| CN112399959A (en) * | 2018-07-09 | 2021-02-23 | 株式会社多田野 | Crane and control method thereof |
| CN112399959B (en) * | 2018-07-09 | 2023-06-06 | 株式会社多田野 | Crane and control method thereof |
| CN109279511A (en) * | 2018-11-26 | 2019-01-29 | 中联重科股份有限公司 | Crane hanging component control method and system |
| CN111689395A (en) * | 2020-05-14 | 2020-09-22 | 河北雷萨重型工程机械有限责任公司 | Crane, control system and method for vertical and horizontal movement of lifting hook of crane and vehicle |
| CN112209251A (en) * | 2020-10-30 | 2021-01-12 | 华中科技大学 | Gantry crane brake swing early warning system and method for hoisting of subway shield tunnel segment |
| CN112850499A (en) * | 2020-12-31 | 2021-05-28 | 中联重科股份有限公司 | Hoisting control method and system and engineering machinery |
| CN112850499B (en) * | 2020-12-31 | 2022-03-04 | 中联重科股份有限公司 | Hoisting control method and system and engineering machinery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102040160B (en) | 2012-10-10 |
| WO2012028032A1 (en) | 2012-03-08 |
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Effective date of registration: 20180214 Address after: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No. Patentee after: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. Address before: 410205 Dingcheng District, Changde City, Hunan Province, Guxi town Patentee before: Hunan Zoomlion Heavy Industry Special Vehicle Co., Ltd. |