CN102145857A - Crane, and revolution controlling system and method thereof - Google Patents
Crane, and revolution controlling system and method thereof Download PDFInfo
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- CN102145857A CN102145857A CN2011100337755A CN201110033775A CN102145857A CN 102145857 A CN102145857 A CN 102145857A CN 2011100337755 A CN2011100337755 A CN 2011100337755A CN 201110033775 A CN201110033775 A CN 201110033775A CN 102145857 A CN102145857 A CN 102145857A
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Abstract
The invention discloses a revolution controlling method for a crane. The method is characterized by comprising the following steps of: 101, pre-storing a corresponding functional relation between load parameters and revolution currents; 102, acquiring a current load parameter; and 103, obtaining a revolution current value corresponding to the acquired current load parameter according to the functional relation and controlling the output of the revolution current. In the revolution controlling method provided by the invention, load-related parameters are designed into a revolution controlling system, so that different revolution currents can be output under control according to different load parameters, a revolution speed adapting to a loading condition is obtained and revolution control is automatically adjusted according to the change of the loading condition by using the revolution controlling system. The invention also provides the revolution controlling system and a crane comprising the same.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly a kind of revolving-control method of hoisting crane.The hoisting crane that the invention still further relates to a kind of rotary control system of hoisting crane and comprise described rotary control system.
Background technology
The crane rotation system generally includes Hydraulic Pump, rotary motor, rotary reducer and revolution and supports, rotate by the hydraulic pump drive rotary motor, rotary motor driving rotational reductor, miniature gears driving rotational by rotary reducer supports external tooth or internal tooth again, thereby realizes that turntable drives whole revolution of getting on the bus.
In order to realize turning round automation of operation, adopt the mode of electric proportional control to control revolution, realize electric liquid combination.In order to satisfy rotating stability, need adjust rotating speed according to actual condition.In valve control system, mainly control rotating rotating speed by elements such as fix-displacement pump, control cock and rotary buffering valves: by the openings of sizes of controller control control cock, the oil mass that control enters rotary motor, thus control rotating rotating speed; In pump control system, mainly control rotating rotating speed by controllable capacity pump and rotary motor: by the flow of controller control variable pump, control enters the oil mass of rotary motor, thereby controls rotating rotating speed.
Yet, above-mentioned revolution mode all is independently speed of revolutions to be controlled by controller, when operating mode changes, when need changing rotating speed, rotary control system can't the perception operating mode variation, can not make corresponding adjustment automatically, but rely on operator's experience to carry out hand adjustment artificially.
In addition, in the moment that handle is opened or closed, the cushion characteristic of rotary system mainly relies on rotary buffering valve to realize, the performance of rotary buffering valve has determined the stability of unlatching or turn-off transient at this moment.Because suspension hook and arm flexibly connect by steel rope, when the revolution action stopped suddenly, suspension hook can be owing to inertia continues to move ahead, this moment, suspension hook can be swung as single pendulum, drive arm and turntable and move back and forth, cause car load in the external phenomenon of rocking, cause that the user is discontented to the operator.
Therefore, be necessary existing revolution mode is improved,, become the record problem that those skilled in the art need solve so how to improve a kind of rotary control system with automatic guidance and automatic adaptive capacity.
Summary of the invention
Purpose of the present invention is for providing a kind of revolving-control method of hoisting crane, and this revolving-control method can be according to the change automatic compensation speed of revolutions of load parameter.The hoisting crane that another object of the present invention provides a kind of rotary control system and comprises above-mentioned rotary control system.
For solving the problems of the technologies described above, the invention provides a kind of revolving-control method of hoisting crane, this method is carried out according to following step:
101, memory load parameter and revolution electric current cooresponding functional relation in advance;
102, obtain the present load parameter;
103, obtain and the cooresponding revolution current value of described present load parameter that obtains the output of control revolution electric current according to described functional relation.
Preferably, in the step 103, output revolution electric current in gradual change ground is until reaching and the cooresponding described revolution current value of described present load parameter.
Preferably, in the step 103, the gain that the revolution electric current reaches during the described revolution current value is changed from small to big from large to small again.
Preferably, described load parameter comprises at least one in arm change angle, length of boom and the lift heavy amount.
Preferably, in the step 101, store the functional relation of described revolution electric current and load moment in advance; In the step 102, the described present load parameter of obtaining comprises arm change angle, length of boom and lift heavy amount; In the step 103, calculate present load moment, and obtain and the cooresponding described revolution current value of described present load moment, the output of control revolution electric current according to described functional relation according to described arm change angle, described length of boom and described lift heavy amount.
Preferably, in the described functional relation, described revolution current value reduces gradually along with the cumulative of described load moment.
Revolving-control method provided by the present invention with the parameter designing relevant with load in rotary control system, particularly, participate in the control of revolution electric current, can be according to different load parameters, the revolution electric current that control output is different, thereby make the revolution electric current of rotary motive power element or valve and actual condition form closed loop control system, obtain the speed of revolutions that adapts with load behavior, realize that rotary control system changes automatic compensation revolution control according to load behavior, thereby improve rotating stability and good handling.
For reaching another object of the present invention, the present invention also provides a kind of rotary control system of hoisting crane, comprises rotation controller, and described rotation controller comprises:
The present load parameter acquisition unit;
Revolution current value acquiring unit is used for memory load parameter and the cooresponding functional relation of revolution electric current in advance, and according to described functional relation, obtains the cooresponding revolution current value of present load parameter;
The control signal output unit is used for according to the described revolution current value that obtains, the output of output control signal control revolution electric current.
Preferably, output revolution electric current in described rotation controller gradual change ground is until reaching cooresponding described revolution current value.
Preferably, the gain that reaches during the described revolution current value of described control signal output unit control revolution electric current is changed from small to big from large to small again.
Preferably, described load parameter comprises at least one in arm change angle, length of boom and the lift heavy amount.
Preferably, the described present load parameter of described parameter current collecting unit collection comprises arm change angle, length of boom and lift heavy amount; Described revolution current value acquiring unit, be used for memory load moment and the cooresponding functional relation of revolution electric current in advance, and according to described arm change angle, described length of boom and described lift heavy amount calculating present load moment, and, obtain and the cooresponding described revolution current value of described present load moment according to described functional relation.
Preferably, in the described functional relation, described revolution current value reduces gradually along with the cumulative of described load moment.
Rotary control system provided by the present invention is according to the output of load parameter control revolution electric current, obtain the speed of revolutions that adapts with load behavior, realize that rotary control system changes automatic compensation revolution control according to load behavior, thereby improve rotating stability and good handling.
The present invention also provides a kind of hoisting crane, comprises turntable and rotary control system, and described rotary control system is above-mentioned each described rotary control system.Because above-mentioned rotary control system has above-mentioned technique effect, the hoisting crane with this rotary control system also has identical technique effect.
Description of drawings
Fig. 1 is the control flow chart of crane rotation control method provided by the present invention;
Fig. 2 is revolution electric current and the function relation curve figure of time in a kind of specific embodiment of revolving-control method provided by the present invention;
Fig. 3 is the function relation curve figure that turns round current value and load parameter in the another kind of specific embodiment of revolving-control method provided by the present invention.
Fig. 4 is present load moment and the percentum of maximum load moment and the data and curves figure of revolution electric current in a kind of concrete operating mode.
The specific embodiment
Core of the present invention is for providing a kind of revolving-control method of hoisting crane, and this revolving-control method can be according to the change automatic compensation speed of revolutions of load parameter.The hoisting crane that another core of the present invention provides a kind of rotary control system and comprises above-mentioned rotary control system.
In order to make those skilled in the art understand technical scheme of the present invention better, the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1, Fig. 1 is the control flow chart of crane rotation control method provided by the present invention.
The revolving-control method of hoisting crane provided by the invention is used for controlling rotating speed according to the variation of loading condition, and this method is carried out according to following step:
Step S101, corresponding functional relation between memory load parameter and the rotating revolution current value in advance;
Because the load effect of inertia, under the different loads operating mode, same speed of revolutions is to the difference that influences of car body rotary stability, and therefore, when load behavior changed, speed of revolutions need be controlled with real-time adjustment, thereby guaranteed rotating continuous stability.Speed of revolutions is mainly by the control of revolution power element, such as controlling by the rotating speed of rotary motor, the rotating speed of rotary motor is then mainly by the hydraulic pressure oil mass decision that enters rotary motor, the hydraulic oil amount depends on the openings of sizes of rotary motive power element or related valves, openings of sizes such as rotary pump or valve, in electrohydraulic control system, openings of sizes can be adjusted by the size of control revolution electric current.Therefore, the revolution current value that different load parameters is corresponding different, the speed of revolutions that promptly different load parameters is corresponding different adapts to different load behaviors; Set up specific functional relation between revolution current value and load parameter, under certain load behavior, cooresponding revolution current value can keep the best stabilized state of car body when guaranteeing speed of revolutions.
Step S102, obtain load parameter;
The parameter relevant with load has multiple, such as arm change angle, length of boom, lift heavy amount etc., these parameters all can detect by the sensor class component, the arm change angle can detect by angular transducer, length of boom can detect by displacement pickup, and the lift heavy amount can be by the pressure value detected acquisition that converts.
Step S103, obtain and the cooresponding revolution current value of load parameter that obtains the output of control revolution electric current according to functional relation.
After obtaining load parameter,, obtain and the cooresponding revolution current value of load parameter that detects, can calculate by pre-set programs by controller and obtain, and, turn round control according to this revolution current value output revolution electric current according to the functional relation that prestores.Need to prove, the revolution current value that different load parameter is corresponding different, this revolution current value be the maximum current output valve under corresponding load parameter, when promptly qualification is in the operating mode of this load parameter, output be used for rotating lowest high-current value.
This revolving-control method with the parameter designing relevant with load in rotary control system, particularly, participate in the control of revolution electric current, the control current and the actual condition that guarantee rotary motive power element or valve are formed closed loop control system, obtain the speed of revolutions that adapts with load behavior, realize that rotary control system changes automatic compensation revolution control according to load behavior, further improve rotating stability and good handling.
Please refer to Fig. 2, Fig. 2 is revolution electric current and the function relation curve figure of time in a kind of specific embodiment of revolving-control method provided by the present invention.
In step S103, can be according to the load parameter gradual change ground output revolution electric current that obtains, until reaching and the cooresponding revolution current value of load parameter.Make revolution electric current gradual change ground reach revolution current value (promptly with the cooresponding lowest high-current value of present load parameter), gradual change described here is meant that the revolution electric current is not that the moment sudden change is to cooresponding revolution current value, but has the process of transition, as shown in Figure 2, when system start-up, the hydraulic pressure oil mass that enters rotary motor increases gradually, be continuous process, the rotating speed of rotary motor can reach the maximum speed of revolution of setting under this operating mode through regular hour Duan Houzai, avoid the rotary motor rotating speed to uprush, thereby make the start-up course of whole revolution action steadily not have impact.Certainly, in the middle of turning course, when needing to change the revolution size of current, all can change the revolution electric current in gradual change ground, until reaching cooresponding revolution current value.
Further, in step S103, the revolution electric current reach corresponding with load parameter turn round current value during gain change from small to big again from large to small.As shown in Figure 2, in the function relation curve of time and revolution electric current, time is variable, the revolution electric current is an independent variable, slope of a curve increases earlier gradually, reduce gradually, promptly turn round electric current at the initial instant that starts, revolution electric current speedup is comparatively slow, the middle period, revolution electric current speedup is very fast, reaches revolution current value speedup before and reduces gradually again, until rising to the revolution current value, then rotary motor is in whole starting process, rotating speed is mainly promoted in the middle period, guarantee in the start-up course initial and stop the stability of moment, thereby further improve rotating stationarity; In like manner, when the revolution electric current change to need increases along with load behavior in turning course, also take this kind mode cumulative, when perhaps needing to reduce, also take this kind mode decrescence.
Load parameter can comprise any one in arm change angle, length of boom and the lift heavy amount, or appoints the two, or the three.The comparatively directly variation of reaction load of above-mentioned three kinds of load parameters with this foundation as the control speed of revolutions, can be satisfied the needs of actual condition preferably.
Arm change angle, length of boom and lift heavy amount three seed ginseng number averages can be participated in to rotary control system, then can be in step S101, the functional relation of current value and load moment is turned round in storage in advance, load moment is the reaction load operating mode comparatively comprehensively, also direct relation the stability of car body, key for speed of revolutions control, can be according to the load behavior that moment reflected, take to help most turning round the control policy of control, therefore, comparatively the mode of You Huaing is that load moment is corresponding with the revolution current value; Correspondingly, among the step S102, obtain the numerical value of arm change angle, length of boom and lift heavy amount; In step S103, calculate present load moment according to arm change angle, length of boom and lift heavy amount, and obtain and the cooresponding revolution current value of present load moment, the output of control revolution electric current according to functional relation.
Please refer to Fig. 3, Fig. 3 is the function relation curve figure that turns round current value and load moment in the another kind of specific embodiment of revolving-control method provided by the present invention.
Further, in the functional relation that step S101 stores in advance, the revolution current value can reduce gradually along with the cumulative of load moment.When load moment is big,, cause car body to be tumbled easily if speed of revolutions is too fast, influence the stability of car body, therefore, will turn round current value and be controlled in the small range, load moment hour then can keep relatively large revolution current value, obtains higher speed of revolutions.
Please refer to Fig. 4, Fig. 4 is present load moment and the percentum of maximum load moment and the data and curves figure of revolution electric current in a kind of concrete operating mode.
Particularly, as: among the step S101, when the functional relation of setting up between load moment and the revolution current value, can set up present load moment and maximum load moment ratio and the functional relation of turning round electric current, the cooresponding revolution current value of maximum load moment minimum, i.e. minimum current value, the cooresponding revolution current value of minimum load moment maximum, be lowest high-current value, range of current can be made as 300mA-600mA; Among the step S103, when the maximum torque in the functional relation of the present load moment of calculating and storage equates, the ratio that is present load moment and maximum load moment is 100%, the data of transverse axis shown in Fig. 4 are 100 o'clock, the revolution current value minimum of rotary pump or valve, this moment, cooresponding current value was 300mA, under this revolution current value, revolution maintains certain rotating speed, this rotating speed also can be by resetting minimum current value correction, the car body cornering stability can be improved on the one hand, the demand of user can be satisfied on the other hand, stability of equilibrium and speed of revolutions speed of revolutions; When the present load moment of calculating is zero, be empty hook not during lift heavy, ratio is 0, and this moment, the revolution current value of rotary pump or valve can be issued to the lowest high-current value 600mA of setting in the control of handle, speed of revolutions can reach maximum speed, the speed designs requirement when promptly realizing zero load; When the present load moment of calculating is between minimum moment and the maximum torque, obtain the revolution current value of rotary pump or valve according to function relation curve, this value is between the minimum current value and lowest high-current value of setting, as shown in Figure 4, percentum is 60% o'clock, cooresponding current value is 400mA, and percentum is 50% o'clock, and cooresponding current value is 450mA.When maximum load transits to zero load, the gain of revolution electric current also can be changed from small to big from large to small again, two sections of the head and the tail of curve shown in Figure 4 are the direct proportion curve that slope equates, the direct proportion slope of a curve of interlude is bigger, and two sections of head and the tail adopt quadratic curve to cushion transition with interlude.
Certainly, revolving-control method provided by the present invention can serve as the control foundation with the arm change angle only also, and the arm change angle is big more, and cooresponding revolution current value is big more.Luffing is big more, and under lift heavy amount and length of boom unmodified situation, load moment is more little, can increase the revolution current value, improves the rotary motor speedup.In like manner, can serve as the control foundation only also with length of boom or lift heavy amount, when length of boom and lift heavy amount were big more, cooresponding revolution current value was more little.
The present invention also provides a kind of rotary control system of hoisting crane, has rotation controller, and rotation controller comprises: present load parameter acquisition unit, revolution current value acquiring unit and control signal output unit.
The present load parameter acquisition unit, be used to gather current load parameter, the load parameter that can the pick-up transducers class component detects, and export revolution current value acquiring unit to, promptly can utilize existing sensing detection device to gather load parameter, reach purpose of the present invention with lower cost; Revolution current value acquiring unit is used for memory load parameter and the cooresponding functional relation of revolution electric current, and according to this functional relation, obtains and the cooresponding revolution current value of present load parameter, can calculate by default program; The control signal output unit is used for according to the revolution current value that obtains, the output of output control signal corresponding control revolution electric current.
This rotary control system is with the foundation of the parameter relevant with load as the control speed of revolutions, size by control revolution electric current, the control current and the actual condition that guarantee rotary motive power element or valve are formed closed loop control system, obtain the speed of revolutions that adapts with load behavior, realize that rotary control system changes automatic compensation revolution control according to load behavior, further improve rotating stability and good handling.
Rotation controller can be exported the revolution electric current cumulatively, until reaching cooresponding revolution current value, make electric current increase to the revolution current value gradually, then the opening of rotary pump or valve can increase gradually, the fluid that enters rotary motor increases gradually, and therefore, the rotating speed of rotary motor can reach the maximum speed of revolution that limits under this load parameter operating mode again through the regular hour section, avoid the rotary motor rotating speed to uprush, thereby make whole starting process steadily not have impact.
The control signal of the control signal output unit of rotation controller output, control revolution electric current self-starting to the gain that reaches during the revolution current value is changed from small to big from large to small again.Be to be variable the time, the revolution electric current is that the slope of the function relation curve of independent variable increases earlier gradually, reduce gradually again, therefore, the revolution electric current is in the moment that has just started, revolution electric current speedup is comparatively slow, in the middle period, revolution electric current speedup is very fast, reaches revolution current value speedup before and reduces gradually again, until rising to the revolution current value, then rotary motor is in start-up course, rotating speed is mainly promoted at pilot process, guarantees to start and stop the stability of moment, thereby further improves rotating stationarity.
The load parameter of the load parameter collecting unit collection of rotation controller can comprise any one in arm change angle, length of boom and the lift heavy amount, or appoint the two, or three, with these three kinds of parameters is the beneficial effect of control revolution electric current output, the existing argumentation do not given unnecessary details at this in the embodiment of above-mentioned revolving-control method.
Preferably, the load parameter collecting unit is gathered arm change angle, length of boom and lift heavy amount, and exports the load parameter of gathering to revolution current value acquiring unit; Correspondingly, revolution current value acquiring unit is memory load moment and the cooresponding functional relation of revolution electric current in advance, and according to arm change angle, length of boom and lift heavy amount calculating present load moment, and, obtain and the cooresponding revolution current value of present load moment according to the functional relation of storing in advance; The control signal output unit is exported control signal corresponding according to the revolution current value that obtains.
Further, in the functional relation that revolution current value acquiring unit is stored in advance, the load moment that the revolution electric current can calculate along with load parameter cumulative and reducing gradually.When load moment is big,, cause car body to be tumbled easily if speed of revolutions is too fast, influence the stability of car body, therefore, will turn round current value and be controlled in the small range, load moment hour then can keep relatively large revolution current value, obtains higher speed of revolutions.Can serve as the control foundation with the arm change angle only also, the arm change angle be big more, and cooresponding revolution current value is big more.Luffing is big more, and under lift heavy amount and length of boom unmodified situation, load moment is more little, can increase the revolution current value, improves the rotary motor speedup.In like manner, can serve as the control foundation only also with length of boom or lift heavy amount, when length of boom and lift heavy amount were big more, cooresponding revolution current value was more little.
Except above-mentioned revolving-control method and rotary control system, the present invention also provides a kind of hoisting crane, comprises turntable and rotary control system, and described rotary control system is above-mentioned each described rotary control system.Because above-mentioned rotary control system has above-mentioned technique effect, the hoisting crane with above-mentioned rotary control system also has identical technique effect, does not give unnecessary details at this.
More than a kind of hoisting crane provided by the present invention and rotary control system thereof, revolving-control method are described in detail.Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (13)
1. the revolving-control method of a hoisting crane is characterized in that, this method is carried out according to following step:
101, memory load parameter and revolution electric current cooresponding functional relation in advance;
102, obtain the present load parameter;
103, obtain and the cooresponding revolution current value of described present load parameter that obtains the output of control revolution electric current according to described functional relation.
2. revolving-control method according to claim 1 is characterized in that, in the step 103, output revolution electric current in gradual change ground is until reaching and the cooresponding described revolution current value of described present load parameter.
3. revolving-control method according to claim 2 is characterized in that, in the step 103, the gain that the revolution electric current reaches during the described revolution current value is changed from small to big from large to small again.
4. according to each described revolving-control method of claim 1 to 3, it is characterized in that described load parameter comprises at least one in arm change angle, length of boom and the lift heavy amount.
5. revolving-control method according to claim 4 is characterized in that, in the step 101, stores the functional relation of described revolution electric current and load moment in advance; In the step 102, the described present load parameter of obtaining comprises arm change angle, length of boom and lift heavy amount; In the step 103, calculate present load moment, and obtain and the cooresponding described revolution current value of described present load moment, the output of control revolution electric current according to described functional relation according to described arm change angle, described length of boom and described lift heavy amount.
6. revolving-control method according to claim 5 is characterized in that, in the described functional relation, described revolution current value reduces gradually along with the cumulative of described load moment.
7. the rotary control system of a hoisting crane comprises rotation controller, it is characterized in that, described rotation controller comprises:
The present load parameter acquisition unit;
Revolution current value acquiring unit is used for memory load parameter and the cooresponding functional relation of revolution electric current in advance, and according to described functional relation, obtains the cooresponding revolution current value of present load parameter;
The control signal output unit is used for according to the described revolution current value that obtains, the output of output control signal control revolution electric current.
8. rotary control system according to claim 7 is characterized in that, output revolution electric current in described rotation controller gradual change ground is until reaching cooresponding described revolution current value.
9. rotary control system according to claim 8 is characterized in that, the gain that described control signal output unit control revolution electric current reaches during the described revolution current value is changed from small to big from large to small again.
10. according to each described rotary control system of claim 7 to 9, it is characterized in that described load parameter comprises at least one in arm change angle, length of boom and the lift heavy amount.
11. rotary control system according to claim 10 is characterized in that, the described present load parameter of described parameter current collecting unit collection comprises arm change angle, length of boom and lift heavy amount; Described revolution current value acquiring unit, be used for memory load moment and the cooresponding functional relation of revolution electric current in advance, and according to described arm change angle, described length of boom and described lift heavy amount calculating present load moment, and, obtain and the cooresponding described revolution current value of described present load moment according to described functional relation.
12. rotary control system according to claim 11 is characterized in that, in the described functional relation, described revolution current value reduces gradually along with the cumulative of described load moment.
13. a hoisting crane comprises turntable and rotary control system, it is characterized in that, described rotary control system is each described rotary control system of claim 7 to 12.
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