CN102234076A - Electrical control device for crawler-type counter weight trolley and control method thereof - Google Patents
Electrical control device for crawler-type counter weight trolley and control method thereof Download PDFInfo
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- CN102234076A CN102234076A CN2010101552006A CN201010155200A CN102234076A CN 102234076 A CN102234076 A CN 102234076A CN 2010101552006 A CN2010101552006 A CN 2010101552006A CN 201010155200 A CN201010155200 A CN 201010155200A CN 102234076 A CN102234076 A CN 102234076A
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Abstract
The invention relates to an electrical control device for a crawler-type counter weight trolley, comprising a main machine control component arranged on a main machine of a crane and a counter weight trolley control component arranged on a counter weight trolley of the crane, wherein the main machine control component comprises a right main machine crawler travelling motor rotating speed sensor, a left main machine crawler travelling motor rotating speed sensor, a main machine controller and a main machine rotation angle displacement sensor; the counter weight trolley control component comprises a right counter weight trolley crawler travelling motor rotating speed sensor, a left counter weight trolley crawler travelling motor rotating speed sensor, a counter weight trolley controller and a counter weight trolley rotation angle displacement sensor; and the main machine controller and the counter weight trolley controller are connected to communicate by virtue of a CAN bus. By adopting the electrical control device provided by the invention, synchronous control on the main machine and the counter weight trolley is realized, and actions of the main machine and the counter weight trolley are combined to generate diversified operating modes, thus the automation strength is improved, the lifting capacity is improved, a counter weight is convenient to move, and the problem that desynchronization is caused by adverse impact of personal factors can be avoided.
Description
Technical field
The present invention relates to the electrical control of counterweight dolly, relate in particular to a kind of electrical control gear and control method thereof of crawler type counterweight dolly.
Background technology
At present the counterweight dolly of external large-tonnage crawler crane has two kinds of rubber-tyred and crawler types.Rubber-tyred counterweight dolly price is relatively costly, and tire is vulnerable to wearing and tearing because of carrying huge counterweight; Crawler type counterweight dolly adopts that several chaufeurs are collaborative to be driven in design, in driving procedure, is subject to the negative effect of human element and causes asynchronous problem.
A kind of hoister with synchronous of the prior art is made of weight vehicle, chassis, column, transverse arm, crane carriage, transverse arm track, ground rail.Chassis and weight vehicle can synchronized operations on two parallel orbits, and the operating range of suspension hook is in a rectangle.The synchronized operation in orbit of this hoister with synchronous can not be carried out the synchronized operation of arbitrarily angled any direction.
Summary of the invention
The electrical control gear and the control method thereof that the purpose of this invention is to provide a kind of crawler type counterweight dolly, utilize electrical equipments such as the mechanical device such as free skating rotation mechanism, controllable capacity pump, running motor of main frame and counterweight dolly and motor rotary speed sensor, degreeof turn sensor, PID regulating control, realized the mode of operation such as revolution, walking of main frame and counterweight dolly, increase automation intensity, reduced cost, improved load-carrying ability, and it is convenient to make that counterweight moves, and has avoided the negative effect of human element and causes asynchronous problem.
To achieve these goals, technical scheme of the present invention is:
A kind of electrical control gear of crawler type counterweight dolly comprises host computer control parts that are arranged on the crane mainframe and the counterweight dolly function unit that is arranged on the crane counterweight dolly; Described host computer control parts comprise main frame right-hand track chiain running motor tachogen, main frame left side crawler travel motor rotary speed sensor, console controller and main frame degreeof turn displacement pickup; Described counterweight dolly function unit comprises counterweight dolly right-hand track chiain running motor tachogen, counterweight dolly left side crawler travel motor rotary speed sensor, counterweight agv controller and counterweight dolly degreeof turn displacement pickup; Described console controller is connected communication with the counterweight agv controller by controller area network CANBUS.
The electrical control gear of above-mentioned crawler type counterweight dolly, wherein:
Described main frame right-hand track chiain running motor tachogen is arranged on the main frame right-hand track chiain running motor, is used to measure the speed of travel of main frame right-hand track chiain; Described main frame left side crawler travel motor rotary speed sensor is arranged on the crawler travel motor of a main frame left side, is used to measure the speed of travel of main frame left side crawler belt.
The electrical control gear of above-mentioned crawler type counterweight dolly, wherein:
Described counterweight dolly right-hand track chiain running motor tachogen is arranged on the counterweight dolly right-hand track chiain running motor, is used to measure the speed of travel of counterweight dolly right-hand track chiain; Described counterweight dolly left side crawler travel motor rotary speed sensor is arranged on the crawler travel motor of a counterweight dolly left side, is used to measure the speed of travel of counterweight dolly left side crawler belt.
The electrical control gear of above-mentioned crawler type counterweight dolly, wherein:
Described main frame degreeof turn displacement pickup and counterweight dolly degreeof turn displacement pickup are respectively applied for the direction that detects main frame crawler belt and counterweight dolly crawler belt.
The electrical control gear of above-mentioned crawler type counterweight dolly, wherein:
Described console controller comprises main frame left side crawler belt PID (proportion integration differentiation) regulating control, main frame right-hand track chiain PID regulating control, main frame left side crawler belt PWM (pulse width modulation) outdevice, main frame right-hand track chiain PWM outdevice, first comparing unit and second comparing unit; Described counterweight agv controller comprises counterweight dolly left side crawler belt PID regulating control, counterweight dolly right-hand track chiain PID regulating control, counterweight dolly left side crawler belt PWM outdevice, counterweight dolly right-hand track chiain PWM outdevice, the 3rd comparing unit and the 4th comparing unit.
The electrical control gear of above-mentioned crawler type counterweight dolly, wherein:
The work of described console controller main control system walking proportion magnetic valve; The work of described counterweight agv controller control counterweight carriage walking proportion magnetic valve.
A kind of control method of electrical control gear of crawler type counterweight dolly may further comprise the steps:
The speed of travel of step 1, detection and control crane mainframe left side crawler belt.
The speed of travel of step 2, detection and control crane mainframe right-hand track chiain.
Step 3, described step 1 and step 2 are carried out simultaneously.
The speed of travel of step 4, detection and control crane counterweight dolly left side crawler belt.
The speed of travel of step 5, detection and control crane counterweight dolly right-hand track chiain.
Step 6, described step 4 and step 5 are carried out simultaneously.
Wherein: described step 1 is closed loop control, and is further comprising the steps of:
Step 1.1, main frame left side crawler travel motor rotary speed sensor are transferred to main frame left side crawler travel speed first comparing unit of console controller.
Step 1.2, comparing unit are transferred to main frame left side crawler belt PID regulating control with error numerical value.
Step 1.3, main frame left side crawler belt PID regulating control transmission signals are given main frame left side crawler belt PWM outdevice.
The aperture of step 1.4, the main frame left side crawler belt PWM outdevice control first walking proportion magnetic valve.
Step 1.5, the first walking proportion magnetic valve is by the control variable pump and then control the rotating speed of left crawler travel motor.
The rotating speed of step 1.6, left crawler travel motor rotary speed sensor left side crawler travel motor, and carry out step 1.1, there is not difference output until comparing unit.
Described step 2 is closed loop controls, and is further comprising the steps of:
Step 2.1, main frame right-hand track chiain running motor tachogen are transferred to the main frame right-hand track chiain speed of travel second comparing unit of console controller.
Step 2.2, comparing unit are transferred to main frame right-hand track chiain PID regulating control with error numerical value.
Step 2.3, main frame right-hand track chiain PID regulating control transmission signals are given main frame right-hand track chiain PWM outdevice.
The aperture of step 2.4, the main frame right-hand track chiain PWM outdevice control second walking proportion magnetic valve.
Step 2.5, the second walking proportion magnetic valve pass through the rotating speed of control variable pump and then control right-hand track chiain running motor.
Step 2.6, right-hand track chiain running motor tachogen detect the rotating speed of right-hand track chiain running motor, and carry out steps 2.1, do not have difference output until comparing unit.
Described step 4 is closed loop controls, and is further comprising the steps of:
Step 4.1, counterweight dolly left side crawler travel motor rotary speed sensor are transferred to counterweight dolly left side crawler travel speed the 3rd comparing unit of counterweight agv controller.
Step 4.2, comparing unit are transferred to counterweight dolly left side crawler belt PID regulating control with error numerical value.
Step 4.3, counterweight dolly left side crawler belt PID regulating control transmission signals are given counterweight dolly left side crawler belt PWM outdevice.
Step 4.4, counterweight dolly left side crawler belt PWM outdevice control the third line are walked the aperture of proportion magnetic valve.
Step 4.5, the third line are walked the rotating speed of proportion magnetic valve by control variable pump and then control counterweight dolly left side crawler travel motor.
The rotating speed of step 4.6, a crawler travel motor rotary speed sensor counterweight dolly left side, counterweight dolly left side crawler travel motor, and carry out step 4.1, there is not difference output until comparing unit.
Described step 5 is closed loop controls, and is further comprising the steps of:
Step 5.1, counterweight dolly right-hand track chiain running motor tachogen are transferred to the counterweight dolly right-hand track chiain speed of travel the 4th comparing unit of counterweight agv controller.
Step 5.2, comparing unit are transferred to counterweight dolly right-hand track chiain PID regulating control with error numerical value.
Step 5.3, counterweight dolly right-hand track chiain PID regulating control transmission signals are given counterweight dolly right-hand track chiain PWM outdevice.
Step 5.4, counterweight dolly right-hand track chiain PWM outdevice control fourth line are walked the aperture of proportion magnetic valve.
Step 5.5, fourth line are walked the rotating speed of proportion magnetic valve by control variable pump and then control counterweight dolly right-hand track chiain running motor.
Step 5.6, counterweight dolly right-hand track chiain running motor tachogen detect the rotating speed of counterweight dolly right-hand track chiain running motor, and carry out steps 5.1, do not have difference output until comparing unit.
The control method of the electrical control gear of above-mentioned crawler type counterweight dolly, wherein:
Be respectively equipped with the first given numerical value and the second given numerical value in first comparing unit in the described step 1 and 2 and second comparing unit, this numerical value is given by the unified control of main frame handle; Be respectively equipped with the 3rd given numerical value and the 4th given numerical value in the 3rd comparing unit in described step 4 and the step 5 and the 4th comparing unit; The described the 3rd given numerical value and the 4th given numerical value convert given by the main frame speed of revolutions.
The present invention is owing to adopted above-mentioned technology, the good effect that makes it compared with prior art to have is: the control method of the electrical control gear of crawler type counterweight dolly of the present invention is owing to be provided with many group running motor tachogens, can detect the rotating speed of the running motor of installing on the crawler belt in real time, i.e. the speed of travel of crawler belt.Aperture and then control variable capacity of pump by controller control walking proportion magnetic valve, the rotating speed of governor motor, finally reach the effect of control crawler travel speed, increase automation intensity, improved load-carrying ability, and it is convenient to make that counterweight moves, and has avoided the negative effect of human element and causes asynchronous problem.
Description of drawings
Fig. 1 is the distribution graph of electrical control gear on hoisting crane of crawler type counterweight dolly of the present invention.
Fig. 2 is the closed loop control process principle figure of the electrical control gear control method of crawler type counterweight dolly of the present invention.
Fig. 3 is the schematic diagram of the electrical control gear switchback mode of crawler type counterweight dolly.
Fig. 4 a is the schematic diagram of the electrical control gear walking mode of crawler type counterweight dolly.
Fig. 4 b is main frame and the crawler belt counterweight dolly 360 ° of schematic diagrams that turn round walking mode of getting off among Fig. 4 a.
The schematic diagram of the arbitrarily angled walking mode of electrical control gear of Fig. 4 c crawler type counterweight dolly
Fig. 5 is the turn round schematic diagram of pattern of the electrical control gear of crawler type counterweight dolly.
The specific embodiment
Further specify embodiments of the invention below in conjunction with accompanying drawing.
See also shown in Figure 1ly, a kind of electrical control gear of crawler type counterweight dolly comprises the host computer control parts that are arranged on the crane mainframe 1 and is arranged on counterweight dolly function unit 2 on the crane counterweight dolly; Host computer control parts 1 comprise main frame right-hand track chiain running motor tachogen 11, main frame left side crawler travel motor rotary speed sensor 12, console controller 13 and main frame degreeof turn displacement pickup 14; Counterweight dolly function unit 2 comprises counterweight dolly right-hand track chiain running motor tachogen 21, counterweight dolly left side crawler travel motor rotary speed sensor 22, counterweight agv controller 23 and counterweight dolly degreeof turn displacement pickup 24; Console controller 13 and counterweight agv controller 23 are connected communication by CANBUS.
Main frame right-hand track chiain running motor tachogen 11 is arranged on the main frame right-hand track chiain running motor, is used to measure the speed of travel of main frame right-hand track chiain; Main frame left side crawler travel motor rotary speed sensor 12 is arranged on the crawler travel motor of a main frame left side, is used to measure the speed of travel of main frame left side crawler belt.Counterweight dolly right-hand track chiain running motor tachogen 21 is arranged on the counterweight dolly right-hand track chiain running motor, is used to measure the speed of travel of counterweight dolly right-hand track chiain; Counterweight dolly left side crawler travel motor rotary speed sensor 22 is arranged on the crawler travel motor of a counterweight dolly left side, is used to measure the speed of travel of counterweight dolly left side crawler belt.
Main frame degreeof turn displacement pickup 14 and counterweight dolly degreeof turn displacement pickup 24 are respectively applied for the direction that detects main frame crawler belt and counterweight dolly crawler belt.Main frame degreeof turn displacement pickup 14 is measured the direction of main frame crawler belt by the degreeof turn that detects main frame revolving structure 3.Counterweight dolly degreeof turn displacement pickup 24 is measured the direction of counterweight dolly crawler belt by detecting the counterweight dolly mechanism 4 of trackslipping.
The work of console controller 13 main control systems walking proportion magnetic valve; The 23 control counterweight carriage walking proportion magnetic valve work of counterweight agv controller.
See also illustrated in figures 1 and 2ly, a kind of control method of electrical control gear of crawler type counterweight dolly may further comprise the steps:
The speed of travel of step 1, detection and control crane mainframe left side crawler belt;
The speed of travel of step 2, detection and control crane mainframe right-hand track chiain;
Step 3, described step 1 and step 2 are carried out simultaneously;
The speed of travel of step 4, detection and control crane counterweight dolly left side crawler belt;
The speed of travel of step 5, detection and control crane counterweight dolly right-hand track chiain;
Step 6, described step 4 and step 5 are carried out simultaneously.
Wherein: step 1 is closed loop control, and is further comprising the steps of:
Step 1.1, main frame left side crawler travel motor rotary speed sensor are transferred to main frame left side crawler travel speed first comparing unit of console controller;
Step 1.2, comparing unit are transferred to main frame left side crawler belt PID regulating control with error numerical value;
Step 1.3, main frame left side crawler belt PID regulating control transmission signals are given main frame left side crawler belt PWM outdevice;
The aperture of step 1.4, the main frame left side crawler belt PWM outdevice control first walking proportion magnetic valve;
Step 1.5, the first walking proportion magnetic valve is by the control variable pump and then control the rotating speed of left crawler travel motor;
The rotating speed of step 1.6, left crawler travel motor rotary speed sensor left side crawler travel motor, and carry out step 1.1, there is not difference output until comparing unit;
Step 2.1, main frame right-hand track chiain running motor tachogen are transferred to the main frame right-hand track chiain speed of travel second comparing unit of console controller;
Step 2.2, comparing unit are transferred to main frame right-hand track chiain PID regulating control with error numerical value;
Step 2.3, main frame right-hand track chiain PID regulating control transmission signals are given main frame right-hand track chiain PWM outdevice;
The aperture of step 2.4, the main frame right-hand track chiain PWM outdevice control second walking proportion magnetic valve;
Step 2.5, the second walking proportion magnetic valve pass through the rotating speed of control variable pump and then control right-hand track chiain running motor;
Step 2.6, right-hand track chiain running motor tachogen detect the rotating speed of right-hand track chiain running motor, and carry out steps 2.1, do not have difference output until comparing unit.
Step 4 is closed loop controls, and is further comprising the steps of:
Step 4.1, counterweight dolly left side crawler travel motor rotary speed sensor are transferred to counterweight dolly left side crawler travel speed the 3rd comparing unit of counterweight agv controller;
Step 4.2, comparing unit are transferred to counterweight dolly left side crawler belt PID regulating control with error numerical value;
Step 4.3, counterweight dolly left side crawler belt PID regulating control transmission signals are given counterweight dolly left side crawler belt PWM outdevice;
Step 4.4, counterweight dolly left side crawler belt PWM outdevice control the third line are walked the aperture of proportion magnetic valve;
Step 4.5, the third line are walked the rotating speed of proportion magnetic valve by control variable pump and then control counterweight dolly left side crawler travel motor;
The rotating speed of step 4.6, a crawler travel motor rotary speed sensor counterweight dolly left side, counterweight dolly left side crawler travel motor, and carry out step 4.1, there is not difference output until comparing unit;
Step 5.1, counterweight dolly right-hand track chiain running motor tachogen are transferred to the counterweight dolly right-hand track chiain speed of travel the 4th comparing unit of counterweight agv controller;
Step 5.2, comparing unit are transferred to counterweight dolly right-hand track chiain PID regulating control with error numerical value;
Step 5.3, counterweight dolly right-hand track chiain PID regulating control transmission signals are given counterweight dolly right-hand track chiain PWM outdevice;
Step 5.4, counterweight dolly right-hand track chiain PWM outdevice control fourth line are walked the aperture of proportion magnetic valve;
Step 5.5, fourth line are walked the rotating speed of proportion magnetic valve by control variable pump and then control counterweight dolly right-hand track chiain running motor;
Step 5.6, counterweight dolly right-hand track chiain running motor tachogen detect the rotating speed of counterweight dolly right-hand track chiain running motor, and carry out steps 5.1, do not have difference output until comparing unit.
Be respectively equipped with the first given numerical value and the second given numerical value in first comparing unit in the step 1 and 2 and second comparing unit, this numerical value is given by the unified control of main frame handle; Be respectively equipped with the 3rd given numerical value and the 4th given numerical value in the 3rd comparing unit in step 4 and the step 5 and the 4th comparing unit; The 3rd given numerical value converts given by the 4th given numerical value by the main frame speed of revolutions.
Because the principle of step 1, step 2, step 4 and step 5 is identical, so Fig. 2 only is provided this schematic diagram.
See also Fig. 1 and shown in Figure 3, Fig. 3 is a switchback mode, and the gyroscopic movement step that realizes under this pattern is as follows:
(1) utilize the corresponding proportion magnetic valve of counterweight agv controller control counterweight carriage walking motor, make the two crawler travel speed of counterweight dolly equate that direction is opposite, and then control counterweight dolly crawler belt originally spins.
(2) utilize counterweight dolly degreeof turn sensor signal, counterweight dolly crawler belt is adjusted to position accurately.
(3) utilize counterweight dolly free skating twist lock rationed marketing 5 locking counterweight dolly free skating rotation mechanisms 4, by the given main frame of handle angle of revolution speed.
When (4) turning round,, be scaled the left and right sides crawler belt linear velocity of given counterweight dolly according to given main frame speed of revolutions, synchronous by controller PWM output signal on the counterweight dolly and the left and right sides crawler belt revolution of DO output signal control counterweight dolly.
(5) by console controller and revolution of counterweight agv controller DO output signal main control system and counterweight dolly rotary braking.
Realize that synchronous switchback mode is based on following principle:
w×R＝v
(R-L/2)/Va＝(R+L/2)/Vb
Va/Vb＝(R-L/2)/(R+L/2)
Wherein Va represents the speed of travel of counterweight dolly left side crawler belt, Vb represents the speed of travel of counterweight dolly right-hand track chiain, v represents the speed of revolutions of main frame swing type mechanism, and R represents trackslip spacing between the mechanism of main frame revolving structure and counterweight dolly, and L represents the centre distance between the crawler belt of the counterweight dolly left and right sides.
See also shown in Fig. 1 and Fig. 4 a, 4b, the 4c, Fig. 4 a, 4b, 4c are under the different situations to be walking mode, realize that under walking mode the walking movement step is as follows:
(1) utilizes the two crawler travel speed of pid parameter regulating control counterweight dolly in the control theory to equate, utilize the two crawler travel directions of controller control counterweight dolly opposite, and then control counterweight dolly crawler belt originally spins.
(2) utilize the detection signal of counterweight dolly degreeof turn sensor and main frame degreeof turn sensor, counterweight dolly crawler belt is adjusted to the position parallel with the main frame crawler belt.
(3) utilize free skating twist lock rationed marketing 5 locking counterweight dolly free skating rotation mechanisms 4.
(4) utilize the speed of travel of pid parameter regulating control counterweight dolly in the control theory and main frame to equate, and then the beginning synchronous walking.
(5) utilize controller main control system and counterweight dolly to stop walking simultaneously.
Realize that the synchronous walking pattern is based on following principle:
When spin in main frame and counterweight dolly original place, Va '=-Vb ';
When main frame and counterweight dolly travel in the same way, Va '=Vb ';
Wherein Va ' represents the speed of travel of main frame or counterweight dolly left side crawler belt, and Vb ' represents the speed of travel of main frame or counterweight dolly right-hand track chiain.
See also Fig. 1 and shown in Figure 5, Fig. 5 is the pattern of turning round, and the movement step that realizes turning round under this pattern is as follows:
(1) opens main frame revolving structure and counterweight dolly free skating rotation mechanism, utilize console controller to be spinned in main frame crawler belt original place.
(2) by detecting main frame degreeof turn sensor signal in real time, utilize console controller control running motor, the main frame crawler belt is adjusted to the direction of turning round.
(3) use counterweight dolly PID regulating control and main frame PID regulating control controls counterweight carriage walking speed respectively and the main frame speed of travel satisfies certain relation, and then the beginning synchronous walking.
(4) main control system and counterweight dolly stop walking simultaneously respectively by console controller and counterweight agv controller.
Realize turning round synchronously pattern based on following principle:
Vc/sinA＝Vb″/sinB＝Va″/sin(A-B)
Va " represents the speed of travel of crawler belt counterweight dolly, Vb " and represents the speed of travel of main frame, and Vc represents the vectorial sum of Va " and Vb ".
The electrical control gear and the control method thereof of crawler type counterweight dolly of the present invention, realized the synchro control of main frame and counterweight dolly, and the combination of actions of main frame and counterweight dolly generates the variation of mode of operation, increase automation intensity, improved load-carrying ability, and it is convenient to make that counterweight moves, and has avoided the negative effect of human element and causes asynchronous problem.
Claims (9)
1. the electrical control gear of a crawler type counterweight dolly is characterized in that: comprise the host computer control parts (1) that are arranged on the crane mainframe and be arranged on counterweight dolly function unit (2) on the crane counterweight dolly; Described host computer control parts (1) comprise main frame right-hand track chiain running motor tachogen (11), main frame left side crawler travel motor rotary speed sensor (12), console controller (13) and main frame degreeof turn displacement pickup (14); Described counterweight dolly function unit (2) comprises counterweight dolly right-hand track chiain running motor tachogen (21), counterweight dolly left side crawler travel motor rotary speed sensor (22), counterweight agv controller (23) and counterweight dolly degreeof turn displacement pickup (24); Described console controller 13 and counterweight agv controller 23 are connected communication by controller area network.
2. the electrical control gear of crawler type counterweight dolly according to claim 1 is characterized in that:
Described main frame right-hand track chiain running motor tachogen (11) is arranged on the main frame right-hand track chiain running motor, is used to measure the speed of travel of main frame right-hand track chiain; Described main frame left side crawler travel motor rotary speed sensor (12) is arranged on the crawler travel motor of a main frame left side, is used to measure the speed of travel of main frame left side crawler belt.
3. the electrical control gear of crawler type counterweight dolly according to claim 1 is characterized in that:
Described counterweight dolly right-hand track chiain running motor tachogen (21) is arranged on the counterweight dolly right-hand track chiain running motor, is used to measure the speed of travel of counterweight dolly right-hand track chiain; Described counterweight dolly left side crawler travel motor rotary speed sensor (22) is arranged on the crawler travel motor of a counterweight dolly left side, is used to measure the speed of travel of counterweight dolly left side crawler belt.
4. the electrical control gear of crawler type counterweight dolly according to claim 1 is characterized in that:
Described main frame degreeof turn displacement pickup (14) and counterweight dolly degreeof turn displacement pickup (24) are respectively applied for the direction that detects main frame crawler belt and counterweight dolly crawler belt.
5. the electrical control gear of crawler type counterweight dolly according to claim 1 is characterized in that:
Described console controller (13) comprises main frame left side crawler belt proportional integral derivative controller, main frame right-hand track chiain proportional integral derivative controller, main frame left side crawler belt pulse width modulation outdevice, main frame right-hand track chiain pulse width modulation outdevice, first comparing unit and second comparing unit; Described counterweight agv controller (23) comprises counterweight dolly left side crawler belt proportional integral derivative controller, counterweight dolly right-hand track chiain proportional integral derivative controller, counterweight dolly left side crawler belt pulse width modulation outdevice, counterweight dolly right-hand track chiain pulse width modulation outdevice, the 3rd comparing unit and the 4th comparing unit.
6. the electrical control gear of crawler type counterweight dolly according to claim 1 is characterized in that:
The work of described console controller (13) main control system walking proportion magnetic valve; The work of described counterweight agv controller (23) control counterweight carriage walking proportion magnetic valve.
7. the control method of the electrical control gear of a crawler type counterweight dolly is characterized in that: may further comprise the steps:
The speed of travel of step 1, detection and control crane mainframe left side crawler belt;
The speed of travel of step 2, detection and control crane mainframe right-hand track chiain;
Step 3, described step 1 and step 2 are carried out simultaneously;
Step 4, according to the result that switch process 1 detects, detect and the speed of travel of control crane counterweight dolly left side crawler belt;
Step 5, according to the result that switch process 1 detects, detect and the speed of travel of control crane counterweight dolly right-hand track chiain;
Step 6, described step 4 and step 5 are carried out simultaneously.
8. the control method of the electrical control gear of crawler type counterweight dolly according to claim 7 is characterized in that:
Wherein: described step 1 is closed loop control, and is further comprising the steps of:
Step 1.1, main frame left side crawler travel motor rotary speed sensor are transferred to main frame left side crawler travel speed first comparing unit of console controller;
Step 1.2, first comparing unit are transferred to main frame left side crawler belt PID regulating control with error numerical value;
Step 1.3, main frame left side crawler belt PID regulating control transmission signals are given main frame left side crawler belt PWM outdevice;
The aperture of step 1.4, the main frame left side crawler belt PWM outdevice control first walking proportion magnetic valve;
Step 1.5, the first walking proportion magnetic valve is by the control variable pump and then control the rotating speed of left crawler travel motor;
The rotating speed of step 1.6, left crawler travel motor rotary speed sensor left side crawler travel motor, and carry out step 1.1, there is not difference output until comparing unit;
Described step 2 is closed loop controls, and is further comprising the steps of:
Step 2.1, main frame right-hand track chiain running motor tachogen are transferred to the main frame right-hand track chiain speed of travel second comparing unit of console controller;
Step 2.2, second comparing unit are transferred to main frame right-hand track chiain PID regulating control with error numerical value;
Step 2.3, main frame right-hand track chiain PID regulating control transmission signals are given main frame right-hand track chiain PWM outdevice;
The aperture of step 2.4, the main frame right-hand track chiain PWM outdevice control second walking proportion magnetic valve;
Step 2.5, the second walking proportion magnetic valve pass through the rotating speed of control variable pump and then control right-hand track chiain running motor;
Step 2.6, right-hand track chiain running motor tachogen detect the rotating speed of right-hand track chiain running motor, and carry out steps 2.1, do not have difference output until comparing unit;
Described step 4 is closed loop controls, and is further comprising the steps of:
Step 4.1, counterweight dolly left side crawler travel motor rotary speed sensor are transferred to counterweight dolly left side crawler travel speed the 3rd comparing unit of counterweight agv controller;
Step 4.2, the 3rd comparing unit are transferred to counterweight dolly left side crawler belt PID regulating control with error numerical value;
Step 4.3, counterweight dolly left side crawler belt PID regulating control transmission signals are given counterweight dolly left side crawler belt PWM outdevice;
Step 4.4, counterweight dolly left side crawler belt PWM outdevice control the third line are walked the aperture of proportion magnetic valve;
Step 4.5, the third line are walked the rotating speed of proportion magnetic valve by control variable pump and then control counterweight dolly left side crawler travel motor;
The rotating speed of step 4.6, a crawler travel motor rotary speed sensor counterweight dolly left side, counterweight dolly left side crawler travel motor, and carry out step 4.1, there is not difference output until comparing unit;
Described step 5 is closed loop controls, and is further comprising the steps of:
Step 5.1, counterweight dolly right-hand track chiain running motor tachogen are transferred to the counterweight dolly right-hand track chiain speed of travel the 4th comparing unit of counterweight agv controller;
Step 5.2, the 4th comparing unit are transferred to counterweight dolly right-hand track chiain PID regulating control with error numerical value;
Step 5.3, counterweight dolly right-hand track chiain PID regulating control transmission signals are given counterweight dolly right-hand track chiain PWM outdevice;
Step 5.4, counterweight dolly right-hand track chiain PWM outdevice control fourth line are walked the aperture of proportion magnetic valve;
Step 5.5, fourth line are walked the rotating speed of proportion magnetic valve by control variable pump and then control counterweight dolly right-hand track chiain running motor;
Step 5.6, counterweight dolly right-hand track chiain running motor tachogen detect the rotating speed of counterweight dolly right-hand track chiain running motor, and carry out steps 5.1, do not have difference output until comparing unit.
9. the control method of the electrical control gear of crawler type counterweight dolly according to claim 8 is characterized in that:
Be respectively equipped with the first given numerical value and the second given numerical value in first comparing unit in the described step 1 and 2 and second comparing unit, this numerical value is given by the unified control of a main frame handle; Be respectively equipped with the 3rd given numerical value and the 4th given numerical value in the 3rd comparing unit in described step 4 and the step 5 and the 4th comparing unit; The described the 3rd given numerical value and the 4th given numerical value convert given by the main frame speed of revolutions.
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| CN109573860A (en) * | 2017-09-29 | 2019-04-05 | 中车齐齐哈尔车辆有限公司 | A kind of control system and control method of railway breakdown crane |
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| CN102234076B (en) | 2013-04-24 |
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Effective date of registration: 20160108 Address after: Eight in the 313028 Zhejiang city of Huzhou province Cao Zhen Village daily standard factory Auxiliary Building No. 2 Patentee after: Zhejiang Sany Equipment Co., Ltd. Address before: 201202, room 6999, 205 Chuansha Road, Shanghai, Pudong New Area Patentee before: Shanghai Sany Technology Co., Ltd. |