CN102234076B - 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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- CN102234076B CN102234076B CN 201010155200 CN201010155200A CN102234076B CN 102234076 B CN102234076 B CN 102234076B CN 201010155200 CN201010155200 CN 201010155200 CN 201010155200 A CN201010155200 A CN 201010155200A CN 102234076 B CN102234076 B CN 102234076B
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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 trolley, relate in particular to a kind of electrical control gear and control method thereof of crawler-type counter weight dolly.
Background technology
At present the counterweight trolley of external large-tonnage crawler crane has two kinds of rubber-tyred and crawler types.Rubber-tyred counterweight trolley price is relatively costly, and tire is vulnerable to wearing and tearing because carrying huge counterweight; The crawler-type counter weight 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 in orbit synchronized operation 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 counter weight dolly, utilize the electrical equipments such as the mechanical device such as free rotary mechanism, controllable capacity pump, running motor of main frame and counterweight trolley 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 trolley, increase automation intensity, reduced cost, improved load-carrying ability, and so that counterweight moves is convenient, has avoided the negative effect of human element and caused asynchronous problem.
To achieve these goals, technical scheme of the present invention is:
A kind of electrical control gear of crawler-type counter weight dolly comprises the host computer control parts that are arranged on the crane mainframe and the counterweight trolley 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, the left crawler travel motor rotary speed of main frame sensor, console controller and main frame degreeof turn displacement pickup; Described counterweight trolley function unit comprises counterweight trolley right-hand track chiain running motor tachogen, the left crawler travel motor rotary speed of counterweight trolley sensor, counterweight trolley controller and counterweight trolley degreeof turn displacement pickup; Described console controller and counterweight trolley controller are by controller area network CANBUS connecting communication.
The electrical control gear of above-mentioned crawler-type counter weight 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 for measuring the speed of travel of main frame right-hand track chiain; The left crawler travel motor rotary speed of described main frame sensor setting is used for measuring the speed of travel of the left crawler belt of main frame on the left crawler travel motor of main frame.
The electrical control gear of above-mentioned crawler-type counter weight dolly, wherein:
Described counterweight trolley right-hand track chiain running motor tachogen is arranged on the counterweight trolley right-hand track chiain running motor, is used for measuring the speed of travel of counterweight trolley right-hand track chiain; The left crawler travel motor rotary speed of described counterweight trolley sensor setting is used for measuring the speed of travel of the left crawler belt of counterweight trolley on the left crawler travel motor of counterweight trolley.
The electrical control gear of above-mentioned crawler-type counter weight dolly, wherein:
Described main frame degreeof turn displacement pickup and counterweight trolley degreeof turn displacement pickup are respectively applied to detect the direction of main frame crawler belt and counterweight trolley crawler belt.
The electrical control gear of above-mentioned crawler-type counter weight dolly, wherein:
Described console controller comprises the left crawler belt PID of main frame (proportion integration differentiation) regulating control, main frame right-hand track chiain PID regulating control, the left crawler belt PWM of main frame (pulse width modulation) outdevice, main frame right-hand track chiain PWM outdevice, the first comparing unit and the second comparing unit; Described counterweight trolley controller comprises the left crawler belt PID of counterweight trolley regulating control, counterweight trolley right-hand track chiain PID regulating control, the left crawler belt PWM of counterweight trolley outdevice, counterweight trolley right-hand track chiain PWM outdevice, the 3rd comparing unit and the 4th comparing unit.
The electrical control gear of above-mentioned crawler-type counter weight dolly, wherein:
The work of described console controller main control system walking proportion magnetic valve; The work of described counterweight trolley controller control counterweight trolley walking proportion magnetic valve.
A kind of control method of electrical control gear of crawler-type counter weight dolly may further comprise the steps:
The speed of travel of step 1, detection and the left crawler belt of control crane mainframe.
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 the left crawler belt of control crane counterweight dolly.
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, the left crawler travel motor rotary speed of main frame sensor are transferred to the left crawler travel speed of main frame the first comparing unit of console controller.
Step 1.2, comparing unit are transferred to the left crawler belt PID of main frame regulating control with error numerical value.
Step 1.3, the left crawler belt PID of main frame regulating control signal transmission are to the left crawler belt PWM of main frame outdevice.
The aperture of step 1.4, the left crawler belt PWM of main frame outdevice control the 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.
Step 1.6, left crawler travel motor rotary speed sensor detect the rotating speed of left crawler travel motor, and carry out steps 1.1, until comparing unit is exported without difference.
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 the 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 signal transmission are to main frame right-hand track chiain PWM outdevice.
The aperture of step 2.4, main frame right-hand track chiain PWM outdevice control the 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, until comparing unit is exported without difference.
Described step 4 is closed loop controls, and is further comprising the steps of:
Step 4.1, the left crawler travel motor rotary speed of counterweight trolley sensor are transferred to the left crawler travel speed of counterweight trolley the 3rd comparing unit of counterweight trolley controller.
Step 4.2, comparing unit are transferred to the left crawler belt PID of counterweight trolley regulating control with error numerical value.
Step 4.3, the left crawler belt PID of counterweight trolley regulating control signal transmission are to the left crawler belt PWM of counterweight trolley outdevice.
Step 4.4, the left crawler belt PWM of counterweight trolley outdevice control the third line are walked the aperture of proportion magnetic valve.
Step 4.5, the third line are walked proportion magnetic valve by the rotating speed of control variable pump and then the left crawler travel motor of control counterweight trolley.
Step 4.6, the left crawler travel motor rotary speed of counterweight trolley sensor detect the rotating speed of the left crawler travel motor of counterweight trolley, and carry out steps 4.1, until comparing unit is exported without difference.
Described step 5 is closed loop controls, and is further comprising the steps of:
Step 5.1, counterweight trolley right-hand track chiain running motor tachogen are transferred to the counterweight trolley right-hand track chiain speed of travel the 4th comparing unit of counterweight trolley controller.
Step 5.2, comparing unit are transferred to counterweight trolley right-hand track chiain PID regulating control with error numerical value.
Step 5.3, counterweight trolley right-hand track chiain PID regulating control signal transmission are to counterweight trolley right-hand track chiain PWM outdevice.
Step 5.4, counterweight trolley right-hand track chiain PWM outdevice control fourth line are walked the aperture of proportion magnetic valve.
Step 5.5, fourth line are walked proportion magnetic valve by the rotating speed of control variable pump and then control counterweight trolley right-hand track chiain running motor.
Step 5.6, counterweight trolley right-hand track chiain running motor tachogen detect the rotating speed of counterweight trolley right-hand track chiain running motor, and carry out steps 5.1, until comparing unit is exported without difference.
The control method of the electrical control gear of above-mentioned crawler-type counter weight dolly, wherein:
Be respectively equipped with the first given numerical value and the second given numerical value in the first comparing unit in the described step 1 and 2 and the 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 counter weight dolly of the present invention is owing to be provided with many group running motor tachogens, can detect in real time the rotating speed of the running motor of installing on the crawler belt, 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 so that counterweight moves is convenient, has avoided the negative effect of human element and caused asynchronous problem.
Description of drawings
Fig. 1 is the distribution graph of electrical control gear on hoisting crane of crawler-type counter weight 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 counter weight dolly of the present invention.
Fig. 3 is the schematic diagram of the electrical control gear switchback mode of crawler-type counter weight dolly.
Fig. 4 a is the schematic diagram of the electrical control gear walking mode of crawler-type counter weight dolly.
Fig. 4 b is main frame and the crawler belt counterweight trolley 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 counter weight dolly
Fig. 5 is the turn round schematic diagram of pattern of the electrical control gear of crawler-type counter weight 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 counter weight dolly comprises the host computer control parts 1 that are arranged on the crane mainframe and is arranged on counterweight trolley function unit 2 on the crane counterweight dolly; Host computer control parts 1 comprise main frame right-hand track chiain running motor tachogen 11, the left crawler travel motor rotary speed of main frame sensor 12, console controller 13 and main frame degreeof turn displacement pickup 14; Counterweight trolley function unit 2 comprises counterweight trolley right-hand track chiain running motor tachogen 21, the left crawler travel motor rotary speed of counterweight trolley sensor 22, counterweight trolley controller 23 and counterweight trolley degreeof turn displacement pickup 24; Console controller 13 and counterweight trolley controller 23 are by the CANBUS connecting communication.
Main frame right-hand track chiain running motor tachogen 11 is arranged on the main frame right-hand track chiain running motor, is used for measuring the speed of travel of main frame right-hand track chiain; The left crawler travel motor rotary speed of main frame sensor 12 is arranged on the left crawler travel motor of main frame, is used for measuring the speed of travel of the left crawler belt of main frame.Counterweight trolley right-hand track chiain running motor tachogen 21 is arranged on the counterweight trolley right-hand track chiain running motor, is used for measuring the speed of travel of counterweight trolley right-hand track chiain; The left crawler travel motor rotary speed of counterweight trolley sensor 22 is arranged on the left crawler travel motor of counterweight trolley, is used for measuring the speed of travel of the left crawler belt of counterweight trolley.
Main frame degreeof turn displacement pickup 14 and counterweight trolley degreeof turn displacement pickup 24 are respectively applied to detect the direction of main frame crawler belt and counterweight trolley 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 trolley degreeof turn displacement pickup 24 is measured the direction of counterweight trolley crawler belt by detecting the counterweight trolley mechanism 4 of trackslipping.
Console controller 13 comprises the left crawler belt PID of main frame regulating control, main frame right-hand track chiain PID regulating control, the left crawler belt PWM of main frame outdevice, main frame right-hand track chiain PWM outdevice, the first comparing unit and the second comparing unit; Described counterweight trolley controller 23 comprises the left crawler belt PID of counterweight trolley regulating control, counterweight trolley right-hand track chiain PID regulating control, the left crawler belt PWM of counterweight trolley outdevice, counterweight trolley right-hand track chiain PWM outdevice, the 3rd comparing unit and the 4th comparing unit.
The work of console controller 13 main control systems walking proportion magnetic valve; The 23 control counterweight trolley walking proportion magnetic valve work of counterweight trolley controller.
See also illustrated in figures 1 and 2ly, a kind of control method of electrical control gear of crawler-type counter weight dolly may further comprise the steps:
The speed of travel of step 1, detection and the left crawler belt of control crane mainframe;
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 the left crawler belt of control crane counterweight dolly;
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, the left crawler travel motor rotary speed of main frame sensor are transferred to the left crawler travel speed of main frame the first comparing unit of console controller;
Step 1.2, comparing unit are transferred to the left crawler belt PID of main frame regulating control with error numerical value;
Step 1.3, the left crawler belt PID of main frame regulating control signal transmission are to the left crawler belt PWM of main frame outdevice;
The aperture of step 1.4, the left crawler belt PWM of main frame outdevice control the 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;
Step 1.6, left crawler travel motor rotary speed sensor detect the rotating speed of left crawler travel motor, and carry out steps 1.1, until comparing unit is exported without difference;
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 the 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 signal transmission are to main frame right-hand track chiain PWM outdevice;
The aperture of step 2.4, main frame right-hand track chiain PWM outdevice control the 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, until comparing unit is exported without difference.
Step 4 is closed loop controls, and is further comprising the steps of:
Step 4.1, the left crawler travel motor rotary speed of counterweight trolley sensor are transferred to the left crawler travel speed of counterweight trolley the 3rd comparing unit of counterweight trolley controller;
Step 4.2, comparing unit are transferred to the left crawler belt PID of counterweight trolley regulating control with error numerical value;
Step 4.3, the left crawler belt PID of counterweight trolley regulating control signal transmission are to the left crawler belt PWM of counterweight trolley outdevice;
Step 4.4, the left crawler belt PWM of counterweight trolley outdevice control the third line are walked the aperture of proportion magnetic valve;
Step 4.5, the third line are walked proportion magnetic valve by the rotating speed of control variable pump and then the left crawler travel motor of control counterweight trolley;
Step 4.6, the left crawler travel motor rotary speed of counterweight trolley sensor detect the rotating speed of the left crawler travel motor of counterweight trolley, and carry out steps 4.1, until comparing unit is exported without difference;
Step 5 is closed loop controls, and is further comprising the steps of:
Step 5.1, counterweight trolley right-hand track chiain running motor tachogen are transferred to the counterweight trolley right-hand track chiain speed of travel the 4th comparing unit of counterweight trolley controller;
Step 5.2, comparing unit are transferred to counterweight trolley right-hand track chiain PID regulating control with error numerical value;
Step 5.3, counterweight trolley right-hand track chiain PID regulating control signal transmission are to counterweight trolley right-hand track chiain PWM outdevice;
Step 5.4, counterweight trolley right-hand track chiain PWM outdevice control fourth line are walked the aperture of proportion magnetic valve;
Step 5.5, fourth line are walked proportion magnetic valve by the rotating speed of control variable pump and then control counterweight trolley right-hand track chiain running motor;
Step 5.6, counterweight trolley right-hand track chiain running motor tachogen detect the rotating speed of counterweight trolley right-hand track chiain running motor, and carry out steps 5.1, until comparing unit is exported without difference.
Be respectively equipped with the first given numerical value and the second given numerical value in the first comparing unit in the step 1 and 2 and the 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 this schematic diagram of Fig. 2 only is provided.
See also Fig. 1 and shown in Figure 3, Fig. 3 is switchback mode, and the gyroscopic movement step that realizes under this pattern is as follows:
(1) utilize the corresponding proportion magnetic valve of counterweight trolley controller control counterweight trolley running motor, make the two crawler travel speed of counterweight trolley equate, opposite direction, and then control counterweight trolley crawler belt originally spins.
(2) utilize counterweight trolley degreeof turn sensor detection signal, the counterweight trolley crawler belt is adjusted to accurately position.
(3) utilize counterweight trolley free rotary stop pin 5 locking counterweight trolley free rotary mechanisms 4, by the given main frame of handle angle of revolution speed.
When (4) turning round, according to given main frame speed of revolutions, be scaled the left and right sides crawler belt linear velocity of given counterweight trolley, synchronous by the controller PWM output signal on the counterweight trolley and the left and right sides crawler belt revolution of DO output signal control counterweight trolley.
(5) by console controller and the revolution of counterweight trolley controller DO output signal main control system and counterweight trolley rotary braking.
Realize that the synchronous revolving pattern 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 the left crawler belt of counterweight trolley, Vb represents the speed of travel of counterweight trolley 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 trolley, and L represents the centre distance between the crawler belt of the counterweight trolley 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 adjusting control counterweight trolley in the control theory to equate, utilize controller control counterweight trolley pair crawler travel opposite directions, and then control counterweight trolley crawler belt spins originally.
(2) utilize the detection signal of counterweight trolley degreeof turn sensor and main frame degreeof turn sensor, the counterweight trolley crawler belt is adjusted to the position parallel with the main frame crawler belt.
(3) utilize free rotary stop pin 5 locking counterweight trolley free rotary mechanisms 4.
(4) speed of travel of utilizing pid parameter in the control theory to regulate control counterweight trolley and main frame equates, and then the beginning synchronous walking.
(5) utilize controller main control system and counterweight trolley to stop simultaneously walking.
Realize that the synchronous walking pattern is based on following principle:
When spin in main frame and counterweight trolley original place, Va '=-Vb ';
When main frame and counterweight trolley travel in the same way, Va '=Vb ';
Wherein Va ' represents the speed of travel of main frame or the left crawler belt of counterweight trolley, and Vb ' represents the speed of travel of main frame or counterweight trolley 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 trolley free rotary mechanism, utilize console controller to be spinned in main frame crawler belt original place.
(2) by detecting in real time main frame degreeof turn sensor signal, utilize console controller control running motor, the main frame crawler belt is adjusted to the direction of turning round.
(3) use counterweight trolley PID regulating control and main frame PID regulating control controls respectively the counterweight trolley speed of travel and the main frame speed of travel satisfies certain relation, and then the beginning synchronous walking.
(4) main control system and counterweight trolley stop walking simultaneously respectively by console controller and counterweight trolley 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 trolley, Vb " and represents the speed of travel of main frame, Vc represent Va " and Vb " vector and.
The electrical control gear of crawler-type counter weight dolly of the present invention and control method thereof, realized the synchro control of main frame and counterweight trolley, and the combination of actions of main frame and counterweight trolley generates the variation of mode of operation, increase automation intensity, improved load-carrying ability, and so that counterweight moves is convenient, has avoided the negative effect of human element and caused asynchronous problem.
Claims (9)
1. the electrical control gear of a crawler-type counter weight dolly is characterized in that: comprise the host computer control parts (1) that are arranged on the crane mainframe and be arranged on counterweight trolley 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), the left crawler travel motor rotary speed of main frame sensor (12), console controller (13) and main frame degreeof turn displacement pickup (14); Described counterweight trolley function unit (2) comprises counterweight trolley right-hand track chiain running motor tachogen (21), the left crawler travel motor rotary speed of counterweight trolley sensor (22), counterweight trolley controller (23) and counterweight trolley degreeof turn displacement pickup (24); Described console controller (13) and counterweight trolley controller (23) are by the controller area network connecting communication.
2. the electrical control gear of crawler-type counter weight 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 for measuring the speed of travel of main frame right-hand track chiain; The left crawler travel motor rotary speed of described main frame sensor (12) is arranged on the left crawler travel motor of main frame, is used for measuring the speed of travel of the left crawler belt of main frame.
3. the electrical control gear of crawler-type counter weight dolly according to claim 1 is characterized in that:
Described counterweight trolley right-hand track chiain running motor tachogen (21) is arranged on the counterweight trolley right-hand track chiain running motor, is used for measuring the speed of travel of counterweight trolley right-hand track chiain; The left crawler travel motor rotary speed of described counterweight trolley sensor (22) is arranged on the left crawler travel motor of counterweight trolley, is used for measuring the speed of travel of the left crawler belt of counterweight trolley.
4. the electrical control gear of crawler-type counter weight dolly according to claim 1 is characterized in that:
Described main frame degreeof turn displacement pickup (14) and counterweight trolley degreeof turn displacement pickup (24) are respectively applied to detect the direction of main frame crawler belt and counterweight trolley crawler belt.
5. the electrical control gear of crawler-type counter weight dolly according to claim 1 is characterized in that:
Described console controller (13) comprises the left crawler belt proportional integral derivative controller of main frame, main frame right-hand track chiain proportional integral derivative controller, the left crawler belt pulse width modulation of main frame outdevice, main frame right-hand track chiain pulse width modulation outdevice, the first comparing unit and the second comparing unit; Described counterweight trolley controller (23) comprises the left crawler belt proportional integral derivative controller of counterweight trolley, counterweight trolley right-hand track chiain proportional integral derivative controller, the left crawler belt pulse width modulation of counterweight trolley outdevice, counterweight trolley 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 counter weight 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 trolley controller (23) control counterweight trolley walking proportion magnetic valve.
7. the control method of the electrical control gear of a crawler-type counter weight dolly is characterized in that: may further comprise the steps:
The speed of travel of step 1, detection and the left crawler belt of control crane mainframe;
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 the left crawler belt of control crane counterweight dolly;
Step 5, according to the result that switch process 2 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 counter weight 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, the left crawler travel motor rotary speed of main frame sensor are transferred to the left crawler travel speed of main frame the first comparing unit of console controller;
Step 1.2, the first comparing unit are transferred to the left crawler belt PID of main frame regulating control with error numerical value;
Step 1.3, the left crawler belt PID of main frame regulating control signal transmission are to the left crawler belt PWM of main frame outdevice;
The aperture of step 1.4, the left crawler belt PWM of main frame outdevice control the 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;
Step 1.6, left crawler travel motor rotary speed sensor detect the rotating speed of left crawler travel motor, and carry out steps 1.1, until comparing unit is exported without difference;
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 the second comparing unit of console controller;
Step 2.2, the 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 signal transmission are to main frame right-hand track chiain PWM outdevice;
The aperture of step 2.4, main frame right-hand track chiain PWM outdevice control the 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, until comparing unit is exported without difference;
Described step 4 is closed loop controls, and is further comprising the steps of:
Step 4.1, the left crawler travel motor rotary speed of counterweight trolley sensor are transferred to the left crawler travel speed of counterweight trolley the 3rd comparing unit of counterweight trolley controller;
Step 4.2, the 3rd comparing unit are transferred to the left crawler belt PID of counterweight trolley regulating control with error numerical value;
Step 4.3, the left crawler belt PID of counterweight trolley regulating control signal transmission are to the left crawler belt PWM of counterweight trolley outdevice;
Step 4.4, the left crawler belt PWM of counterweight trolley outdevice control the third line are walked the aperture of proportion magnetic valve;
Step 4.5, the third line are walked proportion magnetic valve by the rotating speed of control variable pump and then the left crawler travel motor of control counterweight trolley;
Step 4.6, the left crawler travel motor rotary speed of counterweight trolley sensor detect the rotating speed of the left crawler travel motor of counterweight trolley, and carry out steps 4.1, until comparing unit is exported without difference;
Described step 5 is closed loop controls, and is further comprising the steps of:
Step 5.1, counterweight trolley right-hand track chiain running motor tachogen are transferred to the counterweight trolley right-hand track chiain speed of travel the 4th comparing unit of counterweight trolley controller;
Step 5.2, the 4th comparing unit are transferred to counterweight trolley right-hand track chiain PID regulating control with error numerical value;
Step 5.3, counterweight trolley right-hand track chiain PID regulating control signal transmission are to counterweight trolley right-hand track chiain PWM outdevice;
Step 5.4, counterweight trolley right-hand track chiain PWM outdevice control fourth line are walked the aperture of proportion magnetic valve;
Step 5.5, fourth line are walked proportion magnetic valve by the rotating speed of control variable pump and then control counterweight trolley right-hand track chiain running motor;
Step 5.6, counterweight trolley right-hand track chiain running motor tachogen detect the rotating speed of counterweight trolley right-hand track chiain running motor, and carry out steps 5.1, until comparing unit is exported without difference.
9. the control method of the electrical control gear of crawler-type counter weight 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 the first comparing unit in the described step 1 and 2 and the 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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| CN102582683B (en) * | 2012-03-19 | 2014-05-14 | 上海三一重机有限公司 | Device and method for optimization control of random friction of four-tracked counterweight trolley |
| CN103879912B (en) * | 2014-03-05 | 2015-08-12 | 浙江三一装备有限公司 | Crawler crane and turning gear, revolving-control method |
| CN109573860B (en) * | 2017-09-29 | 2020-04-21 | 中车齐齐哈尔车辆有限公司 | Control system and control method of railway rescue crane |
| CN111487895B (en) * | 2019-01-29 | 2023-05-05 | 海天塑机集团有限公司 | Communication system of displacement sensor and controller |
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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. |