CN102491177A - Rotary engineering machine and method and device for controlling rotation of rotary engineering machine - Google Patents
Rotary engineering machine and method and device for controlling rotation of rotary engineering machine Download PDFInfo
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- CN102491177A CN102491177A CN2011104213696A CN201110421369A CN102491177A CN 102491177 A CN102491177 A CN 102491177A CN 2011104213696 A CN2011104213696 A CN 2011104213696A CN 201110421369 A CN201110421369 A CN 201110421369A CN 102491177 A CN102491177 A CN 102491177A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/30—Circuits for braking, traversing, or slewing motors
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- Automation & Control Theory (AREA)
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Abstract
The invention provides a rotary engineering machine and a method and a device for controlling rotation of the rotary engineering machine, which are used for solving the problem of low stability of cranes in changing of rotating speed in the prior art. The method includes: storing rotation setting information, wherein the rotation setting information includes target rotating tangential accelerations corresponding to operating radiuses of a plurality of engineering machines; determining current target rotating tangential acceleration according to the current operating radius of the engineering machine and the rotation setting information after rotation starting orders are received; and controlling rotation of the engineering machine according to the current target rotating tangential acceleration. Using the technical scheme is helpful to avoid influences of rotating additional dynamic bending moment on integral stability, and operational safety of the engineering machine is improved.
Description
Technical field
The present invention relates to the engineering machinery control technology field, but relate to a kind of turning engineering machinery and revolving-control method and device especially.
Background technology
Hoisting crane is a kind of common construction machinery and equipment.For various hoisting cranes, have supporting leg, gyro-rotor, arm usually, the arm head can connect weight through steel rope and realize lifting operation.As shown in Figure 1, Fig. 1 is according to the lifting of hoisting crane of the prior art and the sketch of revolving structure.
Illustrated among Fig. 1 hoisting crane supporting leg 11, turn table 12, arm 13, arm head 14, be connected the lifting rope 15 between arm head and the weight, and show lift heavy thing 16 simultaneously.In turning course, turn table rotates around straight line L, and this line L is perpendicular to the center of gyration O of plane of rotation and process turn table.
In the correlation technique, steady in order to ensure operation, control for the maximum speed of revolutions of arm usually.In realizing process of the present invention, the contriver finds that the variation of speed of revolutions also has considerable influence for the stationarity of hoisting crane, when speed of revolutions changes, and the control poor effect of the mode in the correlation technique.
In correlation technique, the stationarity of hoisting crane when speed of revolutions changes is lower, for this problem, does not propose effective solution at present as yet.
Summary of the invention
But main purpose of the present invention provides a kind of turning engineering machinery and revolving-control method and device, to solve the lower problem of the stationarity of hoisting crane when speed of revolutions changes in the prior art.
To achieve these goals, according to an aspect of the present invention, but provide a kind of control turning engineering machinery rotating method.
But the rotating method of control turning engineering machinery of the present invention comprises: preserve revolution information is set, said revolution is provided with each the self-corresponding target revolution tangential acceleration of operating radius that comprises a plurality of said construction machinery and equipments in the information; After receiving the revolution enabled instruction, according to the current operating radius of said construction machinery and equipment and said revolution information is set and confirms current goal revolution tangential acceleration; According to said current goal revolution tangential acceleration the revolution of said construction machinery and equipment is controlled.
Further, the step of said definite current goal revolution tangential acceleration comprises: judge said revolution is provided with whether comprise the current operating radius of said construction machinery and equipment in the information; If then that said construction machinery and equipment is current operating radius is provided with in the information cooresponding target revolution tangential acceleration as said current goal revolution tangential acceleration in said revolution; Otherwise; In said revolution is provided with in the information interval that two operating radius values of current operating radius constitute near said construction machinery and equipment, use the mode of linear interpolation to confirm a revolution tangential acceleration and as said current goal revolution tangential acceleration.
Further, the said target revolution tangential acceleration that said revolution is provided with in the information draws according to following mode: steps A, and according to [σ]>=A+B+C, C=(M
y+ M)/D, M=F
a* f+F
A1* f
1, F
a=(Q+Q
1) * J
m, F
A1=Q
2* J
mConfirm J
mA maximum occurrences, wherein: arm allows maximum stress under the predefined crane job radius of [σ] expression, and A representes the arm axial stress, and B representes arm luffing direction stress, M
yThe moment of flexure that plane of rotation bore that provides among expression standard GB/T3811-2008, D representes each modulus of section of arm, f representes the amount of deflection of arm at plane of rotation, f
1Expression arm barycenter is in the amount of deflection of plane of rotation, and Q representes weight quality, Q
1The expression hoisting crane under said predefined operating radius except that weight at the caused equivalent mass of arm hitch point, J
mExpression revolution tangential acceleration, Q
2Expression hoisting crane arm equivalent mass under said predefined operating radius; Step B is with the J that confirms in the steps A
mA maximum occurrences value of the said target revolution tangential acceleration in the information is set as said revolution; Repeating step A and step B draw a plurality of values that a plurality of said targets are turned round tangential accelerations.
Further, said construction machinery and equipment is a hoisting crane.
According to a further aspect in the invention, but provide a kind of control turning engineering machinery rotating device.
But the rotating device of control turning engineering machinery of the present invention comprises: memory module, and be used for preserving revolution information is set, said revolution is provided with each the self-corresponding target revolution tangential acceleration of operating radius that comprises a plurality of said construction machinery and equipments in the information; Determination module is used for after receiving the revolution enabled instruction, according to the current operating radius of said construction machinery and equipment and said revolution information is set and confirms current goal revolution tangential acceleration; Control module is used for according to said current goal revolution tangential acceleration the revolution of said construction machinery and equipment being controlled.
Further, determination module also is used for: judge that said revolution is provided with information and whether comprises the current operating radius of said construction machinery and equipment; If then that said construction machinery and equipment is current operating radius is provided with in the information cooresponding target revolution tangential acceleration as said current goal revolution tangential acceleration in said revolution; Otherwise; In said revolution is provided with in the information interval that two operating radius values of current operating radius constitute near said construction machinery and equipment, use the mode of linear interpolation to confirm a revolution tangential acceleration and as said current goal revolution tangential acceleration.
Further, also comprise computing module, be used for drawing the value that said revolution is provided with the said target revolution tangential acceleration of information according to following mode: steps A, according to [σ]>=A+B+C, C=(M
y+ M)/D, M=F
a* f+F
A1* f
1, F
a=(Q+Q
1) * J
m, F
A1=Q
2* J
mConfirm J
mA maximum occurrences, wherein: arm allows maximum stress under the predefined crane job radius of [σ] expression, and A representes the arm axial stress, and B representes arm luffing direction stress, M
yThe moment of flexure that plane of rotation bore that provides among expression standard GB/T3811-2008, D representes each modulus of section of arm, f representes the amount of deflection of arm at plane of rotation, f
1Expression arm barycenter is in the amount of deflection of plane of rotation, and Q representes weight quality, Q
1The expression hoisting crane under said predefined operating radius except that weight at the caused equivalent mass of arm hitch point, J
mExpression revolution tangential acceleration, Q
2Expression hoisting crane arm equivalent mass under said predefined operating radius; Step B is with the J that confirms in the steps A
mA maximum occurrences value of the said target revolution tangential acceleration in the information is set as said revolution; Repeating step A and step B draw a plurality of values that a plurality of said targets are turned round tangential accelerations.
According to another aspect of the invention, but a kind of turning engineering machinery is provided, but but should have comprised the rotating device of control turning engineering machinery of the present invention by turning engineering machinery.
Further, but said turning engineering machinery is a hoisting crane.
According to technical scheme of the present invention; Through each self-corresponding target revolution tangential acceleration of operating radius of setting construction machinery and equipment; Guaranteed that tangential acceleration does not exceed preset value in operation process; Thereby help avoid of the influence of revolution additional dynamic moment of flexure, the safety that has improved engineer machinery operation for the car load stationarity.
Description of drawings
Figure of description is used to provide further understanding of the present invention, constitutes the application's a part, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 is according to the lifting of hoisting crane of the prior art and the sketch of revolving structure;
But Fig. 2 is the scheme drawing according to the key step of the rotating method of control turning engineering machinery of the embodiment of the invention;
Fig. 3 is the scheme drawing according to a plurality of revolution tangential accelerations of the embodiment of the invention; And
But Fig. 4 is the scheme drawing according to the basic structure of the rotating device of control turning engineering machinery of the embodiment of the invention.
The specific embodiment
Need to prove that under the situation of not conflicting, embodiment and the characteristic among the embodiment among the application can make up each other.Below with reference to accompanying drawing and combine embodiment to specify the present invention.
Fig. 2 is but that as shown in Figure 2, this method mainly comprises the steps: according to the scheme drawing of the key step of the rotating method of control turning engineering machinery of the embodiment of the invention
Step S21: preserve revolution information is set.The revolution here is provided with each the self-corresponding target revolution tangential acceleration of operating radius that comprises a plurality of construction machinery and equipments in the information.
Step S23: receive the revolution enabled instruction.
Step S25: according to the current operating radius of construction machinery and equipment and revolution information is set and confirms current goal revolution tangential acceleration.
Step S27: the current goal revolution tangential acceleration according to confirming among the step S25 is controlled the revolution of construction machinery and equipment.
In step S21,, respectively preserved a target revolution tangential acceleration corresponding to each operating radius wherein for a plurality of operating radius of construction machinery and equipment.Can preserve the cooresponding a plurality of speed of revolutionss of this time value to the time value of a setting, form figure line shown in Figure 3.Fig. 3 is the scheme drawing according to a plurality of revolution tangential accelerations of the embodiment of the invention.Each bar figure line among Fig. 3 has illustrated acceleration/accel J corresponding to a tangential acceleration among Fig. 3
M1To J
M4
If the current operating radius of construction machinery and equipment is provided with in the information in the revolution that is provided with; Can directly adopt revolution that the pairing revolution tangential acceleration of current operating radius is set in the information controls; Otherwise can be in revolution be provided with in the information interval that two operating radius values of current operating radius constitute near construction machinery and equipment, use the mode of linear interpolation to confirm a revolution tangential acceleration and as current goal revolution tangential acceleration.For example be provided with the respectively cooresponding target revolution of radius of turn R1, R2, R3 and R4 tangential acceleration A1, A2, A3 and A4; When front fitting radius R23 satisfies R2＜R23＜R3, then the cooresponding target revolution of R23 tangential acceleration is (A3-A2) * (R23-R2)/(R3-R2)+A2.
Below be example with the hoisting crane, the technical scheme of present embodiment is described further.
Be provided with in the information in revolution, being provided with of tangential acceleration of target revolution considered the additional dynamic moment of flexure, below explains.Combine standard GB/T3811-2008 to calculate in the present embodiment, in standard GB/T3811-2008, arm resistance to overturning computing formula is:
[σ]≥A+B+C…………(1)
Wherein: [σ] expression hoisting crane arm under a preset operating radius allows maximum stress; A representes the arm axial stress; B representes arm luffing direction stress; C representes arm gyratory directions stress.
A and B can calculate according to the formula among standard GB/T3811-2008, for C, have increased the additional dynamic moment of flexure in the present embodiment, that is:
C＝(M
y+M)/D，
Wherein, M
yThe moment of flexure that plane of rotation bore that provides among expression standard GB/T3811-2008; D representes each modulus of section of arm; M representes the additional dynamic moment of flexure that provides in the present embodiment, and computing formula is following:
M＝F
a×f+F
a1×f
1
Wherein: f representes the amount of deflection of arm at plane of rotation, f
1Expression arm barycenter is in the amount of deflection of plane of rotation;
F
aExpression weight and equivalent mass be formed tangential force under the influence of revolution tangential acceleration, and computing formula is following:
F
a＝(Q+Q
1)×J
m
Wherein: Q representes the weight quality; Q
1The expression hoisting crane under above-mentioned preset operating radius except that weight at the caused equivalent mass of arm hitch point, J
mExpression revolution tangential acceleration;
F
A1The expression hoisting crane under above-mentioned preset operating radius the arm equivalent mass at J
mInfluence under formed tangential force, computing formula is following:
F
a1＝Q
2×J
m
Wherein: Q
2Expression hoisting crane arm equivalent mass under above-mentioned preset operating radius.
Like this; In conjunction with more than various; Just can confirm hoisting crane in the pairing maximum revolution tangential acceleration of a preset operating radius by (1) formula, can be with should maximum revolution tangential acceleration the target revolution tangential acceleration corresponding to an above-mentioned preset operating radius being set in the information as revolution.Can obtain corresponding target revolution tangential acceleration based on other operating radius of presetting out equally.International System of Units can be adopted in the above calculating, also other unit system can be adopted.
In the present embodiment, the hoisting crane chaufeur is operated is used for controlling the discharge capacity that electric current that the control handle of speed of revolutions exports can directly be used to control oil pump, and HM Hydraulic Motor adopts the motor of constant discharge.Cause turning round tangential acceleration at outgoing current and be provided with greater than revolution under the situation of the revolution tangential acceleration in the information, control according to the revolution tangential acceleration that revolution is provided with in the information, otherwise still by this outgoing current control.HM Hydraulic Motor also can be controlled according to electric current in addition, and in this case, the big or small treated discharge capacity that is used to control afterwards oil pump and motor simultaneously of the output current signal of control handle can adopt the mode of existing volumetric speed control to control.
But Fig. 4 is the scheme drawing according to the basic structure of the rotating device of control turning engineering machinery of the embodiment of the invention.As shown in Figure 4, but the rotating device 40 of control turning engineering machinery mainly comprises memory module 41, determination module 42 and control module 43.Wherein memory module 41 is used for preserving the information that is provided with of turning round, and revolution is provided with each the self-corresponding target revolution tangential acceleration of operating radius that comprises a plurality of construction machinery and equipments in the information; Determination module 42 is used for after receiving the revolution enabled instruction, according to the current operating radius of construction machinery and equipment and revolution information is set and confirms current goal revolution tangential acceleration; Control module 43 is used for according to current goal revolution tangential acceleration the revolution of construction machinery and equipment being controlled.
But the rotating device 40 of control turning engineering machinery can also comprise the computing module (not shown), is used for drawing the value that said revolution is provided with the said target revolution tangential acceleration of information according to following mode: steps A, and according to [σ]>=A+B+C, C=(M
y+ M)/D, M=F
a* f+F
A1* f
1, F
a=(Q+Q
1) * J
m, F
A1=Q
2* J
mConfirm J
mA maximum occurrences, wherein: arm allows maximum stress under the predefined crane job radius of [σ] expression, and A representes the arm axial stress, and B representes arm luffing direction stress, M
yThe moment of flexure that plane of rotation bore that provides among expression standard GB/T3811-2008, D representes each modulus of section of arm, f representes the amount of deflection of arm at plane of rotation, f
1Expression arm barycenter is in the amount of deflection of plane of rotation, and Q representes weight quality, Q
1The expression hoisting crane under said predefined operating radius except that weight at the caused equivalent mass of arm hitch point, J
mExpression revolution tangential acceleration, Q
2Expression hoisting crane arm equivalent mass under said predefined operating radius; Step B is with the J that confirms in the steps A
mA maximum occurrences value of the said target revolution tangential acceleration in the information is set as said revolution; Repeating step A and step B draw a plurality of values that a plurality of said targets are turned round tangential accelerations.
But the construction machinery and equipment in the present embodiment is a turning engineering machinery, but wherein includes the rotating device of above-mentioned control turning engineering machinery in the present embodiment, but should turning engineering machinery can be hoisting crane.
Technical scheme according to the embodiment of the invention; Through each self-corresponding target revolution tangential acceleration of operating radius of setting construction machinery and equipment; Guaranteed that tangential acceleration does not exceed preset value in operation process; Thereby help avoid of the influence of revolution additional dynamic moment of flexure, the safety that has improved engineer machinery operation for the car load stationarity.
Obviously, it is apparent to those skilled in the art that above-mentioned each module of the present invention or each step can realize with the general calculation device; They can concentrate on the single computer device; Perhaps be distributed on the network that a plurality of computer device forms, alternatively, they can be realized with the executable program code of computer device; Thereby; Can they be stored in the memory storage and carry out, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize by computer device.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. but the rotating method of control turning engineering machinery is characterized in that, comprising:
Preserve revolution information is set, said revolution is provided with each the self-corresponding target revolution tangential acceleration of operating radius that comprises a plurality of said construction machinery and equipments in the information;
After receiving the revolution enabled instruction, according to the current operating radius of said construction machinery and equipment and said revolution information is set and confirms current goal revolution tangential acceleration;
According to said current goal revolution tangential acceleration the revolution of said construction machinery and equipment is controlled.
2. method according to claim 1 is characterized in that, the step of said definite current goal revolution tangential acceleration comprises:
Judge said revolution is provided with whether comprise the current operating radius of said construction machinery and equipment in the information;
If then that said construction machinery and equipment is current operating radius is provided with in the information cooresponding target revolution tangential acceleration as said current goal revolution tangential acceleration in said revolution;
Otherwise; In said revolution is provided with in the information interval that two operating radius values of current operating radius constitute near said construction machinery and equipment, use the mode of linear interpolation to confirm a revolution tangential acceleration and as said current goal revolution tangential acceleration.
3. method according to claim 1 is characterized in that, the said target revolution tangential acceleration that said revolution is provided with in the information draws according to following mode:
Steps A is according to [σ]>=A+B+C, C=(M
y+ M)/D, M=F
a* f+F
A1* f
1, F
a=(Q+Q
1) * J
m, F
A1=Q
2* J
mConfirm J
mA maximum occurrences, wherein:
Arm allows maximum stress under the predefined crane job radius of [σ] expression, and A representes the arm axial stress, and B representes arm luffing direction stress, M
yThe moment of flexure that plane of rotation bore that provides among expression standard GB/T3811-2008, D representes each modulus of section of arm, f representes the amount of deflection of arm at plane of rotation, f
1Expression arm barycenter is in the amount of deflection of plane of rotation, and Q representes weight quality, Q
1The expression hoisting crane under said predefined operating radius except that weight at the caused equivalent mass of arm hitch point, J
mExpression revolution tangential acceleration, Q
2Expression hoisting crane arm equivalent mass under said predefined operating radius;
Step B is with the J that confirms in the steps A
mA maximum occurrences value of the said target revolution tangential acceleration in the information is set as said revolution;
Repeating step A and step B draw a plurality of values that a plurality of said targets are turned round tangential accelerations.
4. according to claim 1,2 or 3 described methods, it is characterized in that said construction machinery and equipment is a hoisting crane.
5. but the rotating device of control turning engineering machinery is characterized in that, comprising:
Memory module is used for preserving revolution information is set, and said revolution is provided with each the self-corresponding target revolution tangential acceleration of operating radius that comprises a plurality of said construction machinery and equipments in the information;
Determination module is used for after receiving the revolution enabled instruction, according to the current operating radius of said construction machinery and equipment and said revolution information is set and confirms current goal revolution tangential acceleration;
Control module is used for according to said current goal revolution tangential acceleration the revolution of said construction machinery and equipment being controlled.
6. device according to claim 5 is characterized in that, said determination module also is used for:
Judge said revolution is provided with whether comprise the current operating radius of said construction machinery and equipment in the information;
If then that said construction machinery and equipment is current operating radius is provided with in the information cooresponding target revolution tangential acceleration as said current goal revolution tangential acceleration in said revolution;
Otherwise; In said revolution is provided with in the information interval that two operating radius values of current operating radius constitute near said construction machinery and equipment, use the mode of linear interpolation to confirm a revolution tangential acceleration and as said current goal revolution tangential acceleration.
7. according to claim 5 or 6 described devices, it is characterized in that, also comprise computing module, be used for drawing the value that said revolution is provided with the said target revolution tangential acceleration of information according to following mode:
Steps A is according to [σ]>=A+B+C, C=(M
y+ M)/D, M=F
a* f+F
A1* f
1, F
a=(Q+Q
1) * J
m, F
A1=Q
2* J
mConfirm J
mA maximum occurrences, wherein:
Arm allows maximum stress under the predefined crane job radius of [σ] expression, and A representes the arm axial stress, and B representes arm luffing direction stress, M
yThe moment of flexure that plane of rotation bore that provides among expression standard GB/T3811-2008, D representes each modulus of section of arm, f representes the amount of deflection of arm at plane of rotation, f
1Expression arm barycenter is in the amount of deflection of plane of rotation, and Q representes weight quality, Q
1The expression hoisting crane under said predefined operating radius except that weight at the caused equivalent mass of arm hitch point, J
mExpression revolution tangential acceleration, Q
2Expression hoisting crane arm equivalent mass under said predefined operating radius;
Step B is with the J that confirms in the steps A
mA maximum occurrences value of the said target revolution tangential acceleration in the information is set as said revolution;
Repeating step A and step B draw a plurality of values that a plurality of said targets are turned round tangential accelerations.
8. but a turning engineering machinery is characterized in that, but comprises claim 5, the rotating device of 6 or 7 described control turning engineering machineries.
9. but turning engineering machinery according to claim 8 is characterized in that, but said turning engineering machinery is a hoisting crane.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110421369 CN102491177B (en) | 2011-12-15 | 2011-12-15 | Rotary engineering machine and method and device for controlling rotation of rotary engineering machine |
| PCT/CN2012/082123 WO2013086884A1 (en) | 2011-12-15 | 2012-09-27 | Rotatable engineering machinery and method and device for controlling rotation thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110421369 CN102491177B (en) | 2011-12-15 | 2011-12-15 | Rotary engineering machine and method and device for controlling rotation of rotary engineering machine |
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| Publication Number | Publication Date |
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| CN102491177A true CN102491177A (en) | 2012-06-13 |
| CN102491177B CN102491177B (en) | 2013-12-25 |
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| WO (1) | WO2013086884A1 (en) |
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| WO2013086884A1 (en) * | 2011-12-15 | 2013-06-20 | 中联重科股份有限公司 | Rotatable engineering machinery and method and device for controlling rotation thereof |
| CN103264970A (en) * | 2013-06-04 | 2013-08-28 | 西安丰树电子科技发展有限公司 | Self-learning-based rotation control method for dangerous condition of tower crane |
| CN106429488A (en) * | 2016-09-30 | 2017-02-22 | 泰富海洋工程装备（天津）有限公司 | Method and device for control over rotation of arm rest |
| CN106481080A (en) * | 2016-08-29 | 2017-03-08 | 北汽福田汽车股份有限公司 | For the control method of pump truck rotation of rotary table, control device and pump truck |
| CN110817691A (en) * | 2019-09-26 | 2020-02-21 | 济南大学 | Pendulum controller and tower crane system disappear |
| CN112811330A (en) * | 2019-11-15 | 2021-05-18 | 湖南沃森电气科技有限公司 | Control method and system for slewing mechanism of tower crane |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013086884A1 (en) * | 2011-12-15 | 2013-06-20 | 中联重科股份有限公司 | Rotatable engineering machinery and method and device for controlling rotation thereof |
| CN103264970A (en) * | 2013-06-04 | 2013-08-28 | 西安丰树电子科技发展有限公司 | Self-learning-based rotation control method for dangerous condition of tower crane |
| CN106481080A (en) * | 2016-08-29 | 2017-03-08 | 北汽福田汽车股份有限公司 | For the control method of pump truck rotation of rotary table, control device and pump truck |
| CN106481080B (en) * | 2016-08-29 | 2018-11-20 | 北汽福田汽车股份有限公司 | For the control method of pump truck rotation of rotary table, control device and pump truck |
| CN106429488A (en) * | 2016-09-30 | 2017-02-22 | 泰富海洋工程装备（天津）有限公司 | Method and device for control over rotation of arm rest |
| CN110817691A (en) * | 2019-09-26 | 2020-02-21 | 济南大学 | Pendulum controller and tower crane system disappear |
| CN110817691B (en) * | 2019-09-26 | 2021-06-01 | 济南大学 | Pendulum controller and tower crane system disappear |
| CN112811330A (en) * | 2019-11-15 | 2021-05-18 | 湖南沃森电气科技有限公司 | Control method and system for slewing mechanism of tower crane |
| CN112811330B (en) * | 2019-11-15 | 2023-06-23 | 湖南沃森电气科技有限公司 | Control method and system for slewing mechanism of tower crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102491177B (en) | 2013-12-25 |
| WO2013086884A1 (en) | 2013-06-20 |
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