CN102491177B - Rotatable engineering machine and rotation control method and device thereof - Google Patents
Rotatable engineering machine and rotation control method and device thereof Download PDFInfo
- Publication number
- CN102491177B CN102491177B CN 201110421369 CN201110421369A CN102491177B CN 102491177 B CN102491177 B CN 102491177B CN 201110421369 CN201110421369 CN 201110421369 CN 201110421369 A CN201110421369 A CN 201110421369A CN 102491177 B CN102491177 B CN 102491177B
- Authority
- CN
- China
- Prior art keywords
- revolution
- tangential acceleration
- construction machinery
- equipment
- configuration information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000001133 acceleration Effects 0.000 claims abstract description 87
- 238000010276 construction Methods 0.000 claims description 66
- 238000013459 approach Methods 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 6
- 238000005452 bending Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention provides a rotatable engineering machine and a rotation control method and device thereof, which are used for solving the problem of low stability of a crane when the rotation speed changes in the prior art. The method comprises the following steps: saving rotation setting information, wherein the rotation setting information comprises target rotation tangential acceleration corresponding to each of the operation radiuses of the engineering machinery; after receiving a rotation starting instruction, determining the current target rotation tangential acceleration according to the current operation radius of the engineering machinery and the rotation setting information; and controlling the rotation of the engineering machinery according to the current target rotation tangential acceleration. By adopting the technical scheme, the influence of the rotary additional dynamic bending moment on the stability of the whole vehicle is avoided, and the safety of the operation of the engineering machinery is improved.
Description
Technical field
The present invention relates to the engineering machinery control technology field, relate to especially a kind of rotatable construction machinery and equipment and revolving-control method and device.
Background technology
Hoisting crane is a kind of common construction machinery and equipment.For various hoisting cranes, usually there is supporting leg, gyro-rotor, arm, the arm head can connect weight by 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.
In Fig. 1, illustrated hoisting crane supporting leg 11, turn table 12, arm 13, arm head 14, be connected to the lifting rope 15 between arm head and 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 process turn table.
In correlation technique, steady in order to ensure operation, usually for the maximum speed of revolutions of arm, controlled.In realizing process of the present invention, contriver's discovery, the variation of speed of revolutions also has considerable influence for the stationarity of hoisting crane, when speed of revolutions changes, the control poor effect of the mode in correlation technique.
In correlation technique, the stationarity of hoisting crane when speed of revolutions changes is lower, for this problem, not yet proposes at present effective solution.
Summary of the invention
Main purpose of the present invention is to provide a kind of rotatable construction machinery and equipment and revolving-control method and device, to solve the lower problem of the stationarity of hoisting crane when speed of revolutions changes in prior art.
To achieve these goals, according to an aspect of the present invention, provide the rotatable construction machinery and equipment of a kind of control rotating method.
The rotating method of the rotatable construction machinery and equipment of control of the present invention comprises: preserve the revolution configuration information, each self-corresponding target revolution tangential acceleration of the operating radius that comprises a plurality of described construction machinery and equipments in described revolution configuration information; After receiving the revolution enabled instruction, operating radius and the described revolution configuration information current according to described construction machinery and equipment are determined current goal revolution tangential acceleration; According to described current goal revolution tangential acceleration, the revolution of described construction machinery and equipment is controlled.
Further, the step of described definite current goal revolution tangential acceleration comprises: judge in described revolution configuration information and whether comprise the current operating radius of described construction machinery and equipment; If using described construction machinery and equipment, current operating radius corresponding target revolution tangential acceleration in described revolution configuration information is turned round tangential acceleration as described current goal; Otherwise, approach most in described revolution configuration information in the interval that two operating radius values of the current operating radius of described construction machinery and equipment form, use the mode of linear interpolation to determine a revolution tangential acceleration and as described current goal revolution tangential acceleration.
Further, the described target revolution tangential acceleration in described revolution configuration 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
mdetermine J
ma maximum occurrences, wherein: [σ] means under a predefined crane job radius that arm allows maximum stress, and A means the arm axial stress, and B means suspension arm variable-amplitude direction stress, M
ythe moment of flexure that the plane of rotation provided in expression standard GB/T/T3811-2008 bears, D means each modulus of section of arm, f means the amount of deflection of arm at plane of rotation, f
1mean the amount of deflection of arm barycenter at plane of rotation, Q means weight quality, Q
1mean hoisting crane under described predefined operating radius except weight at the caused equivalent mass of arm hitch point, J
mmean the revolution tangential acceleration, Q
2mean hoisting crane arm equivalent mass under described predefined operating radius; Step B, by J definite in steps A
ma maximum occurrences as a value of the revolution of the described target in described revolution configuration information tangential acceleration; Repeating step A and step B, draw a plurality of values of a plurality of described targets revolution tangential accelerations.
Further, described construction machinery and equipment is hoisting crane.
According to a further aspect in the invention, provide the rotatable construction machinery and equipment of a kind of control rotating device.
The rotating device of the rotatable construction machinery and equipment of control of the present invention comprises: memory module, and for preserving the revolution configuration information, each self-corresponding target revolution tangential acceleration of the operating radius that comprises a plurality of described construction machinery and equipments in described revolution configuration information; Determination module, for after receiving the revolution enabled instruction, operating radius and the described revolution configuration information current according to described construction machinery and equipment are determined current goal revolution tangential acceleration; Control module, for being controlled the revolution of described construction machinery and equipment according to described current goal revolution tangential acceleration.
Further, determination module also for: judge whether described revolution configuration information comprises the current operating radius of described construction machinery and equipment; If using described construction machinery and equipment, current operating radius corresponding target revolution tangential acceleration in described revolution configuration information is turned round tangential acceleration as described current goal; Otherwise, approach most in described revolution configuration information in the interval that two operating radius values of the current operating radius of described construction machinery and equipment form, use the mode of linear interpolation to determine a revolution tangential acceleration and as described current goal revolution tangential acceleration.
Further, also comprise computing module, for draw the described target of described revolution configuration information according to following mode, turn round the value of tangential acceleration: 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
mdetermine J
ma maximum occurrences, wherein: [σ] means under a predefined crane job radius that arm allows maximum stress, and A means the arm axial stress, and B means suspension arm variable-amplitude direction stress, M
ythe moment of flexure that the plane of rotation provided in expression standard GB/T/T3811-2008 bears, D means each modulus of section of arm, f means the amount of deflection of arm at plane of rotation, f
1mean the amount of deflection of arm barycenter at plane of rotation, Q means weight quality, Q
1mean hoisting crane under described predefined operating radius except weight at the caused equivalent mass of arm hitch point, J
mmean the revolution tangential acceleration, Q
2mean hoisting crane arm equivalent mass under described predefined operating radius; Step B, by J definite in steps A
ma maximum occurrences as a value of the revolution of the described target in described revolution configuration information tangential acceleration; Repeating step A and step B, draw a plurality of values of a plurality of described targets revolution tangential accelerations.
According to another aspect of the invention, provide a kind of rotatable construction machinery and equipment, this rotatable construction machinery and equipment comprises the rotating device of the rotatable construction machinery and equipment of control of the present invention.
Further, described rotatable construction machinery and equipment is hoisting crane.
According to technical scheme of the present invention, by 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 the impact of revolution additional dynamic moment of flexure for the car load stationarity, the safety that has improved engineer machinery operation.
The accompanying drawing explanation
Figure of description is used to provide a further understanding of the present invention, forms the application's a part, and schematic description and description of the present invention the present invention does not form inappropriate limitation of the present invention for explaining.In the accompanying drawings:
Fig. 1 is according to the lifting of hoisting crane of the prior art and the sketch of revolving structure;
Fig. 2 is the schematic diagram according to the key step of the rotating method of the rotatable construction machinery and equipment of the control of the embodiment of the present invention;
Fig. 3 is the schematic diagram according to a plurality of revolution tangential accelerations of the embodiment of the present invention; And
Fig. 4 is the schematic diagram according to the basic structure of the rotating device of the rotatable construction machinery and equipment of the control of the embodiment of the present invention.
The specific embodiment
It should be noted that, in the situation that do not conflict, embodiment and the feature in embodiment in the application can combine mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
Fig. 2 is that as shown in Figure 2, the method mainly comprises the steps: according to the schematic diagram of the key step of the rotating method of the rotatable construction machinery and equipment of the control of the embodiment of the present invention
Step S21: preserve the revolution configuration information.Each self-corresponding target revolution tangential acceleration of the operating radius that comprises a plurality of construction machinery and equipments in the revolution configuration information here.
Step S23: receive the revolution enabled instruction.
Step S25: operating radius and the revolution configuration information current according to construction machinery and equipment are determined current goal revolution tangential acceleration.
Step S27: the revolution of construction machinery and equipment is controlled according to current goal revolution tangential acceleration definite in step S25.
In step S21, for a plurality of operating radius of construction machinery and equipment, corresponding to each operating radius wherein, respectively preserved a target revolution tangential acceleration.Can preserve a plurality of speed of revolutionss corresponding to this time value for the time value of a setting, form the figure line shown in Fig. 3.Fig. 3 is the schematic diagram according to a plurality of revolution tangential accelerations of the embodiment of the present invention.Each in Fig. 3 figure line, corresponding to a tangential acceleration, has illustrated acceleration/accel J in Fig. 3
m1to J
m4.
If the current operating radius of construction machinery and equipment is in the revolution configuration information arranged, can directly adopt the corresponding revolution tangential acceleration of current operating radius in the revolution configuration information to be controlled, otherwise can be in the revolution configuration information in the interval that forms of two operating radius values of the current operating radius of approaches engineering machinery, use the mode of linear interpolation to determine a revolution tangential acceleration and as current goal revolution tangential acceleration.For example be provided with radius of turn R1, R2, R3 and R4 difference corresponding target revolution tangential acceleration A1, A2, A3 and A4, when front fitting radius R23 meets R2<R23<R3, the target revolution tangential acceleration that R23 is corresponding is (A3-A2) * (R23-R2)/(R3-R2)+A2.
Below take hoisting crane as example, the technical scheme of the present embodiment is described further.
In the revolution configuration information, arranging of tangential acceleration of target revolution considered the additional dynamic moment of flexure, below is illustrated.In the present embodiment, in conjunction with standard GB/T/T3811-2008, calculated, in standard GB/T/T3811-2008, arm resistance to overturning computing formula is:
[σ]≥A+B+C…………(1)
Wherein: [σ] means that hoisting crane arm under a default operating radius allows maximum stress; A means the arm axial stress; B means suspension arm variable-amplitude direction stress; C means arm gyratory directions stress.
A and B can be calculated according to the formula in standard GB/T/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 the plane of rotation provided in expression standard GB/T/T3811-2008 bears; D means each modulus of section of arm; M means the additional dynamic moment of flexure provided in the present embodiment, and computing formula is as follows:
M＝F
a×f+F
a1×f
1
Wherein: f means the amount of deflection of arm at plane of rotation, f
1mean the amount of deflection of arm barycenter at plane of rotation;
F
amean weight and equivalent mass formed tangential force under the impact of revolution tangential acceleration, computing formula is as follows:
F
a＝(Q+Q
1)×J
m
Wherein: Q means the weight quality; Q
1mean hoisting crane under above-mentioned default operating radius except weight at the caused equivalent mass of arm hitch point, J
mmean the revolution tangential acceleration;
F
a1mean hoisting crane under above-mentioned default operating radius the arm equivalent mass at J
mimpact under formed tangential force, computing formula is as follows:
F
a1＝Q
2×J
m
Wherein: Q
2mean hoisting crane arm equivalent mass under above-mentioned default operating radius.
Like this, in conjunction with above various, just can determine that hoisting crane is in the corresponding maximum revolution tangential acceleration of a default operating radius by (1) formula, can be using this maximum revolution tangential acceleration target revolution tangential acceleration corresponding to an above-mentioned default operating radius in the revolution configuration information.Can obtain corresponding target revolution tangential acceleration according to other operating radius that set out in advance equally.International System of Units can be adopted in 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 be directly used in control oil pump, and HM Hydraulic Motor adopts the motor of constant discharge.Be greater than the revolution tangential acceleration in turning round configuration information in the situation that outgoing current causes turning round tangential acceleration, controlled according to the revolution tangential acceleration in the revolution configuration information, otherwise still control by this outgoing current.HM Hydraulic Motor also can be controlled according to electric current in addition, in this case, after the size of the output current signal of control handle is treated, simultaneously for the discharge capacity of control oil pump and motor, can adopt the mode of existing volumetric speed control to be controlled.
Fig. 4 is the schematic diagram according to the basic structure of the rotating device of the rotatable construction machinery and equipment of the control of the embodiment of the present invention.As shown in Figure 4, control the rotating device 40 of rotatable construction machinery and equipment and mainly comprise memory module 41, determination module 42 and control module 43.Wherein memory module 41 is for preserving the revolution configuration information, and each self-corresponding target of the operating radius that comprises a plurality of construction machinery and equipments in the revolution configuration information is turned round tangential acceleration; Determination module 42 is for after receiving the revolution enabled instruction, and operating radius and the revolution configuration information current according to construction machinery and equipment are determined current goal revolution tangential acceleration; Control module 43 is for being controlled the revolution of construction machinery and equipment according to current goal revolution tangential acceleration.
Control the rotating device 40 of rotatable construction machinery and equipment and can also comprise the computing module (not shown), turn round the value of tangential acceleration for draw the described target of described revolution configuration 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
mdetermine J
ma maximum occurrences, wherein: [σ] means under a predefined crane job radius that arm allows maximum stress, and A means the arm axial stress, and B means suspension arm variable-amplitude direction stress, M
ythe moment of flexure that the plane of rotation provided in expression standard GB/T/T3811-2008 bears, D means each modulus of section of arm, f means the amount of deflection of arm at plane of rotation, f
1mean the amount of deflection of arm barycenter at plane of rotation, Q means weight quality, Q
1mean hoisting crane under described predefined operating radius except weight at the caused equivalent mass of arm hitch point, J
mmean the revolution tangential acceleration, Q
2mean hoisting crane arm equivalent mass under described predefined operating radius; Step B, by J definite in steps A
ma maximum occurrences as a value of the revolution of the described target in described revolution configuration information tangential acceleration; Repeating step A and step B, draw a plurality of values of a plurality of described targets revolution tangential accelerations.
Construction machinery and equipment in the present embodiment is rotatable construction machinery and equipment, wherein includes the rotating device of the rotatable construction machinery and equipment of above-mentioned control in the present embodiment, and this rotatable construction machinery and equipment can be hoisting crane.
Technical scheme according to the embodiment of the present invention, by 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 the impact of revolution additional dynamic moment of flexure for the car load stationarity, the safety that has improved engineer machinery operation.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general computer device, they can concentrate on single computer device, perhaps be distributed on the network that a plurality of computer devices form, alternatively, they can be realized with the executable program code of computer device, thereby, they can be stored in memory storage and be carried out by computer device, perhaps they are made into respectively to each integrated circuit modules, perhaps a plurality of modules in them or step being made into to the single integrated circuit module realizes.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. control the rotating method of rotatable construction machinery and equipment for one kind, it is characterized in that, comprising:
Preserve the revolution configuration information, each self-corresponding target revolution tangential acceleration of the operating radius that comprises a plurality of described construction machinery and equipments in described revolution configuration information;
After receiving the revolution enabled instruction, operating radius and the described revolution configuration information current according to described construction machinery and equipment are determined current goal revolution tangential acceleration;
According to described current goal revolution tangential acceleration, the revolution of described construction machinery and equipment is controlled.
2. method according to claim 1, is characterized in that, the step of described definite current goal revolution tangential acceleration comprises:
Judge in described revolution configuration information and whether comprise the current operating radius of described construction machinery and equipment;
If using described construction machinery and equipment, current operating radius corresponding target revolution tangential acceleration in described revolution configuration information is turned round tangential acceleration as described current goal;
Otherwise, approach most in described revolution configuration information in the interval that two operating radius values of the current operating radius of described construction machinery and equipment form, use the mode of linear interpolation to determine a revolution tangential acceleration and as described current goal revolution tangential acceleration.
3. method according to claim 1, is characterized in that, the described target revolution tangential acceleration in described revolution configuration information draws according to following mode:
Step 1, 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
mdetermine J
ma maximum occurrences, wherein:
[σ] means that under a predefined crane job radius, arm allows maximum stress, and A means the arm axial stress, and B means suspension arm variable-amplitude direction stress, M
ythe moment of flexure that the plane of rotation provided in expression standard GB/T/T3811-2008 bears, D means each modulus of section of arm, f means the amount of deflection of arm at plane of rotation, f
1mean the amount of deflection of arm barycenter at plane of rotation, Q means weight quality, Q
1mean hoisting crane under a described predefined crane job radius except weight at the caused equivalent mass of arm hitch point, J
mmean the revolution tangential acceleration, Q
2mean hoisting crane arm equivalent mass under a described predefined crane job radius;
Step 2, by J definite in step 1
ma maximum occurrences as a value of the revolution of the described target in described revolution configuration information tangential acceleration;
Repeating step 1 and step 2, draw a plurality of values of a plurality of described targets revolution tangential accelerations.
4. according to claim 1,2 or 3 described methods, it is characterized in that, described construction machinery and equipment is hoisting crane.
5. control the rotating device of rotatable construction machinery and equipment for one kind, it is characterized in that, comprising:
Memory module, for preserving the revolution configuration information, each self-corresponding target revolution tangential acceleration of the operating radius that comprises a plurality of described construction machinery and equipments in described revolution configuration information;
Determination module, for after receiving the revolution enabled instruction, operating radius and the described revolution configuration information current according to described construction machinery and equipment are determined current goal revolution tangential acceleration;
Control module, for being controlled the revolution of described construction machinery and equipment according to described current goal revolution tangential acceleration.
6. device according to claim 5, is characterized in that, described determination module also for:
Judge in described revolution configuration information and whether comprise the current operating radius of described construction machinery and equipment;
If using described construction machinery and equipment, current operating radius corresponding target revolution tangential acceleration in described revolution configuration information is turned round tangential acceleration as described current goal;
Otherwise, approach most in described revolution configuration information in the interval that two operating radius values of the current operating radius of described construction machinery and equipment form, use the mode of linear interpolation to determine a revolution tangential acceleration and as described current goal revolution tangential acceleration.
7. according to the described device of claim 5 or 6, it is characterized in that, also comprise computing module, for draw the described target of described revolution configuration information according to following mode, turn round the value of tangential acceleration:
Step 1, 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
mdetermine J
ma maximum occurrences, wherein:
[σ] means that under a predefined crane job radius, arm allows maximum stress, and A means the arm axial stress, and B means suspension arm variable-amplitude direction stress, M
ythe moment of flexure that the plane of rotation provided in expression standard GB/T/T3811-2008 bears, D means each modulus of section of arm, f means the amount of deflection of arm at plane of rotation, f
1mean the amount of deflection of arm barycenter at plane of rotation, Q means weight quality, Q
1mean hoisting crane under a described predefined crane job radius except weight at the caused equivalent mass of arm hitch point, J
mmean the revolution tangential acceleration, Q
2mean hoisting crane arm equivalent mass under a described predefined crane job radius;
Step 2, by J definite in steps A
ma maximum occurrences as a value of the revolution of the described target in described revolution configuration information tangential acceleration;
Repeating step 1 and step 2, draw a plurality of values of a plurality of described targets revolution tangential accelerations.
8. a rotatable construction machinery and equipment, is characterized in that, comprises claim 5, the rotating device of the rotatable construction machinery and equipment of 6 or 7 described control.
9. rotatable construction machinery and equipment according to claim 8, is characterized in that, described rotatable construction machinery and equipment is hoisting crane.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110421369 CN102491177B (en) | 2011-12-15 | 2011-12-15 | Rotatable engineering machine and rotation control method and device thereof |
| PCT/CN2012/082123 WO2013086884A1 (en) | 2011-12-15 | 2012-09-27 | Rotatable engineering machinery and method and device for controlling rotation thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110421369 CN102491177B (en) | 2011-12-15 | 2011-12-15 | Rotatable engineering machine and rotation control method and device thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102491177A CN102491177A (en) | 2012-06-13 |
| CN102491177B true CN102491177B (en) | 2013-12-25 |
Family
ID=46183048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110421369 Active CN102491177B (en) | 2011-12-15 | 2011-12-15 | Rotatable engineering machine and rotation control method and device thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102491177B (en) |
| WO (1) | WO2013086884A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102491177B (en) * | 2011-12-15 | 2013-12-25 | 中联重科股份有限公司 | Rotatable engineering machine and rotation control method and device thereof |
| CN103264970B (en) * | 2013-06-04 | 2014-12-03 | 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 |
| 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 |
| CN110817691B (en) * | 2019-09-26 | 2021-06-01 | 济南大学 | Pendulum controller and tower crane system disappear |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5938052A (en) * | 1995-04-26 | 1999-08-17 | Kabushiki Kaisha Yaskawa Denki | Rope steadying control method and apparatus for crane or the like |
| CN101780920A (en) * | 2009-09-24 | 2010-07-21 | 青岛立邦达工控技术有限公司 | Swing mechanism control system for tower crane |
| CN101792089A (en) * | 2010-03-23 | 2010-08-04 | 上海能港电气工程科技有限公司 | Protection switching device for lost control of crane and related control method |
| CN102145857A (en) * | 2011-01-31 | 2011-08-10 | 徐州重型机械有限公司 | Crane, and revolution controlling system and method thereof |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH085623B2 (en) * | 1989-09-27 | 1996-01-24 | 株式会社神戸製鋼所 | Crane safety equipment |
| EP0473784B1 (en) * | 1990-03-23 | 1996-02-21 | Kabushiki Kaisha Kobe Seiko Sho | Method of and apparatus for controlling stopping of turning of upper swing unit for construction machines, and angle of inclination computing apparatus |
| JP2501995B2 (en) * | 1992-03-16 | 1996-05-29 | 株式会社神戸製鋼所 | Crane turning stop control method and device |
| JP4167885B2 (en) * | 2002-11-14 | 2008-10-22 | 石川島運搬機械株式会社 | Control method for swinging suspension of swing crane |
| FI114980B (en) * | 2003-07-17 | 2005-02-15 | Kci Konecranes Oyj | Method for controlling the crane |
| CN201165455Y (en) * | 2007-10-31 | 2008-12-17 | 三一重工股份有限公司 | Crane swiveling speed control system |
| CN100572257C (en) * | 2007-12-20 | 2009-12-23 | 三一重工股份有限公司 | A kind of method for max rotation speed restriction of turning engineering machinery and system thereof |
| CN102491177B (en) * | 2011-12-15 | 2013-12-25 | 中联重科股份有限公司 | Rotatable engineering machine and rotation control method and device thereof |
-
2011
- 2011-12-15 CN CN 201110421369 patent/CN102491177B/en active Active
-
2012
- 2012-09-27 WO PCT/CN2012/082123 patent/WO2013086884A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5938052A (en) * | 1995-04-26 | 1999-08-17 | Kabushiki Kaisha Yaskawa Denki | Rope steadying control method and apparatus for crane or the like |
| CN101780920A (en) * | 2009-09-24 | 2010-07-21 | 青岛立邦达工控技术有限公司 | Swing mechanism control system for tower crane |
| CN101792089A (en) * | 2010-03-23 | 2010-08-04 | 上海能港电气工程科技有限公司 | Protection switching device for lost control of crane and related control method |
| CN102145857A (en) * | 2011-01-31 | 2011-08-10 | 徐州重型机械有限公司 | Crane, and revolution controlling system and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102491177A (en) | 2012-06-13 |
| WO2013086884A1 (en) | 2013-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102491177B (en) | Rotatable engineering machine and rotation control method and device thereof | |
| CN102491176A (en) | Method, device and system for controlling rotation of crane and crane | |
| CN201647849U (en) | Automatic balancing tower type crane | |
| CN100572257C (en) | A kind of method for max rotation speed restriction of turning engineering machinery and system thereof | |
| CN103086286B (en) | Crane equipped with travelable counterweight unit | |
| CN102275824B (en) | Control method and control system for rotary motion of slewing crane | |
| CN110997551B (en) | Overload protection device | |
| CN113213343A (en) | Tower crane lifting amplitude-changing process state control system and method based on dynamic data acquisition | |
| CN102826465A (en) | Rotary counterweight mechanism and crane | |
| CN113200456A (en) | Tower crane rotation process state control method | |
| CN103395698B (en) | Safety control method, device and system for execution actions of crawling crane | |
| CN202912596U (en) | Automatic counterweight adjusting system of tower crane | |
| CN103253594A (en) | Method and device for adjusting length of multi-winding steel wire rope of crawler crane | |
| CN102491178B (en) | Method and system for controlling rotation of crane | |
| CN103539024A (en) | Integration controller of tower crane | |
| CN102530729A (en) | Method and system for controlling pendulum of suspender | |
| CN104044999B (en) | Tower crane jacking mechanism operation control method, device and system and tower crane | |
| CN102674157B (en) | Low-speed rotary control method and system for cranes | |
| CN104444872A (en) | Tower crane monitoring device | |
| CN203922537U (en) | Wireless tower crane swings monitoring system | |
| CN1907836B (en) | Method and device for adjusting the load of a luffing jib tower crane | |
| RU2525495C1 (en) | Tower crane | |
| CN202744238U (en) | Automatic balance control tower type crane | |
| CN104828688A (en) | A tool used for assisting movement of a crane superlift counterweight and a using method thereof | |
| CN115043338B (en) | Safety control method and system of hoisting equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |