CN102502410B - Quick following control method for lifting motor and opening and closing motor of grabbing crane - Google Patents
Quick following control method for lifting motor and opening and closing motor of grabbing crane Download PDFInfo
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- CN102502410B CN102502410B CN201110332759.6A CN201110332759A CN102502410B CN 102502410 B CN102502410 B CN 102502410B CN 201110332759 A CN201110332759 A CN 201110332759A CN 102502410 B CN102502410 B CN 102502410B
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Abstract
The invention relates to a quick following control method for a lifting motor and an opening and closing motor of a grabbing crane. The quick following control method includes steps that when a grab bucket fully grabs materials and is closed, the opening and closing motor is switched to a torque control mode with fixed torque so as to run in a deceleration manner at the set torque; simultaneously, the lifting motor works in a speed control mode with fixed rotation speed and is driven to accelerate to set speed; and when the running distance of a draw cord of the lifting motor is equal to that of a draw cord of the opening and closing motor, the opening and closing motor is switched to a speed control mode, and the lifting motor is switched to a torque control mode so as to follow the torque of the opening and closing motor. The working modes of the opening and closing motor and the lifting motor are controlled, accordingly, when the draw cord of the lifting motor is tensioned straightly to carry load, the opening and closing motor is in a torque limit state, overload of the opening and closing motor is avoided assuredly, the opening and closing motor is driven to run in the deceleration manner, and simultaneously, the lifting motor is in a quick acceleration state until the running distances of the two motors are identical.
Description
Technical field
The present invention relates to grab crane, particularly it prevents from opening and closing balance control system and the method for motor overload.
Background technology
Along with constantly popularizing of converter technique, its various advantages that have have progressively been approved by everybody, so variable frequency control had also obtained application on grab crane in recent years.But in use there is a problem; that is exactly because the work efficiency of grab crane is all higher; after capturing material in the operation in past; to open and close motor and stop, so latter two handle is worked together, for raising the efficiency, has a great impact; after so the switching mechanism that a lot of occasions are all grab buckets completes crawl work; do not shut down, directly lifting motor is started, thereby raise the efficiency.
But existing control method, open and close motor and mechanical drive train thereof for a long time in overload, the safe operation of hoisting crane has been brought to very large hidden danger.
Summary of the invention
The lifting motor and the quick follow-up control method of switching motor that the purpose of this invention is to provide a kind of grab crane are unfavorable for the problem of safe operation in order to solve prior art switching motor in lifting process in overload.
For achieving the above object, the solution of the present invention is: a kind of lifting motor of grab crane and the quick follow-up control method of switching motor, lifting frequency converter and switching frequency converter drive respectively to be controlled lifting motor and opens and closes motor, the method step is as follows: after 1) grab bucket drops to the material face, lifting motor is closed, make to open and close machine operation at speed control mode, drive grab bucket to capture material; 2) grab full with substance, when grab bucket is closed, by opening and closing motor, be switched to the Torque Control pattern of determining torque, make to open and close motor and run slowly with setpoint torque; Make lifting motor be operated in the speed control mode of determining rotating speed simultaneously, make the lifting motor Accelerating running to setting speed; 3) when the stay cord of lifting motor equates with the stay cord range ability that opens and closes motor, will open and close motor and be switched to speed control mode, lifting motor will be switched to the Torque Control pattern that opens and closes motor torque of following.
The closed time of described grab bucket is that the range ability that opens and closes the motor stay cord by calculating is determined.
In order to address the above problem, the present invention opens and closes the mode of operation of motor and lifting motor by control, at the lifting motor stay cord, be stretching when bearing load, make and open and close motor in the moment restriction state, guarantee to open and close the motor nonoverload, and make to open and close the decelerating through motor operation, lifting motor is in quick acceleration mode (faster than normal condition) simultaneously, when the range ability of two motors (stay cord) reaches consistent, the immediate recovery normal operating condition, even the output torque of lifting motor is followed the output torque that opens and closes motor, the load that reaches the two is in full accord.
The accompanying drawing explanation
Fig. 1 is grab crane control system of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described in detail.
The feeding blowing process of whole grab bucket is described in detail as follows:
When 1) grab bucket drops to the material face, open and close the tension of motor stay cord, grab bucket is closed to capture material, now opens and closes motor in speed control mode; Lifting motor is closed, but its drg opens, and along with material increases, the lifting stay cord descends with gravity, grab bucket automatic capturing material under the effect of gravity.
2) grab full with substance, when grab bucket is closed, start the process of hoisting.Now lax due to the lifting motor stay cord, so that lifting motor is operated in the speed control mode of determining rotating speed, lifting motor accelerates to rapidly setting speed, this setting speed should be tried one's best greatly; Make to open and close motor in determining torque state of a control (moment restriction state) simultaneously, open and close the decelerating through motor operation, guarantee to open and close the motor nonoverload.
3) when the switching motor equates with the stay cord range ability of lifting motor, the lifting motor stay cord reaches stretching state, open and close motor stay cord and lifting motor stay cord and bear load simultaneously, now carry out load balancing control: make to open and close motor and be switched to speed control mode, and lifting motor is switched to the Torque Control pattern that opens and closes motor torque of following.The speed that now opens and closes motor belongs to normal speed.
4) rise to suitable height when grab bucket, two motors reverse simultaneously, when grab bucket drops to correct position, and lifting motor stall and drg band-type brake, grab bucket is parked in aerial.Open and close motor and continue reversion, grab bucket is opened to struggle against and is put thing.After discharging thing, open and close motor and close, grab bucket keeps opening the switching degree of bucket, is parked in aerial.The then lifting motor stall while reaching the material face of again reversing, prepare the next circulation that captures.
Above-mentioned steps is based on that control system as shown in Figure 1 completes, and the master control of this control system is PLC, controls the frequency converter of motor by PLC.Control system comprises: open and close motor and lifting motor and corresponding switching frequency converter and the lifting frequency converter of controlling them that drive, open and close frequency converter and lifting frequency converter and PLC control linkage, PLC receives the order that grab bucket opens and closes master controller and grab bucket lifting master controller (electric motor starting with stop control command), and control signal is exported to and opened and closed frequency converter and lifting frequency converter.In addition, the torque signals input end of lifting frequency converter is connected with the torque signals mouth that opens and closes frequency converter, make the real-time torque signals that opens and closes motor can flow to the lifting frequency converter, so that in above-mentioned steps 3) in, lifting motor is according to the torque operation that opens and closes motor.The stay cord range ability of above-mentioned motor is obtained by the coder measurement on the corresponding motor output shaft.
After needs capture material, at first the operation grab bucket opens and closes master controller and opens grab bucket, and then operation grab bucket simultaneously opens and closes master controller and grab bucket lifting master controller, will grab bucket down above bank, stops.Then the operation grab bucket opens and closes the closed grab bucket of master controller and captures material, after capturing, needn't stop opening and closing motor, and direct control grab bucket lifting master controller promotes grab bucket.
Capture complete, grab bucket is closed, to calculate by PLC the range ability that opens and closes the motor stay cord to obtain, then PLC sends moment restriction order and deceleration command to opening and closing frequency converter, open and close frequency converter in the moment restriction state, arrive and set moment, open and close the decelerating through motor operation, its speed is according to the difference on opportunity opened and closed, and the maximum range of decrease can reach 100% command speed; PLC sends control command (setting speed, this speed is very large) to the lifting frequency converter simultaneously, and lifting motor is in quick accelerator.When PLC calculates the stay cord range ability that opens and closes motor and the motor of upgrading when identical, send control command to two frequency converters, make to open and close frequency converter and recover normal speed state of a control, make the lifting frequency converter in the Torque Control state, its moment follow-up opens and closes frequency converter, has guaranteed that the load of two motors is identical.
Claims (2)
- The lifting motor of a grab crane with open and close the quick follow-up control method of motor, lifting frequency converter and open and close frequency converter and drive respectively and control lifting motor and open and close motor, is characterized in that, the method step is as follows:1) after grab bucket drops to the material face, lifting motor is closed, make to open and close machine operation at speed control mode, drive grab bucket to capture material;2) grab full with substance, when grab bucket is closed, start the process of hoisting, by opening and closing motor, be switched to the Torque Control pattern of determining torque, make to open and close motor and run slowly with setpoint torque; Make lifting motor be operated in the speed control mode of determining rotating speed simultaneously, make the lifting motor Accelerating running to setting speed;3) when the stay cord of lifting motor equates with the stay cord range ability that opens and closes motor, will open and close motor and be switched to speed control mode, lifting motor will be switched to the Torque Control pattern that opens and closes motor torque of following.
- The lifting motor of a kind of grab crane according to claim 1 with open and close the quick follow-up control method of motor, it is characterized in that, the closed time of described grab bucket is that to open and close the range ability of motor stay cord by calculatings definite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110332759.6A CN102502410B (en) | 2011-10-28 | 2011-10-28 | Quick following control method for lifting motor and opening and closing motor of grabbing crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110332759.6A CN102502410B (en) | 2011-10-28 | 2011-10-28 | Quick following control method for lifting motor and opening and closing motor of grabbing crane |
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| Publication Number | Publication Date |
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| CN102502410A CN102502410A (en) | 2012-06-20 |
| CN102502410B true CN102502410B (en) | 2014-01-08 |
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| CN201110332759.6A Active CN102502410B (en) | 2011-10-28 | 2011-10-28 | Quick following control method for lifting motor and opening and closing motor of grabbing crane |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103771270B (en) * | 2014-01-09 | 2016-01-13 | 苏州汇川技术有限公司 | Four rope grab hoisting crane closes bucket Lifting Control System and method |
| CN104477782A (en) * | 2014-12-29 | 2015-04-01 | 大连华锐重工起重机有限公司 | Single-handle electrical control system of transporter grab crane |
| CN106115476B (en) * | 2016-08-12 | 2018-03-20 | 武汉港迪电气传动技术有限公司 | A kind of anti-control system for opening bucket of high pedestal jib crane grab bucket |
| CN112093657B (en) * | 2020-09-30 | 2022-08-30 | 上海振华重工(集团)股份有限公司 | Control method and device for crane grab bucket |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5167401A (en) * | 1990-08-23 | 1992-12-01 | Harnischfeger Corporation | Hoist drive and method for driving a double hoist carrying apparatus |
| DE4211249A1 (en) * | 1992-04-03 | 1993-10-07 | Siemens Ag | Pulling tight hoisting cable of grab crane - using reduced torque from hoisting drive during grabbing process which is sufficient just to pull cable tight |
| JP2535200B2 (en) * | 1988-02-09 | 1996-09-18 | 日立機電工業株式会社 | Hoisting control method of crane with rope type bucket |
| CN1221392A (en) * | 1996-08-09 | 1999-06-30 | Kci国际有限公司 | Control system for rope bucket |
| CN101559904A (en) * | 2009-04-28 | 2009-10-21 | 深圳市库马克新技术股份有限公司 | Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01247393A (en) * | 1987-11-20 | 1989-10-03 | Hitachi Kiden Kogyo Ltd | Method and device for bucket grasping of crane with rope type bucket |
| JPH01150694A (en) * | 1987-12-08 | 1989-06-13 | Toshiba Corp | Crane controller with grab bucket |
| JPH01172198A (en) * | 1987-12-25 | 1989-07-07 | Hitachi Kiden Kogyo Ltd | Method for running rope type bucket crane |
-
2011
- 2011-10-28 CN CN201110332759.6A patent/CN102502410B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2535200B2 (en) * | 1988-02-09 | 1996-09-18 | 日立機電工業株式会社 | Hoisting control method of crane with rope type bucket |
| US5167401A (en) * | 1990-08-23 | 1992-12-01 | Harnischfeger Corporation | Hoist drive and method for driving a double hoist carrying apparatus |
| DE4211249A1 (en) * | 1992-04-03 | 1993-10-07 | Siemens Ag | Pulling tight hoisting cable of grab crane - using reduced torque from hoisting drive during grabbing process which is sufficient just to pull cable tight |
| CN1221392A (en) * | 1996-08-09 | 1999-06-30 | Kci国际有限公司 | Control system for rope bucket |
| CN101559904A (en) * | 2009-04-28 | 2009-10-21 | 深圳市库马克新技术股份有限公司 | Coordination control system for lifting, falling, opening and closing crane grab bucket and control method thereof |
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| CN102502410A (en) | 2012-06-20 |
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