CN102515043A - Back-tilting preventive device for boom, control method of back-tilting preventive device for boom, and crawler crane - Google Patents
Back-tilting preventive device for boom, control method of back-tilting preventive device for boom, and crawler crane Download PDFInfo
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- CN102515043A CN102515043A CN2011104564029A CN201110456402A CN102515043A CN 102515043 A CN102515043 A CN 102515043A CN 2011104564029 A CN2011104564029 A CN 2011104564029A CN 201110456402 A CN201110456402 A CN 201110456402A CN 102515043 A CN102515043 A CN 102515043A
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Abstract
The invention provides a back-tilting preventive device for a boom, a control method of the back-tilting preventive device for the boom, and a crawler crane. The back-tilting preventive device for the boom comprises a variable damper (10), a sensor (20) and a processing system (30), wherein the variable damper (10) is arranged between the boom (40) and a base, the sensor (20) is arranged on the boom (40) and comprises a displacement sensor, an angle sensor and a speed sensor, and the processing system (30) is respectively connected to the sensor (20) and the variable damper (10) to obtain driving signals required by the variable damper (10) for controlling the boom (40) to move according to boom parameters detected by the sensor (20), and to transmit the driving signals to the variable damper (10). By means of the back-tilting preventive device for the boom, negative moment during operation of the boom can be effectively reduced, the boom can be well buffered and protected, and stability in operation of a boom system can be guaranteed.
Description
Technical field
The present invention relates to the large tonnage crawler crane field of engineering machinery field, in particular to a kind of jib anti-squat system and control method thereof, crawler crane.
Background technology
Because the constructional feature of crawler crane, and along with crawler crane constantly to large scale development, the length of jib is more and more longer; Work range is more and more littler; Cause the operating angle of jib increasing (angle that is become with preceding horizontal surface), during crane hoisting load, the reach of the center of gravity of boom system; Jib can produce certain amount of deflection, and arm-tie and steel rope also have certain deformation.Unloading or receiving under the wind conditions backward, because the elastic reaction of changing-breadth system and complete machine has the possibility that the hypsokinesis accident takes place suddenly.When carrying out Scale Crawler Crane Overall Design System, anti-squat system is set for this reason, thereby under special operation conditions such as unloading suddenly, prevent that jib from toppling over, reducing jib backward and vibrating, the raising system stability for complete machine.
Anti-squat system need satisfy the requirement of following several respects in design:
(1) anti-squat system should reduce the negative moment effect to jib as far as possible before jib does not reach the maximum elevation of appointment.
(2) ability reliable protection jib under operating modes such as unloading suddenly makes the safe range of the Oscillation Amplitude of jib in permission.
(3) anti-squat system should can both alleviate principal arm and complete machine significantly in the vibration of unloading situation suddenly under different operating modes, and then improves the safety of complete machine work.
Domestic existing hoister in large tonnage adopts spring loaded or fluid pressure type anti-squat system more; When the jib normal operation, just produced bigger negative moment on the one hand; Power output at unexpected unloading situation lower piston rod can produce bigger impact to jib on the other hand; Thereby reduce the service life of jib, influence its normal serviceability.
Summary of the invention
The present invention aims to provide a kind of jib anti-squat system and control method thereof, crawler crane, and the negative moment problem in the time of can effectively reducing jib work plays good buffer protection function to jib, guarantees the stability of boom system work.
To achieve these goals, according to an aspect of the present invention, a kind of jib anti-squat system is provided, has comprised: become damper, be arranged between jib and the pedestal; Sensor is arranged on the jib, comprises displacement pickup, angular transducer and speed sensor; Disposal system is connected to sensor respectively and becomes damper, and the jib parameter that records according to sensor obtains to become the required drive signal of Damper Control jib motion, and drive signal is delivered to the change damper.
Further, disposal system comprises: data acquisition unit is used for the jib parameter information that pick-up transducers is transmitted; Control unit is connected to data acquisition unit, and calculates the control effort data that become damper according to the jib parameter information that data acquisition unit collects; Converting unit is connected to control unit, receives the control effort data of control unit output, and is that drive signal is delivered to the change damper with the control effort data transfer.
Further, control unit comprises: the recognin unit, and be used to receive the jib parameter information that data acquisition unit collects, and the jib parameter information is discerned, confirm the state of kinematic motion of jib; Computation subunit, the state of kinematic motion of confirming according to the recognin unit calculates the control effort data of corresponding state change damper down, and with the control effort data delivery of calculating to converting unit.
Further, computation subunit comprises: the parametric modeling module, set up the jib state model according to the jib parameter information; The dynamical simulation module, the model of being set up according to the parametric modeling module carries out dynamical simulation calculating, the ACTIVE CONTROL force data of calculation control jib motion; Comparison module is used for ACTIVE CONTROL force data and the dumping force setting range that becomes damper are compared, and confirms the required control effort data of control jib motion according to comparative result, and exports these control effort data to converting unit.
Further, computation subunit comprises: elevation angle judge module, judge the residing scope in the jib elevation angle according to the jib parameter information; The evaluation module is confirmed the required control effort data of control jib motion according to the jib elevation coverage that elevation angle judge module is confirmed, and is exported these control effort data to converting unit.
Further, the change damper is MR damper, and drive signal is driving voltage or drive current.
According to a further aspect in the invention, a kind of control method of above-mentioned jib anti-squat system is provided, has comprised: step S1, sensor calculates displacement information, angle information and the velocity information of jib, and is passed to disposal system; Step S2; Disposal system is handled displacement information, angle information and velocity information that sensor transmitted, confirms the state of kinematic motion of jib, then according to this state of kinematic motion; Calculate the required drive signal of change Damper Control jib motion, and this drive signal is delivered to the change damper; Step S3 becomes the drive signal output dumping force that damper is carried according to disposal system, the motion of control jib.
Further, disposal system comprises data acquisition unit, control unit and converting unit, and step S2 comprises: step S21, and displacement information, angle information and the velocity information of the jib that the data acquisition unit pick-up transducers is transmitted, and be delivered in the control unit; Step S22, control unit calculates according to displacement information, angle information and the velocity information of the jib that data acquisition unit collects, and calculates the working control force data that becomes damper, and is delivered to converting unit; Step S23, converting unit converts the working control force data that control unit transmitted into drive signal, and is delivered to the change damper.
Further; Control unit comprises recognin unit and computation subunit, and step S22 comprises: step S221, and the recognin unit receives and identifies the jib parameter information that data acquisition unit collects; Confirm the state of kinematic motion of jib, and this state of kinematic motion is passed to computation subunit; Step S222, computation subunit is according to the required working control force data of jib under the recognin unit determined jib state of kinematic motion calculation control corresponding sports state, and this working control force data is delivered to converting unit.
Further, computation subunit comprises parametric modeling module, dynamical simulation module and comparison module, and step S222 comprises: the parametric modeling module is set up the current state model of jib according to the jib parameter information; The jib model that the dynamical simulation module is set up according to the parametric modeling module carries out simulation calculation, the ACTIVE CONTROL force data of controlled jib motion; Comparison module compares dynamical simulation module ACTIVE CONTROL force data that is calculated and the control effort data setting range that becomes damper; According to comparative result the ACTIVE CONTROL force data is revised; Calculate the working control force data of jib motion, and this working control force data is delivered to converting unit.
Further, computation subunit comprises elevation angle judge module and evaluation module, and step S222 comprises: elevation angle judge module is judged the residing scope in the jib elevation angle according to the jib parameter information; The evaluation module is calculated according to the judged result of elevation angle judge module, obtains the required working control force data of control jib motion, and exports these control effort data to converting unit.
In accordance with a further aspect of the present invention; A kind of crawler crane is provided, has comprised turntable and be arranged on the jib on the turntable, also comprised above-mentioned jib anti-squat system; One end of the change damper of jib anti-squat system is hinged on the turntable, and the other end is hinged on the jib.
Use technical scheme of the present invention; The jib anti-squat system comprises change damper, sensor and disposal system, becomes damper and is arranged between jib and the pedestal, and sensor is arranged on the jib; Comprise displacement pickup, angular transducer and speed sensor; Disposal system is connected to sensor and becomes on the damper, and the jib parameter that records according to sensor obtains to become the required drive signal of Damper Control jib motion, and drive signal is delivered to the change damper.Through a plurality of parameter informations that sensor in real time obtains jib are detected the state of jib in real time, and the jib parameter of being calculated is handled through disposal system, thus the drive signal that controlled jib transports; And use this drive signal control to become the dumping force of damper; Thereby reduce the negative moment of jib, jib is carried out effective vibration damping, the motion of protection jib; Prevent tumbling of jib, make jib have better stability.
Control unit comprises recognin unit and computation subunit, can at first discern and analyze current jib parameter information, obtains the mode of operation of current arm support; Select the corresponding calculated mode according to the residing mode of operation of current arm support then; The needed working control force data thereby reasonably definite control jib moves, and can produce the needed drive signal of corresponding dumping force according to this working control force data calculating change damper, at last this drive signal is delivered to the motion that becomes the Damper Control jib; Better adaptability; It is more accurate to control, and efficient is higher, better effects if.
Description of drawings
The accompanying drawing that constitutes a part of the present invention is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, does not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 shows the structural representation of jib anti-squat system according to an embodiment of the invention; And
Fig. 2 shows the control principle structural representation of jib anti-squat system according to an embodiment of the invention.
The specific embodiment
Hereinafter will and combine embodiment to specify the present invention with reference to accompanying drawing.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.
As depicted in figs. 1 and 2, according to embodiments of the invention, the jib anti-squat system comprises sensor 20, disposal system 30 and becomes damper 10.Jib 40 is arranged on the pedestal, becomes damper 10 and is arranged between jib 40 and the pedestal.When this jib 40 is principal arm, become damper 10 and be arranged between principal arm and the turntable 50, principal arm is formed supporting role.An end that becomes damper 10 is hinged on the jib 40, and the other end is hinged or be arranged on rotationally on the turntable 50 through bulb.Sensor 20 is arranged on the jib 40, comprises displacement pickup, angular transducer and acceleration pick-up, is used to calculate the parameter informations such as current displacement, angle and acceleration/accel of jib 40, thinks that subsequent step provides basis for estimation and computational data.When this jib 40 is auxiliary, become damper 10 and be arranged between auxiliary and the support beam, auxiliary is formed supporting role.
Be provided with disposal system 30 between sensor 20 and the change damper 10; 30 pairs of parameters information of being transmitted from sensor 20 of disposal system are discerned and are handled; Calculate and to become the damper 10 control jibs needed working control force data that moves under the current state; Convert this working control force data into drive signal then, and be delivered to change damper 10.
Disposal system 30 comprises data acquisition unit 31, control unit 32 and converting unit 33.Data acquisition unit 31 is mainly used in the jib parameter information that pick-up transducers 20 is transmitted; Then these information are carried out processing such as digital to analogy conversion; The jib parameter information that sensor 20 is transmitted converts 32 of control units into can identified signal, then these signals is passed to control unit 32 and handles.
Control unit 32 is connected to this data acquisition unit 31, and handles according to the jib parameter information that data acquisition unit 31 is gathered and conversion is good, calculates the working control force data that becomes damper 10.Control unit 32 comprises recognin unit 34 and computation subunit 35.Recognin unit 34 is used to receive the jib parameter information after data acquisition unit 31 is gathered and handled; According to these parameter informations current jib state of kinematic motion is discerned, the current state of kinematic motion of confirming jib 40 is in normal working and still is in abnormal motion states such as unexpected unloading.
The state of kinematic motions that computation subunit 35 is confirmed according to recognin unit 34 calculate the corresponding state change damper 10 control jibs 40 down required working control force data that moves, then with the working control force data information conveyance that calculates to converting unit 33.
Computation subunit 35 comprises different processing modules; Have different processing modes according to recognin unit 34 determined jib state of kinematic motions, first kind of processing module of computation subunit 35 comprises parametric modeling module 36, dynamical simulation module 37 and comparison module 38.
The jib parameter information that parametric modeling module 36 is transmitted according to data acquisition unit 31 is set up the model of the current state of jib 40; The real-time model that dynamical simulation module 37 is set up according to parametric modeling module 36 carries out the dynamical simulation simulation, calculates the optimum ACTIVE CONTROL force data of control jib 40 motions then according to the dynamical simulation emulation mode.Dynamical simulation module 37 for example is an Adams dynamical simulation module.
Comparison module 38 is used for 37 simulations of dynamical simulation module optimum ACTIVE CONTROL force data that obtains and the dumping force setting range that becomes damper 10 are compared, and confirms whether optimum ACTIVE CONTROL force data is positioned within the dumping force setting range that becomes damper 10.If be within the scope, then should optimum active controlling force data delivery convert drive signals such as drive voltage signal or driving current signal into to converting unit 33, and the drive signal of calculating place will be delivered to change damper 10.
If optimum ACTIVE CONTROL force data exceeds outside the dumping force setting range that becomes damper 10; And when it exceeds the minimum setting range that becomes damper 10; The working control force data that then will control jib 40 motions through Passive-on Passive Control device etc. is adjusted to and becomes the minimum control effort data that 10 of dampers can be realized, and exports converting unit 33 to, and converting unit 33 is set at 0 with drive signal; And be delivered to change damper 10, make to become the minimum dumping force of damper 10 outputs.In the time of outside it exceeds the highest setting range that becomes damper 10; The working control force data that then will control jib 40 motions through Passive-on Passive Control device etc. is adjusted to and becomes 10 the maximum control force datas that can realize of damper; And export converting unit 33 to; Converting unit 33 is set at the non-zero steady state value with drive signal, and is delivered to change damper 10, makes to become damper 10 output maximum damping forces.Present embodiment is controlled jib 40 through Passive Control modules such as Passive-on Passive Control devices; So that in the time of within optimum ACTIVE CONTROL force data exceeds the variable range that becomes damper 10; Can reduce the suffered vibration effect of jib 40 to greatest extent; Reduce the vibration of jib 40, improve the stability and the reliability of jib motion.This Passive Control device also can be Semi3 half active controller.
Second kind of processing module of computation subunit 35 is used to handle the dumping force control of jib 40 for the change damper 10 under the proper motion state, comprises elevation angle judge module 351 and evaluation module 352.The jib parameter information that elevation angle judge module 351 is exported according to data acquisition module 31 judges whether the current arm support 40 residing elevations angle are positioned within the safe range; Evaluation module 352 comes the required control effort data of control jib motion are calculated according to elevation angle judge module 351 definite jib 40 current elevation coverages then; The required working control force data of controlled jib 40 motions, and export converting unit 33 to and change.
When the elevation angle of crawler crane jib is low; In order to reduce the negative moment that dumping force causes; Can pass through Passive-on Passive Control device; The working control force data is set at the minimum damping control effort data that become damper 10, and, makes converting unit 33 that driving power voltage is set at 0 this control effort data delivery to converting unit 33.When the unloading operating mode takes place in jib 40 in this case, become damper 10 and be equivalent to viscous damper, total system is played the effect that power consumption significantly cushions, avoid impulsive force to destroy jib structure.When the jib 40 of crawler crane near a certain scope of maximum elevation the time; This moment, system judged that automatically jib is in the dangerous work state; And through Passive-on Passive Control device the working control force data is adjusted into the maximum damping force of jib 40; And export this maximum damping force to converting unit 33; Regulate the driving voltage that becomes dampers 10 through converting unit 33 and be non-0 steady state value, this moment, MR damper was equivalent to viscous damper and frcition damper has applied certain preparatory thrust to system.
33 pairs of working control force datas that passed over from control unit 32 of converting unit are changed, and make it be transformed into drive signal, and this drive signal is delivered to change damper 10, drive to become damper 10 output dumping forces, the motion of control jib 40.
Above-mentioned drive signal is driving voltage or drive current, above-mentioned change damper 10 into MR damper, electro-rheological fluid damper, initiatively become damper or intelligence becomes damper.
According to embodiments of the invention, crawler crane comprises turntable 50, jib 40, mast 70, arm-tie 60, sensor 20, disposal system 30 and becomes damper 10.Jib 40 is arranged on the turntable 50 with mast 70, becomes damper 10 and is arranged between jib 40 and the turntable 50, and jib 40 is formed supporting role.One end of the change damper 10 of jib anti-squat system is hinged on the turntable 50, and the other end is hinged on the jib 40, also can be arranged on rotationally on the turntable 50 through bulb.
Explain in the face of the control method of above-mentioned jib anti-squat system down:
Sensor 20 calculates the parameter informations such as current displacement, angle and acceleration/accel of jib 40; These parameter informations are delivered to data acquisition unit 31; The jib parameter information that data acquisition unit 31 pick-up transducers 20 are transmitted; Then these information are carried out processing such as digital to analogy conversion, the jib parameter information that sensor 20 is transmitted converts 32 of control units into can identified signal, then these signals is passed to recognin unit 34.
Recognin unit 34 receives the jib parameter information after data acquisition unit 31 is gathered and handled; According to these parameter informations current jib state of kinematic motion is discerned; The current state of kinematic motion of confirming jib 40 is in normal working and still is in abnormal motion states such as unexpected unloading, and status information is delivered to computation subunit 35.
The jib state of kinematic motion that computation subunit 35 is confirmed according to recognin unit 34 calculates the required working control force data of change damper 10 control jibs, 40 motions under the corresponding state.When jib is unexpected unloaded state; The jib parameter information that the parametric modeling module 36 of computation subunit 35 is transmitted according to data acquisition unit 31 is set up the model of the current state of jib 40; The real-time model that dynamical simulation module 37 is set up according to parametric modeling module 36 carries out the dynamical simulation simulation, calculates the optimum ACTIVE CONTROL force data of control jib 40 motions then according to the dynamical simulation emulation mode.
Comparison module 38 compares 37 simulations of dynamical simulation module optimum ACTIVE CONTROL force data that obtains and the dumping force setting range that becomes damper 10, confirms whether optimum ACTIVE CONTROL force data is positioned within the dumping force setting range that becomes damper 10.If be within the scope, then should optimum active controlling force data delivery convert drive signals such as drive voltage signal or driving current signal into to converting unit 33, and the drive signal of calculating place will be delivered to change damper 10.
If optimum ACTIVE CONTROL force data exceeds outside the dumping force setting range that becomes damper 10; And when it exceeds the minimum setting range that becomes damper 10; The working control force data that then will control jib 40 motions through Passive-on Passive Control device etc. is adjusted to and becomes the minimum control effort data that 10 of dampers can be realized, and exports converting unit 33 to, and converting unit 33 is set at 0 with drive signal; And be delivered to change damper 10, make to become the minimum dumping force of damper 10 outputs.When it exceeds outside the highest setting range that becomes damper 10; The working control force data that then will control jib 40 motions through Passive-on Passive Control device etc. is adjusted to and becomes 10 the maximum control force datas that can realize of damper; And export converting unit 33 to; Converting unit 33 is set at the non-zero steady state value with drive signal, and is delivered to change damper 10, makes to become damper 10 output maximum damping forces.Present embodiment is controlled jib 40 through Passive Control modules such as Passive-on Passive Control devices; So that in the time of within optimum ACTIVE CONTROL force data exceeds the variable range that becomes damper 10; Can reduce the suffered vibration effect of jib 40 to greatest extent; Reduce the vibration of jib 40, improve the stability and the reliability of jib motion.This Passive Control device also can be Semi3 half active controller.
When jib 40 is following time of proper motion state; The jib parameter information that the elevation angle judge module 351 of computation subunit 35 is exported according to data acquisition module 31 judges whether the current arm support 40 residing elevations angle are positioned within the safe range; Evaluation module 352 comes the required control effort data of control jib motion are calculated according to elevation angle judge module 351 definite jib 40 current elevation coverages then; The required working control force data of controlled jib 40 motions, and export converting unit 33 to and change.
When the elevation angle of crawler crane jib is low; In order to reduce the negative moment that dumping force causes; Can pass through Passive-on Passive Control device; The working control force data is set at the minimum damping control effort data that become damper 10, and, makes converting unit 33 that driving power voltage is set at 0 this control effort data delivery to converting unit 33.When the unloading operating mode takes place in jib 40 in this case, become damper 10 and be equivalent to viscous damper, total system is played the effect that power consumption significantly cushions, avoid impulsive force to destroy jib structure.When the jib 40 of crawler crane near a certain scope of maximum elevation the time; This moment, system judged that automatically jib is in the dangerous work state; And through Passive-on Passive Control device the working control force data is adjusted into the maximum damping force of jib 40; And export this maximum damping force to converting unit 33; Regulate the driving voltage that becomes dampers 10 through converting unit 33 and be non-0 steady state value, this moment, MR damper was equivalent to viscous damper and frcition damper has applied certain preparatory thrust to system.
From above description; Can find out; The above embodiments of the present invention have realized following technique effect: the jib anti-squat system comprises change damper, sensor and disposal system, becomes damper and is arranged between jib and the pedestal, and sensor is arranged on the jib; Comprise displacement pickup, angular transducer and speed sensor; Disposal system is connected to sensor and becomes on the damper, and the jib parameter that records according to sensor obtains to become the required drive signal of Damper Control jib motion, and drive signal is delivered to the change damper.Through a plurality of parameter informations that sensor in real time obtains jib are detected the state of jib in real time, and the jib parameter of being calculated is handled through disposal system, thus the drive signal that controlled jib transports; And use this drive signal control to become the dumping force of damper; Thereby reduce the negative moment of jib, jib is carried out effective vibration damping, the motion of protection jib; Prevent tumbling of jib, make jib have better stability.Control unit comprises recognin unit and computation subunit, can at first discern and analyze current jib parameter information, obtains the mode of operation of current arm support; Select the corresponding calculated mode according to the residing mode of operation of current arm support then; The needed working control force data thereby reasonably definite control jib moves, and can produce the needed drive signal of corresponding dumping force according to this working control force data calculating change damper, at last this drive signal is delivered to the motion that becomes the Damper Control jib; Better adaptability; It is more accurate to control, and efficient is higher, better effects if.
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 (12)
1. a jib anti-squat system is characterized in that, comprising:
Become damper (10), be arranged between said jib (40) and the pedestal;
Sensor (20) is arranged on the said jib (40), comprises displacement pickup, angular transducer and speed sensor;
Disposal system (30); Be connected to said sensor (20) and said change damper (10) respectively; Jib parameter acquisition change damper (10) according to said sensor (20) records is controlled the required drive signal of said jib (40) motion, and said drive signal is delivered to said change damper (10).
2. jib anti-squat system according to claim 1 is characterized in that, said disposal system (30) comprising:
Data acquisition unit (31) is used to gather the said jib parameter information that said sensor (20) is transmitted;
Control unit (32) is connected to said data acquisition unit (31), and calculates the control effort data of confirming said change damper (10) according to the said jib parameter information that said data acquisition unit (31) collects;
Converting unit (33) is connected to said control unit (32), receives the said control effort data of said control unit (32) output, and is that drive signal is delivered to said change damper (10) with said control effort data transfer.
3. jib anti-squat system according to claim 2 is characterized in that, said control unit (32) comprising:
Recognin unit (34) is used to receive the said jib parameter information that said data acquisition unit (31) collects, and discerns the state of kinematic motion of said jib (40) based on said jib parameter information;
Computation subunit (35) according to the control effort data of the said change damper (10) under the state of kinematic motion calculating corresponding state of said recognin unit (34) identification, and will be calculated said control effort data delivery to said converting unit (33).
4. jib anti-squat system according to claim 3 is characterized in that, said computation subunit (35) comprising:
Parametric modeling module (36) is set up the jib state model according to said jib parameter information;
Dynamical simulation module (37), the jib state model of being set up according to parametric modeling module (36) carries out dynamical simulation calculating, the ACTIVE CONTROL force data of controlled said jib (40) motion;
Comparison module (38); Be used for the dumping force setting range of said ACTIVE CONTROL force data and said change damper (10) is compared; And according to the required control effort data of the definite said jib of control of comparative result (40) motion, and export these control effort data to said converting unit (33).
5. jib anti-squat system according to claim 3 is characterized in that, said computation subunit (35) comprising:
Elevation angle judge module (351) is judged the residing scope in said jib (40) elevation angle according to said jib parameter information;
Evaluation module (352) is confirmed the required control effort data of the said jib of control (40) motion according to the jib elevation coverage that said elevation angle judge module (351) is confirmed, and is exported these control effort data to said converting unit (33).
6. according to each described jib anti-squat system in the claim 1 to 5, it is characterized in that said change damper (10) is MR damper, said drive signal is driving voltage or drive current.
7. the control method of a jib anti-squat system according to claim 1 is characterized in that, comprising:
Step S1, sensor (20) calculates displacement information, angle information and the velocity information of jib (40), and is passed to disposal system (30);
Step S2; Disposal system (30) is handled displacement information, angle information and velocity information that sensor (20) is transmitted; Confirm the state of kinematic motion of jib (40); Calculate the required drive signal of change damper (10) control jib (40) motion according to this state of kinematic motion then, and this drive signal is delivered to change damper (10);
Step S3 becomes the drive signal output dumping force that damper (10) is carried according to disposal system (30), control jib (40) motion.
8. control method according to claim 6 is characterized in that, disposal system (30) comprises data acquisition unit (31), control unit (32) and converting unit (33), and step S2 comprises:
Step S21, displacement information, angle information and the velocity information of the jib (40) that data acquisition unit (31) pick-up transducers (20) is transmitted, and be delivered in the control unit (32);
Step S22, control unit (32) calculates according to displacement information, angle information and the velocity information of the jib (40) that data acquisition unit (31) collects, and calculates the working control force data that becomes damper (10), and is delivered to converting unit (33);
Step S23, converting unit (33) converts the working control force data that control unit (32) is transmitted into drive signal, and is delivered to change damper (10).
9. control method according to claim 8 is characterized in that, control unit (32) comprises recognin unit (34) and computation subunit (35), and step S22 comprises:
Step S221, recognin unit (34) receive and identify the jib parameter information that data acquisition unit (31) collects, and confirm the state of kinematic motion of jib (40), and this state of kinematic motion is passed to computation subunit (35);
Step S222, computation subunit (35) is according to the required working control force data of jib (40) under the determined jib in recognin unit (34) (40) the state of kinematic motion calculation control corresponding sports state, and this working control force data is delivered to converting unit (33).
10. control method according to claim 9 is characterized in that, computation subunit (35) comprises parametric modeling module (36), dynamical simulation module (37) and comparison module (38), and step S222 comprises:
Parametric modeling module (36) is set up the current state model of jib (40) according to the jib parameter information;
Jib (40) model that dynamical simulation module (37) is set up according to parametric modeling module (36) carries out simulation calculation, the ACTIVE CONTROL force data of controlled jib (40) motion;
Comparison module (38) compares dynamical simulation module (37) ACTIVE CONTROL force data that is calculated and the control effort data setting range that becomes damper (10); According to comparative result the ACTIVE CONTROL force data is revised; Calculate the working control force data of jib (40) motion, and this working control force data is delivered to converting unit (33).
11. control method according to claim 9 is characterized in that, computation subunit (35) comprises elevation angle judge module (351) and evaluation module (352), and step S222 comprises:
Elevation angle judge module (351) is judged the residing scope in the jib elevation angle according to the jib parameter information;
Evaluation module (352) is calculated according to the judged result of elevation angle judge module (351), obtains the required working control force data of control jib (40) motion, and exports this control effort data to converting unit (33).
12. crawler crane; Comprise turntable (50) and be arranged on the jib (40) on the said turntable (50); It is characterized in that; Also comprise each described jib anti-squat system in the claim 1 to 6, an end of the change damper (10) of said jib anti-squat system is hinged on the said turntable (50), and the other end is hinged on the said jib (40).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110456402 CN102515043B (en) | 2011-12-30 | 2011-12-30 | Back-tilting preventive device for boom, control method of back-tilting preventive device for boom, and crawler crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110456402 CN102515043B (en) | 2011-12-30 | 2011-12-30 | Back-tilting preventive device for boom, control method of back-tilting preventive device for boom, and crawler crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102515043A true CN102515043A (en) | 2012-06-27 |
| CN102515043B CN102515043B (en) | 2013-12-25 |
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| CN 201110456402 Active CN102515043B (en) | 2011-12-30 | 2011-12-30 | Back-tilting preventive device for boom, control method of back-tilting preventive device for boom, and crawler crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102765666A (en) * | 2012-07-19 | 2012-11-07 | 山东电力建设第二工程公司 | Method for adjusting limit of auxiliary arm under tower type working condition of crane |
| CN102862922A (en) * | 2012-09-25 | 2013-01-09 | 中联重科股份有限公司 | Crane, and backward inclining preventing control method and backward inclining preventing control system of crane |
| CN103064425A (en) * | 2012-12-31 | 2013-04-24 | 中联重科股份有限公司 | Method, system and engineering machinery for improving arm frame movement stability |
| CN104016236A (en) * | 2014-06-05 | 2014-09-03 | 三一汽车起重机械有限公司 | Moment limiting system, crane and moment limiting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102765666A (en) * | 2012-07-19 | 2012-11-07 | 山东电力建设第二工程公司 | Method for adjusting limit of auxiliary arm under tower type working condition of crane |
| CN102765666B (en) * | 2012-07-19 | 2014-04-02 | 山东电力建设第二工程公司 | Method for adjusting limit of auxiliary arm under tower type working condition of crane |
| CN102862922A (en) * | 2012-09-25 | 2013-01-09 | 中联重科股份有限公司 | Crane, and backward inclining preventing control method and backward inclining preventing control system of crane |
| CN103064425A (en) * | 2012-12-31 | 2013-04-24 | 中联重科股份有限公司 | Method, system and engineering machinery for improving arm frame movement stability |
| CN103064425B (en) * | 2012-12-31 | 2016-02-24 | 中联重科股份有限公司 | Improve the method for arm frame movement stability, system and engineering machinery |
| CN104016236A (en) * | 2014-06-05 | 2014-09-03 | 三一汽车起重机械有限公司 | Moment limiting system, crane and moment limiting method |
| CN104016236B (en) * | 2014-06-05 | 2016-04-06 | 三一汽车起重机械有限公司 | Moment limiting system, hoisting crane and moment method for limiting |
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| CN102515043B (en) | 2013-12-25 |
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