CN102530729A - Method and system for controlling pendulum of suspender - Google Patents
Method and system for controlling pendulum of suspender Download PDFInfo
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- CN102530729A CN102530729A CN2012100329560A CN201210032956A CN102530729A CN 102530729 A CN102530729 A CN 102530729A CN 2012100329560 A CN2012100329560 A CN 2012100329560A CN 201210032956 A CN201210032956 A CN 201210032956A CN 102530729 A CN102530729 A CN 102530729A
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Abstract
The invention discloses a method for controlling the pendulum of a suspender. The method comprises the following steps of: A) setting a running track of the suspender in the non-pendulum state according to the requirement of hoisting; B) acquiring the current position of the suspender in real time, and acquiring the setting position of the suspender, which corresponds to the current time according to the running track; C) comparing the current position of the suspender with the setting position corresponding to the current time, and calculating to obtain the amplitude of the pendulum of the suspender; and D) controlling the action of a base plate and/or winching according to the amplitude of the suspender to reduce the amplitude. According to the method, the action of the base plate and the winching is controlled according to the amplitude obtained by calculation, so that the suspender is subjected to acting force which is opposite to the swing direction to realize the function of stopping swinging quickly, prevent the pendulum of the suspender from damaging a crane and improve the safety of the hoisting. The invention also discloses a system for controlling the pendulum of the suspender.
Description
Technical field
The present invention relates to technical field of engineering machinery, the method and system of thing runout is hung in particularly a kind of control.
Background technology
Lifting machine is used comparatively extensive in technical field of engineering machinery.Crane generally comprises arm, chassis and elevator; The swing type mechanism on chassis can drive arm and in horizontal surface, rotate; Elevator is around hook hangs thing to the arm place, and elevator can be controlled the height that hangs thing through the folding and unfolding of steel rope, and drives arm luffing in perpendicular.Then under the driving action of chassis and elevator, realized hanging the lifting of thing jointly.
In hoisting process, the operating mode of crane, hang the change of scratching that factor such as loading quantitative changeization all can influence arm, simultaneously, the wind-force during lifting, hang improper etc. all can the making of the operation control of thing and hang the certain oscillating quantity of deposits yields, thereby cause lifting machine to produce STRESS VARIATION.And during hoisting object, lifting machine needs overhead certain altitude usually; Reach arm and lift certain height, to satisfy the demand of lifting, especially large-scale lifting machine; Usually in overhead 50～150 meters aloft work, when then hanging the deposits yields runout, runout is bigger to the destructive force that lifting machine causes in hoisting process; Influence the service life of lifting machine, even can cause hanging thing and come off, cause even more serious safety misadventure.
In view of this, how effectively the thing runout is hung in control, prevents to damage lifting machine, improves the safety of lifting, is those skilled in the art's technical issues that need to address.
Summary of the invention
The object of the invention is to provide a kind of control to hang the method and system of thing runout; This control system and control method can be according to the amplitudes that hangs thing; The work speed of control chassis and/elevator hang the amplitude of thing with reduction, and then the runout of thing is hung in control; Thereby prevent to hang the thing runout lifting machine is caused damage, improve the safety factor of lifting machine lifting.
For achieving the above object, the present invention provides a kind of control to hang the method for thing runout, comprises the steps:
A), set and hang the running orbit of thing under no runout state according to the lifting demand;
B) obtain the current location of hanging thing in real time, and obtain and the cooresponding desired location that hangs thing of current time according to running orbit;
C) relatively hang thing current location and with the cooresponding desired location of current time, calculate to obtain to hang the amplitude of thing runout;
D), receive with runout application force in the opposite direction and reduce amplitude so that hang thing according to hanging the amplitude control chassis and/or the winch action of thing.
Preferably, step B) in, detects in real time and hang current acceleration/accel of thing and cireular frequency, obtain the current location of hanging thing according to the current acceleration/accel of lifting time, detection and angular speed calculation.
Preferably, step B) in, also detects current temperature in real time, through the temperature obtained acceleration/accel and cireular frequency are carried out rectification building-out and obtain and hang current acceleration/accel of thing and cireular frequency.
Preferably, steps A) in, go back set amplitude comparison value; Step C) in, whether the comparison amplitude exceeds rate of amplitude to value, not, then gets into step D), be then to get into following step:
E) stop to hang the thing operation.
Preferably, step e) in, also send alarm message.
Preferably, steps A) in, set track and set up according to following steps:
Confirm to hang thing, reference position and final position are measured and are obtained to hang thing and vertically reach the shift value of vertical direction in horizontal cross, level in the position to terminal from reference position;
Be initial point with the lifting appliance, to hang the thing reference position be initial point, cook up to hang thing and set track:
Lz=M-v*T;
Wherein, Lx, Ly, Lz are respectively and hang thing and vertically reach the shift value of vertical direction in horizontal cross, level in the position to terminal from reference position; T is that the lifting total time, the L that hang thing are the arm length of run, and M is that elevator lifting rope total length, ω are that the setting rotational angular velocity on chassis, setting gathering speed, the M that v is lifting rope are the initial length of lifting rope.
The system that the present invention also provides a kind of control to hang the thing runout comprises that controller and being used for of being attached thereto obtain the deriving means that hangs thing current location parameter in real time, and said controller comprises:
Memory cell is hung the running orbit of thing under no runout state in order to storage according to what the lifting demand was set;
With memory cell bonded assembly analytic unit, the current location of hanging thing according to the current location parameter acquiring; And obtain and the cooresponding desired location that hangs thing of current time according to hanging the running orbit of thing under no runout state, and compare, obtain to hang the amplitude of thing with the current location of hanging thing;
With analytic unit bonded assembly signal output unit, according to the amplitude output control chassis of hanging thing and/or the signal of winch action, to reduce amplitude.
Preferably, deriving means comprises and analytic unit bonded assembly accelerometer and turn meter, hangs current acceleration/accel of thing and cireular frequency in order to detection respectively; Said analytic unit combines lifting time, the current acceleration/accel that obtains and cireular frequency to obtain the current location of hanging thing.
Preferably, deriving means also comprises and analytic unit bonded assembly temperature sensor, and said analytic unit carries out rectification building-out through the temperature that detects to acceleration/accel and cireular frequency and obtains and hang current acceleration/accel of thing and cireular frequency.
Preferably, also store rate of amplitude in the said memory cell to value; When analytic unit comparison amplitude exceeded rate of amplitude to value, signal output unit output stopped to hang the information of thing operation, and when not exceeding rate of amplitude to value, signal output unit is according to the signal of amplitude output control chassis and/or winch action, to reduce amplitude.
Preferably, when analytic unit comparison amplitude exceeded rate of amplitude to value, signal output unit is output alarm information also.
The control that provides is hung the method and system of thing runout all through obtaining the comparison of hanging thing current location and desired location in the hoisting process; Analyze the amplitude that hangs the actual runout of thing, and, receive the application force in the opposite direction with runout so that hang thing according to amplitude control chassis and/or winch action; And then reduction amplitude; Lift by crane position to terminal reposefully so that will hang thing, prevent to hang the thing runout lifting machine is caused damage, improve the safety factor of lifting machine lifting.
Description of drawings
Fig. 1 hangs the structural representation of a kind of specific embodiment of thing runout system for control provided by the present invention;
Fig. 2 hangs a kind of diagram of circuit of the specific embodiment of the method for thing runout for control provided by the present invention;
Fig. 3 is the schematic three dimensional views of hanging thing two kinds of running orbits under no runout state and actual lifting state;
Fig. 4 is for hanging thing real-world operation track and the mapping curve figure that sets running orbit on the X axle among Fig. 3;
Fig. 5 is for hanging thing X axis runout scheme drawing;
Fig. 6 hangs the diagram of circuit of the another kind of specific embodiment of the method for thing runout for control provided by the present invention.
The specific embodiment
Core of the present invention is to provide a kind of control to hang the method and system of thing runout; This control system and control method can be according to the amplitudes that hangs thing; The work speed of control chassis and/elevator hang the amplitude of thing with reduction, and then the runout of thing is hung in control; Thereby prevent to hang the thing runout lifting machine is caused damage, improve the safety factor of lifting machine lifting.
In order to make those skilled in the art understand technical scheme of the present invention better, the present invention is done further detailed description below in conjunction with accompanying drawing and specific embodiment.Describe for ease of understanding with succinct, the method and system that following content combines control to hang the thing runout is discussed, and beneficial effect no longer repeats to discuss.
Please refer to Fig. 1, Fig. 1 hangs the structure principle chart of a kind of specific embodiment of thing runout system for control provided by the present invention.
This system mainly comprise controller be attached thereto be used for obtaining in real time the deriving means 300 that hangs thing 200 current location parameters.As shown in Figure 1; Controller can be located on the chassis 100 of lifting machine; Hang thing 200 current location parameter obtaining device 300 and comprise and be located at the detecting element that hangs thing 200 and suspension hook place that this detecting element comprises accelerometer and turn meter, hangs the acceleration/accel and the cireular frequency of thing 200 in order to real-time detection.
Controller specifically comprises: memory cell, hang the running orbit of thing 200 under no runout state in order to storage according to what the lifting demand was set; With memory cell bonded assembly analytic unit, obtain the cooresponding desired location that hangs thing 200 of current time according to running orbit, and analyze hang thing 200 current locations and with the cooresponding desired location of current time, calculate the amplitude that obtains to hang thing 200; Signal output unit is used for according to the amplitude control chassis 100 and/or the winch action of hanging thing 200, to reduce amplitude.Concrete operating process can be with reference to following content.
Please refer to Fig. 2, Fig. 2 hangs a kind of diagram of circuit of the specific embodiment of the method for thing 200 runouts for control provided by the present invention.
The method that thing 200 runouts are hung in control in this embodiment, carry out through following step:
SA1), set and hang the running orbit of thing 200 under no runout state according to the lifting demand;
Being controller plans the expected path that hangs thing 200 in advance according to the reference position and the final position of hanging thing 200, and this expected path promptly hangs the running orbit of thing 200 under no runout state, when hanging the no runout of thing 200; It is linear that running orbit is; Can set up the three-dimensional coordinate running orbit that hangs thing 200 no runouts, it is initial point that this running orbit is mapped to lifting machine chassis 100, and horizontal surface is the XY axis plane; Highly be in the three dimensional space of Z axle, this running orbit to be stored in the memory cell of controller.Can combine Fig. 3 to understand; Fig. 3 is the schematic three dimensional views of hanging thing 200 two kinds of running orbits under no runout state and actual lifting state; Wherein, The dotted line running orbit representes not have the running orbit under the runout state, is linear, and this running orbit is mainly set up according to the parameter that lifting position O, final position M, chassis 100 rotation amplitudes and elevator luffing amplitude etc. are set.
Particularly, the foundation of running orbit can be divided into following step:
(1) before the lifting beginning; Can confirm to hang the reference position and the final position of thing 200; Through measure three axial displacement: Lx can hanging thing 200,, Ly, Lz, expression is hung thing 200 and is vertically reached the shift value of vertical direction in horizontal cross, level from the reference position position of breasting the tape respectively.
(2) according to three longitudinal travel values of hanging thing 200 operation, be initial point with the lifting appliance, to hang thing 200 reference positions be initial point, with hang thing 200 desired speed V, operation total time T cook up hang thing 200 desired motion track route S (x, y, z)=f (V, T).Wherein displacement and speed and time relationship are: S=V*T.Desired speed V is mainly by the velocity resultant of chassis 100 rotating speeds and lifting rope.
Erecting heavy-duty machine with single armed is example, and establishing the arm length of run is L, and elevator lifting rope total length is M, and the speed control on chassis 100 mainly is the rotational angular velocity on control chassis 100, and the speed control of elevator mainly is the speed that the control elevator is collected lifting rope.Then to hang thing 200 following in horizontal relation of plane in chassis 100 control:
Suppose chassis 100 with rotational angular velocity ω rotation, then chassis 100 is θ t at t rotation angle constantly,
Be engraved in the horizontal and displacement longitudinally of horizontal surface in the time of can hanging thing 200t: x=L*cos θ t; Y=L*sin θ t; Can know,
Elevator control is hung thing 200 and in the relation of vertical direction is:
The gathering speed of supposing lifting rope is v, and the initial length of lifting rope is M, and the length that the elevator lifting rope is collected in the lifting process is Ma, then Ma=v*t;
Be engraved in the displacement of vertical direction: z=M-Ma in the time of can hanging thing 200t.
Can know Lz=z=M-v*T
Therefore, can calculate in each the cooresponding desired location that hangs thing 200 of the moment, i.e. under particular moment and the cooresponding position of expected path according to the time.
SB1) obtain the current location of hanging thing 200 in real time, and obtain and the cooresponding desired location that hangs thing 200 of current time according to running orbit;
The current location of hanging thing 200 can obtain through above-mentioned accelerometer and turn meter, also can obtain through other usual ways, such as displacement pickup; Certainly; The upset factor that the current location of being confirmed by acceleration/accel and cireular frequency of hanging thing 200 has considered to hang thing 200; The current location of promptly hanging thing 200 also reflects the concrete attitude of hanging thing 200; And the mode of utilizing accelerometer and turn meter to combine has realized carrying out static state, the dynamic detection simultaneously to hanging thing 200, reaches sound and replenishes each other, improves under the different operating modes hanging the accuracy rate of thing 200 position measurements.
In addition, according to current time, can draw the time of hanging thing 200 liftings; According to lifting time and acceleration/accel, cireular frequency; Can calculate the space displacement that hangs thing 200 through the displacement computing formula, mainly calculate the straight-line displacement of hanging thing 200, in operational process, possibly overturn owing to hang thing 200 according to acceleration/accel; Cireular frequency can also calculate the angle of hanging thing 200 upsets, and promptly cireular frequency and acceleration/accel reflect the current location of hanging thing 200 jointly.In addition; Can obtain the cooresponding desired location that hangs thing 200 of current time according to the running orbit of the no runout state of setting and the setting running velocity (mainly determining with lifting-speed v) that hangs thing 200 by chassis 100 speed omega; Promptly under no runout state, hang the position that thing 200 should be in this moment.Continuation is with reference to figure 3, and the solid line among Fig. 3 is partly for hanging the real-world operation track of thing 200.Owing to based on factors such as velocity variations, wind-force, hang thing 200 and have runout in the actual moving process.
SC1) relatively hang thing 200 current location and with the cooresponding desired location of current time, calculate to obtain to hang the amplitude of thing 200;
Analytic unit can map to the real-world operation track that hangs thing 200 in each plane; Draw the moving track mapping curve of X axle, Y axle, Z axle that hangs thing 200; Please refer to Fig. 4, Fig. 4 is for hanging thing 200 real-world operation track and the mapping curve figure that sets running orbit on the X axle among Fig. 3.When hang thing 200 in the lifting process a certain when axially runout being arranged, hang thing 200 path of motions respective shaft to be mapped as non-linearly, reflection is hung the path of motion of thing 200 in the X axis position from t0 to te among Fig. 4 in the time.To hang thing 200t is example constantly, and wherein, t is t0 to te certain moment in the time period, and according to setting track, t displacement Sx constantly is a known quantity, and the actual position that is engraved in X axis during t is made as Rx, and the runout amplitude of oscillation that is engraved in the X axle when then hanging thing 200t should be Sx-Rx.Principle according to this, then can calculate lifting process t0 to te axial amplitude A of each X, Y, Z constantly in the time (x, y, z)=S (x; Y, z)-R (x, y, z); Please combine Fig. 5 to understand, Fig. 5 is for hanging thing 200X shaft orientation oscillation scheme drawing, and wherein the XS axle representes to hang the axial amplitude of thing 200X.
Further, deriving means 300 can comprise temperature sensor, is used for the temperature of real-time sense acceleration meter and turn meter.Because the precision of detecting elements such as accelerometer and turn meter possibly receive Influence of Temperature; So temperature sensor can be set; At step SB 1) in, the temperature of sense acceleration meter and turn meter is inscribed the acceleration/accel and the cooresponding temperature value of cireular frequency of detection when obtaining difference in real time.When analytic unit was handled acceleration/accel and angular velocity signal, also account temperature was to the influence of detected value.Such as; Through the conic fitting algorithm acceleration/accel and cireular frequency are carried out the temperature correction compensation, be about to the discrete detected value of temperature and acceleration/accel (or cireular frequency), be modeled as curve; According to the curve corresponding relation; Obtain the relation of sense acceleration value and actual acceleration value,, eliminate the influence of temperature traverse acceleration detection to obtain more accurate accekeration.
SD1) according to the amplitude control chassis 100 and/or the winch action of hanging thing 200, to reduce amplitude.
After calculating amplitude, controller can calculate for offset the needed runout A1 of this amplitude (x, y, z), in-service time T1, chassis 100 rotational angular velocities and elevator gathering speed.(direction of vibration z) is in the opposite direction with the runout that hangs thing 200 motion generations for x, y for amplitude A 1.Therefore, this amplitude can be offset the runout that hangs thing 200 in the lifting process wholly or in part, thereby the runout amplitude that makes the actual motion track that hangs thing 200 is in preset range.Hang thing 200 runout motion controllers and the control relation, the vibration damping that hang thing 200 are only put needed runout A1, in-service time T1, chassis 100 disc angle speed and elevator gathering speed, drive actuating units such as chassis 100 and elevator through signal output unit output control signal corresponding and carry out corresponding actions according to chassis 100 and elevator.
Hence one can see that; This scheme can be according to the amplitude of oscillation size and the swaying direction of runout, through the responsiveness of adjustment chassis 100 and/elevator, makes and hangs thing 200 and receive and swaying direction opposite effect power; Hang the amplitude of thing 200 with reduction; Chassis 100 can cooperate control simultaneously with elevator, realizes the quick convergence of runout, thereby reaches the function of fast short stopping pendulum.Then can lift by crane position to terminal reposefully with hanging thing 200 by the way, prevent to hang thing 200 runouts lifting machine is caused damage, improve the safety factor of lifting machine lifting.
When only putting according to amplitude, can also further optimize, as shown in Figure 6, Fig. 6 hangs the diagram of circuit of the another kind of specific embodiment of the method for thing 200 runouts for control provided by the present invention.
This specific embodiment comprises:
SA2) according to the lifting demand, set and hang the running orbit of thing 200 under no runout state, and set amplitude comparison value;
Rate of amplitude is used to consider the size of actual amplitude to value, can be according to the amplitude setting that hangs thing 200 under the normal circumstances.
SB2) obtain the current location of hanging thing 200 in real time, and obtain and the cooresponding desired location that hangs thing 200 of current time according to running orbit;
SC2) relatively hang thing 200 current location and with the cooresponding desired location of current time, calculate to obtain to hang the amplitude of thing 200;
SD2) judge that whether amplitude surpasses rate of amplitude to value, not, then gets into step SE2), be then to get into step SE3);
SE2) according to the amplitude control chassis 100 and/or the winch action of hanging thing 200,, and get into step SF2) with the reduction amplitude;
SF2) judging whether hang thing 200 reaches assigned address, is then to get into step SG2), promptly program stops, and not, then gets into step SB2), detect circulation again.
SE3) stop to hang thing 200 operations, and send alarm message.
At this moment, the amplitude that hangs thing has exceeded rate of amplitude to value, and the amplitude that hangs thing is excessive, in order to lift the suitable operation that stops to hang thing, and the operation of caution operator safety saferly.
More than the thing runout is hung in a kind of control provided by the present invention method and system carried out detailed introduction.Used concrete example among this paper principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (11)
1. the method that the thing runout is hung in control is characterized in that, comprises the steps:
A), set and hang the running orbit of thing under no runout state according to the lifting demand;
B) obtain the current location of hanging thing in real time, and obtain and the cooresponding desired location that hangs thing of current time according to running orbit;
C) relatively hang thing current location and with the cooresponding desired location of current time, calculate to obtain to hang the amplitude of thing runout;
D), receive with runout application force in the opposite direction and reduce amplitude so that hang thing according to hanging the amplitude control chassis and/or the winch action of thing.
2. the method for thing runout is hung in control according to claim 1, it is characterized in that step B) in, detect in real time and hang current acceleration/accel of thing and cireular frequency, obtain the current location of hanging thing according to lifting time, the current acceleration/accel that obtains and angular speed calculation.
3. the method for thing runout is hung in control according to claim 2, it is characterized in that step B) in, also in real time detect current temperature, through the temperature that detects acceleration/accel and cireular frequency are carried out rectification building-out and obtain and hang current acceleration/accel of thing and cireular frequency.
4. the method that the thing runout is hung in each described control according to claim 1 to 3 is characterized in that steps A) in, set amplitude comparison value gone back; Step C) in, whether the comparison amplitude exceeds rate of amplitude to value, not, then gets into step D), be then to get into following step:
E) stop to hang the thing operation.
5. the method for thing runout is hung in control according to claim 4, it is characterized in that step e) in, alarm message also sent.
6. the method that the thing runout is hung in each described control according to claim 1 to 3 is characterized in that steps A) in, set track and set up according to following steps:
Confirm to hang thing, reference position and final position are measured and are obtained to hang thing and vertically reach the shift value of vertical direction in horizontal cross, level in the position to terminal from reference position;
Be initial point with the lifting appliance, to hang the thing reference position be initial point, cook up to hang thing and set track:
Lz=M-v*T;
Wherein, Lx, Ly, Lz are respectively and hang thing and vertically reach the shift value of vertical direction in horizontal cross, level in the position to terminal from reference position; T is that the lifting total time, the L that hang thing are the arm length of run, and M is that elevator lifting rope total length, ω are that the setting rotational angular velocity on chassis, setting gathering speed, the M that v is lifting rope are the initial length of lifting rope.
7. the system that the thing runout is hung in control is characterized in that, comprises that controller and being used for of being attached thereto obtain the deriving means that hangs thing current location parameter in real time, and said controller comprises:
Memory cell is hung the running orbit of thing under no runout state in order to storage according to what the lifting demand was set;
With memory cell bonded assembly analytic unit, the current location of hanging thing according to the current location parameter acquiring; And obtain and the cooresponding desired location that hangs thing of current time according to hanging the running orbit of thing under no runout state, and compare, obtain to hang the amplitude of thing with the current location of hanging thing;
With analytic unit bonded assembly signal output unit, according to the amplitude output control chassis of hanging thing and/or the signal of winch action, to reduce amplitude.
8. the system of thing runout is hung in control according to claim 7, it is characterized in that, deriving means comprises and analytic unit bonded assembly accelerometer and turn meter, hangs current acceleration/accel of thing and cireular frequency in order to detection respectively; Said analytic unit combines lifting time, the current acceleration/accel that obtains and cireular frequency to obtain the current location of hanging thing.
9. the system of thing runout is hung in control according to claim 8; It is characterized in that; Deriving means also comprises and analytic unit bonded assembly temperature sensor, and said analytic unit carries out rectification building-out through the temperature that detects to acceleration/accel and cireular frequency and obtains and hang current acceleration/accel of thing and cireular frequency.
10. the system that the thing runout is hung in each described control according to claim 7 to 9 is characterized in that, also stores rate of amplitude in the said memory cell to value; When analytic unit comparison amplitude exceeded rate of amplitude to value, signal output unit output stopped to hang the information of thing operation, and when not exceeding rate of amplitude to value, signal output unit is according to the signal of amplitude output control chassis and/or winch action, to reduce amplitude.
11. the system of thing runout is hung in control according to claim 10, it is characterized in that, when analytic unit comparison amplitude exceeded rate of amplitude to value, signal output unit is output alarm information also.
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| CN104129712A (en) * | 2014-07-10 | 2014-11-05 | 浙江工业大学 | Adjusting and control method of swing resistance enhanced bridge-type crane |
| TWI704094B (en) * | 2016-01-12 | 2020-09-11 | 日商大福股份有限公司 | Article transport device |
| CN112323802A (en) * | 2020-10-13 | 2021-02-05 | 三峡大学 | Concrete tank landing anti-swing system and method for cable crane in dam construction |
| CN112938756A (en) * | 2021-01-29 | 2021-06-11 | 华中科技大学 | Active control method and system for space shimmy of crane ship lifting system |
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