CN102602839A - Control system, winding system and crane - Google Patents
Control system, winding system and crane Download PDFInfo
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- CN102602839A CN102602839A CN2012100537135A CN201210053713A CN102602839A CN 102602839 A CN102602839 A CN 102602839A CN 2012100537135 A CN2012100537135 A CN 2012100537135A CN 201210053713 A CN201210053713 A CN 201210053713A CN 102602839 A CN102602839 A CN 102602839A
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Abstract
The invention discloses a control system, which is used for controlling at least two winding mechanisms to operate coordinately and comprises an input device, a compensation device, a first processing device and a master control device. The input device is used for generating input control systems according to information inputted by a user, the compensation device is used for generating compensation signals according to environment perturbation of the winding mechanisms, the first processing device is used for correcting the input control signals according to the compensation signals so as to generate first deviation signals, and the master control device is used for generating output control signals for controlling coordinate operation of the winding mechanisms according to the first deviation signals. The invention further provides a winding system and a crane. The control system, the winding system and the crane have the advantages that the compensation signals are generated by the compensation device according to the environment perturbation, the input control signals are corrected by the first processing device according to the compensation signals, accordingly, interference of the environment perturbation to the winding mechanisms can be eliminated, and anti-interference capacity is enhanced.
Description
Technical field
The present invention relates to the hoisting crane field, particularly relate to a kind of control system, hoisting system and hoisting crane.
Background technology
Hoisting crane realizes that the luffing of jib is to realize through hoisting system.The hoisting system of prior art is to realize the luffing of jib or realize the luffing of jib through the absolute synchronization of two hoisting mechanisms through single hoisting mechanism.When the control system of hoisting system is worked; The operator gives PLC (Programmable Logic Controller through modes such as handles; Programmable logic controller (PLC)) incoming signal of controller input; PLC controller output control signal is given hoisting mechanism, and hoisting mechanism is through media implementation luffings such as steel ropes.But; There is following defective in this control system: the environmental perturbation that produces along with factors such as ambient temperature change, electronic devices and components are aging can exert an influence to hoisting mechanism; And the PLC controller can't produce control signal corresponding to these environmental perturbations, causes hoisting mechanism to lack antijamming capability.
Therefore, a kind of control system, hoisting system and hoisting crane need be provided, to solve the above-mentioned technical matters of prior art.
Summary of the invention
The technical matters that the present invention mainly solves provides a kind of control system, hoisting system and hoisting crane, can improve the antijamming capability to environmental perturbation.
For solving the problems of the technologies described above, the invention provides a kind of control system, be used at least two hoisting mechanism collaborative works of control, it comprises: input media is used for producing input control signal according to user's input; Compensating device is used for producing compensating signal according to the environmental perturbation of at least two hoisting mechanisms; First processing equipment is used for according to compensating signal input control signal being proofreaied and correct, to produce first deviation signal; Main control unit is used for producing the output control signal that is used to control at least two hoisting mechanism collaborative works according to first deviation signal.
Wherein, compensating device comprises the voltage sensor that is used for checking system voltage and/or is used for the temperature sensor of testing environment temperature.
Wherein, Control system further comprises the overall feedback device; The overall feedback device is used for producing first feedback signal according to the integrality of at least two hoisting mechanisms, and first processing equipment is further proofreaied and correct input control signal according to first feedback signal, to regulate first deviation signal.
Wherein, the overall feedback device comprises and is used to detect putting rope and receiving putting rope and receiving the rope sensor and/or be used to detect the current sensor of the working current of at least two hoisting mechanisms of rope amount of at least two hoisting mechanisms.
Wherein, Control system further comprises at least two the local feedback devices and second processing equipment; Each local feedback device is respectively applied for the mode of operation that detects a hoisting mechanism; And produce second feedback signal, and second processing equipment produces second deviation signal according to second feedback signal that at least two local feedback devices produce, and main control unit is further proofreaied and correct the output control signal according to second deviation signal.
Wherein, the local feedback device comprises the pressure sensor of the delivery pressure that is used to detect hoisting mechanism and/or is used to detect the speed sensor of the speed of hoisting mechanism.
Wherein, In receiving the rope process; The high-low pressure of first hoisting mechanism at least two hoisting mechanisms of main control unit control switches the overflow electromagnetic valve and is in high pressure conditions; And the high-low pressure switching overflow electromagnetic valve of controlling second hoisting mechanism is in low-pressure state, so that the delivery pressure of first hoisting mechanism is greater than the delivery pressure of second hoisting mechanism.
Wherein, in putting the rope process, the balance cock of first hoisting mechanism at least two hoisting mechanisms of main control unit control makes first hoisting mechanism state that has the initiative, and the balance cock of controlling second hoisting mechanism makes second hoisting mechanism be in driven state.
For solving the problems of the technologies described above, the present invention also provides a kind of hoisting system, and it comprises at least two hoisting mechanisms and above-mentioned any control system.
For solving the problems of the technologies described above, the present invention also provides a kind of hoisting crane, and it comprises above-mentioned hoisting system.
The invention has the beneficial effects as follows: the situation that is different from prior art; Control system of the present invention, hoisting system and hoisting crane produce compensating signal through compensating device according to environmental perturbation; And according to compensating signal input control signal is proofreaied and correct through first processing equipment; And then can eliminate the interference of environmental perturbation to hoisting mechanism, improve antijamming capability.
Further, the present invention further proofreaies and correct input control signal according to the feedback signal that overall feedback device and local positioner obtain, and can improve the working stability of control system.
Description of drawings
Fig. 1 is the structural representation of the hoisting system of first embodiment of the invention;
Fig. 2 is the hydraulic principle scheme drawing of the hoisting mechanism of hoisting system shown in Figure 1.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is elaborated.
See also Fig. 1, shown in Figure 1 is the structural representation of the hoisting system of first embodiment of the invention.
Hoisting system comprises a plurality of hoisting mechanisms and control system, and in addition, hoisting system comprises that also being used to control system provides dynamical element of power (not shown) and conversion element (not shown).Control system is used for these a plurality of hoisting mechanism collaborative works of control, and it comprises input media 101, compensating device 102, first processing equipment 103, main control unit 104, overall feedback device 105, a plurality of local feedback device 106 and second processing equipment 107.
In the present embodiment, the quantity of a plurality of hoisting mechanisms can be two or more, that is: as shown in Figure 1, a plurality of hoisting mechanisms comprise hoisting mechanism 1, hoisting mechanism 2 ..., hoisting mechanism N, N is the integer more than or equal to 2.The quantity of a plurality of local feedback devices 106 is identical with the quantity of a plurality of hoisting mechanisms, hoisting mechanism of each local feedback device 106 corresponding connection.
Compensating device 102 is used for producing compensating signal according to the environmental perturbation of a plurality of hoisting mechanisms.In natural environment; Control system and hoisting mechanism are when work; It is extraneous or self innerly will produce the interference that environmental perturbation brings, and these disturb the work that can influence hoisting mechanism to a certain extent, reduce the control accuracy of control system; If these interference are not handled, then the control accuracy of control system can not reach the requirement even the Control Failure of expection.So, produce compensating signal according to the interference that the environmental perturbation of a plurality of hoisting mechanisms brings through compensating device 102.In the present embodiment, compensating device 102 comprises the voltage sensor that is used for checking system voltage and/or is used for the temperature sensor of testing environment temperature, can detected temperatures and the variation of voltage.In other embodiments, compensating device 102 can comprise other sensors, is used to detect the environmental perturbation that other reasons causes.
Through introducing overall feedback device 105, make control system become feeding back closed-loop control system, can further improve the control accuracy of control system.
Each local feedback device 106 is respectively applied for the mode of operation that detects a hoisting mechanism, and produces second feedback signal, and this mode of operation comprises speed, voltage etc.In the present embodiment; Local feedback device 106 comprises the pressure sensor of the delivery pressure that is used to detect hoisting mechanism and/or is used to detect the speed sensor of the speed of hoisting mechanism; When speed and pressure depart from the control accuracy requirement, local feedback device 106 will produce second feedback signal.
After introducing a plurality of local feedback devices 106, a plurality of local feedback devices 106 make control system become the plural parallel stage feeding back closed-loop control system with overall feedback device 105, and the control accuracy of control system is further improved.
In one embodiment of the present invention; In receiving the rope process; The high-low pressure of first hoisting mechanism in a plurality of hoisting mechanisms of main control unit 104 controls switches the overflow electromagnetic valve and is in high pressure conditions; And the high-low pressure switching overflow electromagnetic valve of controlling second hoisting mechanism is in low-pressure state, so that the delivery pressure of first hoisting mechanism is greater than the delivery pressure of second hoisting mechanism.
Should be appreciated that first hoisting mechanism and second hoisting mechanism are not limited to specific hoisting mechanism.Main control unit 104 can be selected one as first hoisting mechanism according to actual needs from a plurality of hoisting mechanisms, and selects another as second hoisting mechanism.Further; The high-low pressure switching overflow electromagnetic valve that main control unit 104 also can be controlled a part of hoisting mechanism in a plurality of hoisting mechanisms according to actual needs is in high pressure conditions; And the high-low pressure switching overflow electromagnetic valve of control another part hoisting mechanism is in low-pressure state; So that delivery pressure that should part hoisting mechanism is greater than the delivery pressure of another part hoisting mechanism, thereby reach the purpose of a plurality of hoisting mechanism collaborative works.
In putting the rope process, the balance cock of first hoisting mechanism in a plurality of hoisting mechanisms of main control unit 104 control makes first hoisting mechanism state that has the initiative, and the balance cock of controlling second hoisting mechanism makes second hoisting mechanism be in driven state.
Should be appreciated that first hoisting mechanism and second hoisting mechanism are not limited to specific hoisting mechanism.Main control unit 104 can be selected one as first hoisting mechanism according to actual needs from a plurality of hoisting mechanisms, and selects another as second hoisting mechanism.Further; The balance cock that main control unit 104 also can be controlled a part of hoisting mechanism in a plurality of hoisting mechanisms according to actual needs makes a part of hoisting mechanism state that has the initiative; And the balance cock of control another part hoisting mechanism makes another part hoisting mechanism be in driven state, thereby reaches the purpose of a plurality of hoisting mechanism collaborative works.
Wherein, Main control unit 104 is as the core parts of control system; Bear whole control processs of hoisting system, comprise that the input control signal that produces according to input media 101 carries out logic control to dynamical element, conversion element and a plurality of hoisting mechanism of hoisting system according to certain sequencing and time sequence; According to first deviation signal of first processing equipment, 103 generations and second deviation signal of second processing equipment, 107 generations the input control signal that input media 101 produces is proofreaied and correct step by step.For example; Main control unit 104 can receive second deviation signal that second feedback signal that comprises velocity amplitude and force value that second processing equipment 107 real-time monitors according to a plurality of local feedback devices 106 produces; Second processing equipment 107 compares force value and predefined safe pressure value; And judge according to velocity amplitude whether the collaborative work of each hoisting mechanism is normal; And according to above-mentioned comparative result and judged result adjustment generation second deviation signal, main control unit 104 is proofreaied and correct the output control signal according to second deviation signal.Further, second processing equipment 107 also can produce second deviation signal according to the comparative result between second feedback signal of each local feedback device 106 generation.
In addition, main control unit 104 is also introduced the house dog principle, when abnormal condition occurring, resets according to all mechanisms and the element of parameter preset control hoisting system, with the work safety that guarantees hoisting system, reliably.In the present embodiment, main control unit 104 is the PLC controller.In other embodiments, main control unit 104 can be other devices that possesses FPGA control.
See also Fig. 2, shown in Figure 2 is the hydraulic principle scheme drawing of the hoisting mechanism of hoisting system shown in Figure 1.
The mode of operation of speed sensor 201 and pressure sensor 202 real-time monitoring hoisting mechanisms 200 is to form second feedback signal.High-low pressure switches overflow electromagnetic valve 303 and cooperates the control hoisting mechanism to put rope or receipts rope together with balance cock 304.
When needs hoisting mechanism 200 was received rope as first hoisting mechanism, it was high pressure conditions that main control unit 104 is set high-low pressure switching overflow electromagnetic valve 203; When needs hoisting mechanism 200 was enough received rope as second winch, it was low-pressure state that main control unit 104 is set high-low pressure switching overflow electromagnetic valve 203.
Put when rope when needs hoisting mechanism 200 as first hoisting mechanism, balance cock 204 is in closed condition, makes the winch 200 structures state that has the initiative; When needs hoisting mechanism 200 was enough put rope as second winch, main control unit 104 control balance cocks 204 were in opening, make hoisting mechanism 200 be in driven state.
Hoisting system shown in Figure 1 can be used in the hoisting crane.At this moment, a plurality of hoisting mechanisms of hoisting system are connected with the jib of hoisting crane through steel rope, with the external device (ED) of jib as hoisting system control, jib is carried out luffing control.The user imports like handle or button etc. through input media 101, and input media 101 produces input control signal according to user's input.Jib will carry out luffing according to input control signal.
By the way; Control system of the present invention, hoisting system and hoisting crane produce compensating signal through compensating device according to environmental perturbation; And according to compensating signal input control signal is proofreaied and correct through first processing equipment; And then can eliminate the interference of environmental perturbation to hoisting mechanism, improve antijamming capability.
Further, the feedback signal that the present invention adopts overall feedback device and local positioner to obtain is further proofreaied and correct input control signal, can improve the working stability of control system.
The above is merely embodiments of the invention; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes specification sheets of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (10)
1. a control system is used at least two hoisting mechanism collaborative works of control, it is characterized in that said control system comprises:
Input media is used for producing input control signal according to user's input;
Compensating device is used for producing compensating signal according to the environmental perturbation of said at least two hoisting mechanisms;
First processing equipment is used for according to said compensating signal said input control signal being proofreaied and correct, to produce first deviation signal;
Main control unit is used for producing the output control signal that is used to control said at least two hoisting mechanism collaborative works according to said first deviation signal.
2. control system according to claim 1 is characterized in that, said compensating device comprises the voltage sensor that is used for checking system voltage and/or is used for the temperature sensor of testing environment temperature.
3. control system according to claim 1; It is characterized in that; Said control system further comprises the overall feedback device; Said overall feedback device is used for producing first feedback signal according to the integrality of said at least two hoisting mechanisms, and said first processing equipment is further proofreaied and correct said input control signal according to said first feedback signal, to regulate said first deviation signal.
4. control system according to claim 3; It is characterized in that said overall feedback device comprises and is used to detect putting rope and receiving putting rope and receiving the rope sensor and/or be used to detect the current sensor of the working current of said at least two hoisting mechanisms of rope amount of said at least two hoisting mechanisms.
5. control system according to claim 1; It is characterized in that; Said control system further comprises at least two the local feedback devices and second processing equipment; Each said local feedback device is respectively applied for the mode of operation that detects a said hoisting mechanism; And produce second feedback signal, and said second processing equipment produces second deviation signal according to said second feedback signal that said at least two local feedback devices produce, and said main control unit is further proofreaied and correct said output control signal according to said second deviation signal.
6. control system according to claim 1 is characterized in that, said local feedback device comprises the pressure sensor of the delivery pressure that is used to detect said hoisting mechanism and/or is used to detect the speed sensor of the speed of said hoisting mechanism.
7. control system according to claim 1; It is characterized in that; In receiving the rope process; The high-low pressure of first hoisting mechanism in said at least two hoisting mechanisms of said main control unit control switches the overflow electromagnetic valve and is in high pressure conditions, and the high-low pressure of controlling second hoisting mechanism switches the overflow electromagnetic valve and is in low-pressure state, so that the delivery pressure of said first hoisting mechanism is greater than the delivery pressure of said second hoisting mechanism.
8. control system according to claim 1; It is characterized in that; In putting the rope process; The balance cock of first hoisting mechanism in said at least two hoisting mechanisms of said main control unit control makes said first hoisting mechanism state that has the initiative, and the balance cock of controlling second hoisting mechanism makes said second hoisting mechanism be in driven state.
9. a hoisting system is characterized in that, said hoisting system comprises at least two hoisting mechanisms and like any described control system in the claim 1 to 8.
10. a hoisting crane is characterized in that, said hoisting crane comprises hoisting system as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210053713.5A CN102602839B (en) | 2012-03-02 | 2012-03-02 | Control system, winding system and crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210053713.5A CN102602839B (en) | 2012-03-02 | 2012-03-02 | Control system, winding system and crane |
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| CN102602839A true CN102602839A (en) | 2012-07-25 |
| CN102602839B CN102602839B (en) | 2015-01-21 |
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Cited By (4)
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| CN103601093A (en) * | 2013-09-17 | 2014-02-26 | 中联重科股份有限公司 | Synchronous control method, device and system for tower crane and double hoisting mechanisms thereof |
| CN105366464A (en) * | 2014-08-19 | 2016-03-02 | 株式会社日立产机系统 | Moving device, hoisting machine and lifting device, and wheel life estimation method thereof |
| CN109553014A (en) * | 2018-12-13 | 2019-04-02 | 中联重科股份有限公司 | Winding plant and lifting equipment with the winding plant |
| WO2021169660A1 (en) * | 2020-02-26 | 2021-09-02 | 三一汽车起重机械有限公司 | Anti-electromagnetic interference telescopic boom and crane |
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| CN103601093A (en) * | 2013-09-17 | 2014-02-26 | 中联重科股份有限公司 | Synchronous control method, device and system for tower crane and double hoisting mechanisms thereof |
| CN103601093B (en) * | 2013-09-17 | 2016-06-01 | 中联重科股份有限公司 | Tower machine and two lifting mechanism synchronization control method, apparatus and system thereof |
| CN105366464A (en) * | 2014-08-19 | 2016-03-02 | 株式会社日立产机系统 | Moving device, hoisting machine and lifting device, and wheel life estimation method thereof |
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| WO2021169660A1 (en) * | 2020-02-26 | 2021-09-02 | 三一汽车起重机械有限公司 | Anti-electromagnetic interference telescopic boom and crane |
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| CN102602839B (en) | 2015-01-21 |
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