CN102826454B - Crane rotation control system, control method and crane - Google Patents
Crane rotation control system, control method and crane Download PDFInfo
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- CN102826454B CN102826454B CN201210313135.4A CN201210313135A CN102826454B CN 102826454 B CN102826454 B CN 102826454B CN 201210313135 A CN201210313135 A CN 201210313135A CN 102826454 B CN102826454 B CN 102826454B
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Abstract
The invention discloses a crane rotation control system which comprises a detection module, an adjustment module and a control module, wherein the detection module is used for detecting rotation load parameters in a free trackslip state, comprising the magnitude and the direction of a rotation load torque; the adjustment module is used for pre-storing a first functional relation between the rotation load parameters and a rotation current range, acquiring the rotation current range corresponding to the rotation load parameters according to the first functional relation and adjusting the rotation current range; and the control module is used for regulating rotation current in the adjusted rotation current range according to the opening of a rotation handle and controlling a rotation mechanism to rotate under the action of the rotation current corresponding to the opening of the rotation handle. According to the control system, the rotation current range is adjusted according to a rotation load obtained by detecting in the free trackslip state, so that the rotation current can be adjusted according to the opening of the rotation handle to ensure that the rotation speed is automatically adjusted so as to improve the stability and the operation controllability of the rotation mechanism. The invention also provides a crane rotation control method and a crane.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of crane rotation control system and control method and hoisting crane.
Background technology
Crane rotation mechanism generally comprises Hydraulic Pump, rotary motor, rotary reducer, revolving support etc., operator controls swing type mechanism by rotary handle, the hand of rotation of rotary handle controls pivotal direction, handle aperture controls the size of revolution electric current, the size of revolution electric current controls capacity of pump, the size of capacity of pump determines speed of revolutions, thus can control speed of revolutions by the aperture of regulating handle.
But when swing type mechanism is subject to External Force Acting, the uncontrollable situation of speed of revolutions may be there is.If crawler crane is when implementing wind-powered electricity generation lifting, because the wind speed of wind energy turbine set is comparatively large, the impact that crawler crane wind-engaging carries, can have an impact to speed of revolutions, when wind carry direction consistent with gyratory directions time, speed of revolutions may be made excessive; When wind carry direction contrary with gyratory directions time, speed of revolutions may be made too small.And for example when ground is uneven, the swing type mechanism of hoisting crane also can be made by unbalance loading, thus produce the uncontrollable situation of speed of revolutions.
At present, existing crane rotation control system does not have perception swing type mechanism to be subject to the function of External Force Acting, cannot adjust this, can only rely on artificial the regulating speed of revolutions of the experience of operator.
Summary of the invention
In view of this, the present invention proposes a kind of crane rotation control system and control method and hoisting crane, is subject to external force and the uncontrollable problem of speed of revolutions produced to solve swing type mechanism in crane rotation process.
On the one hand, a kind of crane rotation control system of the present invention, this system comprises: detection module, and for detecting revolution load parameter under free rotary state, described parameter comprises the size and Orientation of revolution load torque; Adjusting module, the first functional relation prestored between revolution load parameter and revolution range of current, according to described first functional relation, obtains the revolution range of current corresponding with revolution load parameter, adjustment revolution range of current; Control module, according to rotary handle aperture, regulates revolution electric current in revolution range after the adjustment, controls swing type mechanism and turn round under the revolution galvanic action that rotary handle aperture is corresponding.
Further, described revolution load detection module comprises the tachogen be arranged on rotary motor, for detecting the rotating speed size and Orientation of rotary motor; Turn round the second functional relation of motor rotary speed under revolution load torque size and the free rotary state of prestoring in described detection module, revolution load torque size and Orientation can be obtained by the rotating speed size and Orientation detecting the rotary motor obtained.
Further, in described first functional relation, when the direction turning round load torque is contrary with gyratory directions, begining revolving current value increases along with the increase of revolution load torque; When the direction turning round load torque is identical with gyratory directions, stops revolution current value and reduce along with the increase of revolution load torque.
Further, described detection module also comprises time control unit, for the default time detecting revolution load parameter.
Rotary control system provided by the invention is according to the parameter adjustment revolution range of current detecting the revolution load obtained under free rotary state, thus can according to rotary handle aperture adjustment revolution electric current in revolution range of current, speed of revolutions is adjusted automatically, improves the stationarity of swing type mechanism and the controllability of operation.
On the other hand, present invention also offers a kind of hoisting crane, comprise swing type mechanism and above-mentioned rotary control system.
Again on the one hand, the invention provides a kind of crane rotation control method, the method is carried out in the steps below:
S1, the first functional relation prestored between revolution load parameter and revolution range of current;
S2, startup rotary handle;
S3, unlatching free rotary function, detect the parameter of revolution load, comprise the size and Orientation of revolution load torque;
S4, according to described first functional relation, obtain the revolution range of current corresponding with detecting the revolution load parameter that obtains, range of current is turned round in adjustment;
S5, closedown free rotary function, enter revolution program, and according to rotary handle aperture, regulate revolution electric current in the revolution range of current after described adjustment, swing type mechanism turns round under the revolution galvanic action that rotary handle aperture is corresponding.
Further, step S3 turns round the second functional relation of motor rotary speed under also comprising prestore revolution load torque size and free rotary state, detected the rotating speed size and Orientation of rotary motor by the tachogen be arranged on rotary motor, revolution load torque size and Orientation can be obtained according to the second functional relation.
Further, in described first functional relation, in the first functional relation, when the direction turning round load torque is contrary with gyratory directions, begining revolving current value increases along with the increase of revolution load torque; When the direction turning round load torque is identical with gyratory directions, stops revolution current value and reduce along with the increase of revolution load torque.
Further, a kind of crane rotation control method, is characterized in that, when entering step S3, starts timing, after a predetermined time, enters step S5.
Revolving-control method provided by the invention detects the parameter of revolution load under free rotary state, again according to parameter adjustment revolution range of current, thus can according to adjustment revolution electric current in rotary handle aperture revolution range of current after the adjustment, speed of revolutions is adjusted automatically, improves the stationarity of swing type mechanism and the controllability of operation.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is crane rotation mechanism control method diagram of circuit provided by the invention.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
Basic thought of the present invention is: be subject to external force and the uncontrollable problem of speed of revolutions produced to solve swing type mechanism in crane rotation process, the present invention proposes a kind of crane rotation control system, rotary control system provided by the invention is according to the parameter adjustment revolution range of current detecting the revolution load obtained under free rotary state, thus adjustment revolution electric current, speed of revolutions is adjusted automatically, improves the stationarity of swing type mechanism and the controllability of operation.
To be described in further detail the preferred embodiments of the present invention below, a kind of crane rotation control system that the embodiment of the present invention provides comprises: detection module, for detecting revolution load parameter under free rotary state, described parameter comprises the size and Orientation of revolution load torque; Adjusting module, the first functional relation prestored between revolution load parameter and revolution range of current, according to described first functional relation, obtains the revolution range of current corresponding with revolution load parameter, adjustment revolution range of current; Control module, according to rotary handle aperture, regulates revolution electric current in revolution range of current after the adjustment, controls swing type mechanism and turn round under the revolution galvanic action that rotary handle aperture is corresponding.
Detection module can be that in crane rotation mechanism, existing detecting device also can be the detecting device arranged separately, as long as can detect the size and Orientation obtaining turning round load torque; Adjusting module and control module can share the internal piloting unit of the existing controller of hoisting crane.
Under free rotary state, revolution air pump inoperative, crane is not braked, and turntable is under the revolution load torque effect self be subject to, free rotary, therefore can detect the size and Orientation of the revolution load torque that it is subject to by the motion conditions of its free rotary.
In revolution operation, rotary handle aperture controls the size of revolution electric current, the size of revolution electric current controls capacity of pump, the size of capacity of pump determines speed of revolutions, thus speed of revolutions can be controlled by the aperture of regulating handle, but revolution electric current can only regulate, as being 200mA-600mA under normal circumstances in certain scope.Revolution range of current in the embodiment of the present invention can regulate according to the first functional relation between revolution load parameter and revolution range of current, be adjusted to the revolution range of current corresponding with turning round load parameter, comprise and regulate begining revolving current value and stop revolution current value, thus can according to regulating revolution electric current in rotary handle aperture revolution range of current after the adjustment, and then make speed of revolutions controlled.
The crane rotation control system that the embodiment of the present invention provides, structure is simple, controls simple.
Further, turn round load detection module and comprise the tachogen be arranged on rotary motor, for detecting the rotating speed size and Orientation of rotary motor; Turn round the second functional relation of motor rotary speed under revolution load torque size and the free rotary state of prestoring in described detection module, revolution load torque size and Orientation can be obtained by the rotating speed size and Orientation detecting the rotary motor obtained.
Under free rotary state, turntable is free rotary under the revolution load torque effect self be subject to, and therefore can set up the functional relation between the rotating speed size of free rotary and revolution load torque.
Further, in the first functional relation, when the direction turning round load torque is contrary with gyratory directions, begining revolving current value increases along with the increase of revolution load torque; When the direction turning round load torque is identical with gyratory directions, stops revolution current value and reduce along with the increase of revolution load torque.
Begining revolving electric current is the minimum revolution electric current in revolution range of current, and stopping revolution electric current is turn round the maximum revolution electric current in range of current.Above-mentioned gyratory directions is the direction that rotary handle controls rotation of rotary table.When the direction turning round load torque is contrary with gyratory directions, owing to there is an opposition, want to obtain speed of revolutions large equally, need to strengthen revolution electric current, therefore begining revolving current value increases along with the increase of revolution load torque; When the direction turning round load torque is identical with gyratory directions, owing to there is an application force in the same way, under identical revolution galvanic action, speed of revolutions can be larger, the excessive uncontrollable situation of speed may be there is when turning round electric current and being maximum, need to reduce maximum revolution electric current, therefore stop revolution current value and reduce along with the increase of revolution load torque.
Further, detection module also comprises time control unit, for the default time detecting revolution load parameter.When the time detecting revolution load parameter reaches Preset Time, control system controls hoisting crane and automatically enters turn state.This Preset Time can be an empirical value, and time control unit can be a unit of crane controller inside.
Present invention also offers a kind of hoisting crane, comprise swing type mechanism and above-mentioned rotary control system.Because above-mentioned rotary control system has above-mentioned technique effect, therefore, the hoisting crane comprising this rotary control system also should possess corresponding technique effect, and its specific implementation process is similar to the above embodiments, does not hereby repeat.
With reference to Fig. 1, present invention also offers a kind of crane rotation control method, the method is carried out in the steps below:
S1, the first functional relation prestored between revolution load parameter and revolution range of current;
S2, startup rotary handle;
S3, unlatching free rotary function, detect the parameter of revolution load, comprise the size and Orientation of revolution load torque;
S4, according to described first functional relation, obtain the revolution range of current corresponding with detecting the revolution load parameter that obtains, range of current is turned round in adjustment;
S5, closedown free rotary function, enter revolution program, and according to rotary handle aperture, regulate revolution electric current in described revolution range of current, swing type mechanism turns round under the revolution galvanic action that rotary handle aperture is corresponding.
Aperture except starting rotary handle and adjustment rotary handle in above-mentioned steps needs manual operation, and other flow processs all can control automatic flow by rotary control system internal processes and complete, and this control method is simple to operate; This control method detects the parameter of revolution load under free rotary state, again according to parameter adjustment revolution range of current, thus according to adjustment revolution electric current in the aperture of rotary handle revolution range of current after the adjustment, speed of revolutions is adjusted automatically, improves the stationarity of swing type mechanism and the controllability of operation.
Further, step S3 turns round the second functional relation of motor rotary speed under also comprising prestore revolution load torque size and free rotary state, detected the rotating speed size and Orientation of rotary motor by the tachogen be arranged on rotary motor, revolution load torque size and Orientation can be obtained according to the second functional relation.
Further, in the first functional relation, when the direction turning round load torque is contrary with gyratory directions, begining revolving current value increases along with the increase of revolution load torque; When the direction turning round load torque is identical with gyratory directions, stops revolution current value and reduce along with the increase of revolution load torque.
Further, a kind of crane rotation control method, is characterized in that, when entering step S3, starts timing, after a predetermined time, enters step S5.Like this, after entering step S3, program just enters step S5 automatically after a predetermined time, need not artificially interfere, and controls simple.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a crane rotation control system, is characterized in that, this system comprises:
Detection module, detection module comprises the tachogen be arranged on rotary motor, turns round the second functional relation of motor rotary speed in detection module under prestore revolution load torque size and free rotary state; Under free rotary state, detect by tachogen the rotary motor rotating speed size and Orientation obtained and calculate acquisition revolution load parameter, revolution load parameter comprises revolution load torque size and Orientation;
Adjusting module, the first functional relation prestored between revolution load parameter and revolution range of current, according to described first functional relation, obtains the revolution range of current corresponding with revolution load parameter, adjustment revolution range of current; When the direction turning round load torque is contrary with gyratory directions, begining revolving current value increases along with the increase of revolution load torque; When the direction turning round load torque is identical with gyratory directions, stops revolution current value and reduce along with the increase of revolution load torque;
Control module, according to rotary handle aperture, regulates revolution electric current in revolution range of current after the adjustment, controls swing type mechanism and turn round under the revolution galvanic action that rotary handle aperture is corresponding.
2. rotary control system according to claim 1, is characterized in that, detection module also comprises time control unit, for the default time detecting revolution load parameter.
3. a hoisting crane, comprises swing type mechanism, it is characterized in that, also comprises the rotary control system described in any one of claim 1 to 2.
4. a crane rotation control method, is characterized in that, the method is carried out in the steps below:
S1, the first functional relation prestored between revolution load parameter and revolution range of current;
S2, startup rotary handle;
S3, unlatching free rotary function, detect the parameter of revolution load, comprise the size and Orientation of revolution load torque;
S4, according to described first functional relation, obtain the revolution range of current corresponding with detecting the revolution load parameter that obtains, range of current is turned round in adjustment;
S5, closedown free rotary function, enter revolution program, and according to rotary handle aperture, regulates revolution electric current in revolution range of current after the adjustment, swing type mechanism turns round under the revolution galvanic action that rotary handle aperture is corresponding.
5. revolving-control method according to claim 4, it is characterized in that, step S3 turns round the second functional relation of motor rotary speed under also comprising prestore revolution load torque size and free rotary state, detected the rotating speed size and Orientation of rotary motor by the tachogen be arranged on rotary motor, revolution load torque size and Orientation can be obtained according to the second functional relation.
6. revolving-control method according to claim 4, it is characterized in that, in described first functional relation, in the first functional relation, when the direction turning round load torque is contrary with gyratory directions, begining revolving current value increases along with the increase of revolution load torque; When the direction turning round load torque is identical with gyratory directions, stops revolution current value and reduce along with the increase of revolution load torque.
7. revolving-control method according to claim 4, is characterized in that, when entering step S3, starts timing, after a predetermined time, enters step S5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210313135.4A CN102826454B (en) | 2012-08-29 | 2012-08-29 | Crane rotation control system, control method and crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210313135.4A CN102826454B (en) | 2012-08-29 | 2012-08-29 | Crane rotation control system, control method and crane |
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| CN102826454A CN102826454A (en) | 2012-12-19 |
| CN102826454B true CN102826454B (en) | 2015-04-22 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103303800B (en) * | 2013-06-24 | 2015-06-03 | 中联重科股份有限公司 | Crane rotation control method and system and crane |
| CN103434936B (en) * | 2013-08-29 | 2015-06-17 | 徐州重型机械有限公司 | Automatic control method and system for lifting operation of crane |
| CN103640977B (en) * | 2013-11-19 | 2015-10-14 | 中联重科股份有限公司 | Rotation control method, device and system and tower crane |
| CN107169254B (en) * | 2017-07-21 | 2020-04-28 | 济南大学 | Method for evaluating performance and predicting residual life of rotary system of automobile crane |
| CN112664502A (en) * | 2020-12-30 | 2021-04-16 | 山推工程机械股份有限公司 | Control handle and control method thereof |
| CN112919345B (en) * | 2021-02-04 | 2023-05-23 | 三一汽车起重机械有限公司 | Crane rotation control method and device, crane and storage medium |
| CN115593322A (en) * | 2022-10-31 | 2023-01-13 | 湖南三一华源机械有限公司（Cn） | Work machine control method, control device, and work machine |
| CN115838120B (en) * | 2023-02-23 | 2023-05-12 | 三一汽车起重机械有限公司 | Self-adaptive control method and device for crane slewing system and crane |
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| CN101723248A (en) * | 2009-12-02 | 2010-06-09 | 上海能港电气工程科技有限公司 | System and method for optimizing control of track of rotary crane |
| CN102145857A (en) * | 2011-01-31 | 2011-08-10 | 徐州重型机械有限公司 | Crane, and revolution controlling system and method thereof |
| CN102275824A (en) * | 2011-07-07 | 2011-12-14 | 长沙中联重工科技发展股份有限公司 | Control method and control system for rotary motion of slewing crane |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101723248A (en) * | 2009-12-02 | 2010-06-09 | 上海能港电气工程科技有限公司 | System and method for optimizing control of track of rotary crane |
| CN102145857A (en) * | 2011-01-31 | 2011-08-10 | 徐州重型机械有限公司 | Crane, and revolution controlling system and method thereof |
| CN102275824A (en) * | 2011-07-07 | 2011-12-14 | 长沙中联重工科技发展股份有限公司 | Control method and control system for rotary motion of slewing crane |
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