CN102976200A - Lifting control method, device and system as well as lifting appliance and hoisting machine - Google Patents
Lifting control method, device and system as well as lifting appliance and hoisting machine Download PDFInfo
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- CN102976200A CN102976200A CN2012105397422A CN201210539742A CN102976200A CN 102976200 A CN102976200 A CN 102976200A CN 2012105397422 A CN2012105397422 A CN 2012105397422A CN 201210539742 A CN201210539742 A CN 201210539742A CN 102976200 A CN102976200 A CN 102976200A
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Abstract
Description
Technical field
The present invention relates to the elevator machinery technical field, particularly relate to a kind of lifting control method, device, system and a kind of suspender and a kind of elevator machinery of elevator machinery.
Background technology
Elevator machinery, such as Offshore Platform elevator machinery or port crane etc., in the process that the lift heavys such as freight container are lifted, because actions such as the revolution of the interference of stormy waves, jib and pitching, larger waving often can occur in lift heavy.When the amplitude of fluctuation of lift heavy is larger, be unfavorable on the one hand the lifting task of finishing of fast and stable, affect work efficiency, also can produce larger impact to jib and lift heavy on the other hand, not only affect the life-span of jib and the quality of lift heavy, and increased potential safety hazard.
As shown in Figure 1, existing a kind of anti-suspender that shakes connects by four groups of steel ropes 51 that are down the Eight characters between dolly 50 and hanging beam 18.Adopt the mode of wire rope inclined-pulling can change lifting rope minute rigidity in the horizontal direction, wave thereby suppress lift heavy.Yet this suspender is subjected to the obvious effect of the factors such as lift heavy weight, steel rope rope length and external interference excitation, and the effect that the inhibition lift heavy waves is more undesirable.
Summary of the invention
The invention provides a kind of lifting control method, device, system and a kind of suspender and a kind of elevator machinery of elevator machinery, in order to effectively to suppress lift heavy waving in hoisting process.
Suspender of the present invention comprises: suspender frame and hanging beam, described suspender frame comprise box support body and at least three arm type support bodys that stretch out from the radiation of described box support body, and described hanging beam is positioned at the below of described box support body;
Described suspender also comprises:
Correspondence is arranged at the first retractor device on each described arm type support body;
Pulley is captiveed joint with an end of described the first retractor device;
At least one anti-steel rope that shakes, a described anti-end that shakes steel rope is involved in the anti-cable drum that shakes that is fixed on the described box support body, and the other end is walked around described pulley and is connected with hanging beam.
The lifting control method of elevator machinery of the present invention, the described suspender of application of aforementioned technical scheme comprises:
Obtain the attitude displacement information of pivot angle information in perpendicular of the relative suspender frame of hanging beam that the first detecting device detects, suspender frame relative inertness system of axes that second detection device detects, and the attitude displacement information of the goods putting platform relative inertness system of axes that detects of the 3rd detecting device;
Wave control algorithm output first according to the attitude displacement information and first of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and wave control signal, control each first retractor device the corresponding anti-steel rope that shakes is waved the controlled motion compensation, make the relative goods putting platform of hanging beam be in the target balance position.
The lifting control setup of elevator machinery of the present invention, the described suspender of application of aforementioned technical scheme comprises:
Obtain equipment, be used for obtaining the attitude displacement information of pivot angle information in perpendicular of the relative suspender frame of hanging beam that the first detecting device detects, suspender frame relative inertness system of axes that second detection device detects, and the attitude displacement information of the goods putting platform relative inertness system of axes that detects of the 3rd detecting device;
Control convenience, the attitude displacement information and first that is used for the attitude displacement information of pivot angle information, suspender frame according to described hanging beam and goods putting platform waves control algorithm output first and waves control signal, control each first retractor device the corresponding anti-steel rope that shakes is waved the controlled motion compensation, make the relative goods putting platform of hanging beam be in the target balance position.
The lifting control system of elevator machinery of the present invention comprises:
The described suspender of aforementioned techniques scheme;
The first detecting device is for detection of the pivot angle information of the relative suspender frame of hanging beam in perpendicular;
Second detection device is for detection of the attitude displacement information of suspender frame relative inertness system of axes;
The 3rd detecting device is for detection of the attitude displacement information of goods putting platform relative inertness system of axes;
Control setup, signal connects described the first detecting device, second detection device and the 3rd detecting device, the attitude displacement information and first that is used for the attitude displacement information of pivot angle information, suspender frame according to described hanging beam and goods putting platform waves control algorithm output first and waves control signal, control each first retractor device the corresponding anti-steel rope that shakes is waved the controlled motion compensation, make the relative goods putting platform of hanging beam be in the target balance position.
Elevator machinery of the present invention comprises the described lifting control system of aforementioned techniques scheme.
In technical solution of the present invention, owing to be provided with the first retractor device on each arm type support body of suspender, this first retractor device can wave the controlled motion compensation to hanging beam and lift heavy by the anti-steel rope that shakes, make the relative goods putting platform of hanging beam be in the target balance position, therefore, but establishment lift heavy waving in hoisting process improved the anti-ability of shaking greatly; On the other hand, the steel rope of cable-stayed type also has the passive effect of shaking that subtracts, and can make the pulley motion of following of hanging beam and lift heavy fast and stable, has further improved the anti-effect of shaking.
Description of drawings
Fig. 1 is the existing anti-hanger structure scheme drawing that shakes;
Fig. 2 is the suspender perspective view (the inside lines of suspender frame and jib are not hidden) of the embodiment of the invention;
Fig. 3 is the suspender front elevation (the inside lines of suspender frame and jib are not hidden) of the embodiment of the invention;
Fig. 4 is the suspender birds-eye view (the inside lines of suspender frame and jib are not hidden) of the embodiment of the invention;
Fig. 5 is the suspender perspective view (the inside lines of suspender frame and jib are hidden) of the embodiment of the invention;
Fig. 6 is the lifting control method schematic flow sheet of the embodiment of the invention;
Fig. 7 is the lifting control setup structural representation of the embodiment of the invention;
Fig. 8 is the lifting control system structural representation of one embodiment of the invention;
Fig. 9 is the lifting control architecture scheme drawing of another embodiment of the present invention.
Reference numeral:
10-obtains equipment 11-control convenience 12-suspender
13-the first detecting device 14-second detection device 15-the 3rd detecting device
16-control setup 17-suspender frame 18-hanging beam
19-box support body 20-arm type support body 21-the first retractor device
The anti-anti-cable drum that shakes of steel rope 24-that shakes of 22-pulley 23-
25-rotating disk 26-connecting rod 27-the second retractor device
28-jib 29-pallet 30-gear turntable
31-guide rail 32-guide 33-hoist rope
50-dolly 51-steel rope 34-the 4th detecting device
35-the 5th detecting device
The specific embodiment
In order effectively to suppress lift heavy waving in hoisting process, the invention provides a kind of lifting control method, device, system and a kind of suspender and a kind of elevator machinery of elevator machinery.In this technical scheme, be provided with the first retractor device on each arm type support body of suspender, this first retractor device can wave the controlled motion compensation to hanging beam and lift heavy by the anti-steel rope that shakes, make the relative goods putting platform of hanging beam be in the target balance position, thereby greatly improved the anti-ability of shaking of suspender.For making the purpose, technical solutions and advantages of the present invention clearer, below lift specific embodiment the present invention is described in further detail.
To shown in Figure 5, suspender one embodiment of the present invention comprises: suspender frame 17 and hanging beam 18, suspender frame 17 comprise box support body 19 and at least three arm type support bodys 20 that stretch out from 19 radiation of box support body, and hanging beam 18 is positioned at the below of box support body 19 such as Fig. 2;
Described suspender also comprises:
Correspondence is arranged at the first retractor device 21 on each arm type support body 20;
Pulley 22 is captiveed joint with an end of the first retractor device 21;
At least one anti-steel rope 23 that shakes, an anti-end that shakes steel rope 23 is involved in the anti-cable drum 24 that shakes that is fixed on the box support body 19, and the other end is walked around pulley 22 and is connected with hanging beam 18.
In order clearly to embody the structure of suspender frame 17 inside, the inside lines of suspender frame 17 are not depicted as hidingly among Fig. 2 to Fig. 4, and in practical structures, because the blocking of suspender frame 17, inner structure is invisible.Among this embodiment, the end that stretches out direction sensing arm shape support body 20 of the first retractor device 21.The effect of hanging beam 18 is to fix with lift heavy, and therefore suppressing waving of lift heavy also is to suppress simultaneously waving of hanging beam 18.Among this embodiment, the box support body 19 of suspender frame 17 and arm type support body 20 are load bearing component, can play on the one hand the effect of protective case, avoid inner structure to be damaged; On the other hand, also play the effect of fixed pedestal for the installation of some parts (such as anti-cable drum 24, the first retractor device 21 etc. of shaking); In addition, the version that box support body 19 and arm type support body 20 combine can reduce the increase of suspender weight significantly in the situation that increases retractor device compensation stroke, therefore, contrast more existing suspenders, and weight is lighter.
In order to make hanging beam 18 and the hanging beam 18 lift heavy (not shown) of hanging reach state of equilibrium, the quantity of arm type support body 20 is at least three, such as thinking three, four or five etc.In the preferred embodiment, the quantity of arm type support body 20 is four, is 90 degree between two adjacent arm type support bodys.For each arm type support body 20, described anti-quantity of shaking steel rope 23 should be at least one, in the preferred embodiment, hanging beam 18 integral body are square, for each arm type support body 20, anti-quantity of shaking steel rope 23 is three, be connected with two limits of being connected with a jiao of hanging beam 18 respectively, suspender integral body prevents that by 12 shaking steel rope is connected with lift heavy, balance is better, the steel rope of cable-stayed type has the passive effect of shaking that subtracts, and the pulley 22 of following of hanging beam 18 and lift heavy fast and stable is moved, and has further improved the anti-effect of shaking.
Please refer to Fig. 2 and shown in Figure 3, for each arm type support body 20, described suspender also comprises guide rail 31 and guide 32, and wherein, described guide rail 31 is arranged at arm type support body 20, and described guide 32 cooperates with guide rail 31 and captives joint with pulley 22.Described guide 32 can be selected slide block or roller etc.The rolling of guide 32 and guide rail 31 or bearing fit can play pulley 22 and support and directional tagging, and suffered resistance when reducing pulley 22 and moving improves the stationarity that pulley 22 moves with the telescopic end of the first retractor device 21.
The type of the first retractor device 21 is not limit, as long as can be flexible along the length direction of arm type support body 20 by control, can be hydraulic actuating cylinder or elastic damper or leading screw etc.Please refer to Fig. 2 and shown in Figure 3, among this embodiment, the first retractor device 21 is hydraulic actuating cylinder, and the piston rod of hydraulic actuating cylinder can be flexible along the length direction of arm type support body 20 by control, and then pulley 22 is captiveed joint with the piston rod end of hydraulic actuating cylinder.When the first retractor device 21 was leading screw (such as ball-screw etc.), the screw mandrel of leading screw can be flexible along the length direction of arm type support body 20 by control, and then pulley 22 is captiveed joint with the screw mandrel end of leading screw.
In technical solution of the present invention, owing to be provided with the first retractor device 21 on each arm type support body 20 of suspender, this first retractor device 21 can shake 23 pairs of hanging beams 18 of steel rope and lift heavy waves the controlled motion compensation by anti-, make hanging beam 18 relative goods putting platforms be in the target balance position, therefore, but establishment lift heavy waving in hoisting process improved the anti-ability of shaking greatly; On the other hand, the steel rope of cable-stayed type also has the passive effect of shaking that subtracts, and the pulley 22 of following of hanging beam 18 and lift heavy fast and stable is moved, and has further improved the anti-effect of shaking.
As shown in Figure 3, described suspender also comprises rotating disk 25, connecting rod 26 and the second retractor device 27, wherein,
Described rotating disk 25 comprises pallet 29 and the gear turntable 30 that can rotate relative to pallet 29, and described gear turntable 30 is captiveed joint with box support body 19;
The jib 28 of described connecting rod 26, one ends and elevator machinery is hinged, and the other end is captiveed joint with pallet 29;
Described the second retractor device 27, two ends are hinged with connecting rod 26 and jib 28 respectively, consist of gusseted (among this embodiment, the direction of stretching out of telescopic end is pointed to connecting rod 26) with jib 28 and connecting rod 26.
When the gear turntable 30 of rotating disk 25 is driven, can drive box support body 19 rotates relative to pallet 29, and pallet 29 is connected with the jib 28 of elevator machinery, therefore, can make hanging beam 18 lift heavy of hanging and the contraposition of goods putting platform by adjusting rotating disk 25, thereby lift heavy is fallen in the goods putting zone of goods putting platform (being the target location) fast and accurately.When the second retractor device 27 is driven, can apply shock damping action power to connecting rod 26, when jib 28 or the lift heavy of elevator machinery is subject to external interference, cause suspender frame 17 when jib 28 revolutions are waved, the second retractor device 27 can make revolution wave and rapidly decay to elimination, play buffer action, thereby further strengthened the anti-effect of shaking.
The second retractor device 27 can be hydraulic actuating cylinder or elastic damper, can certainly adopt leading screw etc.Embodiment shown in Figure 3 adopts hydraulic actuating cylinder as the second retractor device 27, and structure is comparatively simple.Elastic damper preferably adopts the MR damper with spring, has the advantage that the dumping force size is controlled, volume is little, response is fast.The quantity of connecting rod 26 and the second retractor device 27 can be two groups, is symmetrically arranged in the both sides of jib 28, like this can be so that suspender frame 17 stressed more balanced is conducive to further strengthen the anti-effect of shaking.
The suspender that the embodiment of the invention provides compared with prior art also has following advantage: suspender can be installed and used at ocean platform crane tool or port crane, also can use at other land platform elevator machinery, and commonality is stronger; Suspender separates with the hoist rope 33 of elevator machinery, and suspender only needs to install articulated mounting additional and bracing or strutting arrangement get final product at the jib end when mounted, installs, use is comparatively convenient; Suspender itself is the anti-actuating unit that shakes, do not need motion by control jib or dolly to realize subtracting and shake, reduced on the one hand the output of control effort, saved energy, reduce on the other hand the motion frequency of jib or dolly, improved service life and the safety of elevator machinery.
As shown in Figure 6, lifting control method first embodiment of elevator machinery of the present invention, the described suspender of application of aforementioned embodiment may further comprise the steps:
Step 101, obtain the attitude displacement information of pivot angle information in perpendicular of the relative suspender frame of hanging beam that the first detecting device detects, suspender frame relative inertness system of axes that second detection device detects, and the attitude displacement information of the goods putting platform relative inertness system of axes that detects of the 3rd detecting device;
Step 102, wave control algorithm output first according to the attitude displacement information and first of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and wave control signal, control each first retractor device the corresponding anti-steel rope that shakes is waved the controlled motion compensation, make the relative goods putting platform of hanging beam be in the target balance position.
This embodiment method is applicable to the multiple situation of waving, and for example, jib and goods putting platform do not disturb oscillating motion, only have lift heavy to produce the situation of oscillating motion because of factors such as wind loads; Jib exist to disturb oscillating motion and the goods putting platform does not disturb the situation of oscillating motion; The goods putting platform exist to disturb oscillating motion and jib does not disturb the situation of oscillating motion; All there are situation of disturbing oscillating motion etc. in jib and goods putting platform.
The first detecting device, second detection device and the 3rd detecting device detect information needed in real time, in real time first of output wave control signal and be used for controlling each first retractor device the corresponding anti-steel rope that shakes is waved the controlled motion compensation, like this, just can reduce waving of lift heavy, make lift heavy be in target location with goods putting platform relative equilibrium, the anti-ability of shaking of suspender is promoted greatly.
The present invention lifts control method the second embodiment, also further comprises:
Obtain the pivot angle information of the connecting rod that the 4th detecting device detects;
Wave control algorithm output second according to the pivot angle information and second of described connecting rod and wave control signal, control the second retractor device connecting rod is applied shock damping action power, eliminate the revolution of the relative jib of suspender frame and wave.
The goods putting platform does not disturb situation, the goods putting platform of oscillating motion to exist to disturb oscillating motion and jib does not disturb situation, jib and the goods putting platform of oscillating motion all to have situation of disturbing oscillating motion etc. this embodiment method applicable to jib exist to disturb oscillating motion.Second waves control signal waves the controlled motion compensation for control the second retractor device to connecting rod, regulate the angle between jib and the connecting rod, make the suspender frame be in the gravitational equilibrium position with respect to jib, assist the adjustment of hanging beam and lift heavy, further promoted the anti-effect of shaking.
The present invention lifts control method the 3rd embodiment, also comprises:
Obtain the corner information of the gear turntable that the 5th detecting device detects;
Wave control algorithm according to the attitude displacement information and the 3rd of the attitude displacement information of the corner information of described gear turntable, suspender frame and goods putting platform and export the 3rd and wave control signal, the relative pallet of pinion rotating disk turns to hanging beam and the contraposition of goods putting platform.
This embodiment method is applicable to the situation of lift heavy and the not contraposition of goods putting platform, and for example, the goods putting zone of lift heavy and goods putting platform is in a certain angle, lift heavy need to be rotated to an angle just to make lift heavy accurately fall into the goods putting zone of goods putting platform.The 3rd waves control signal turns to hanging beam and the contraposition of goods putting platform for the relative pallet of gear turntable of controlling rotating disk, and this embodiment has further promoted accuracy and the lifting speed of elevator machinery lifting.
Among the above embodiment, first waves control algorithm, second waves control algorithm and the 3rd and waves control algorithm and be preferably fuzzy (Proportion Integration Differentiation, proportional-integral-differential are called for short PID) control algorithm.
As shown in Figure 7, based on identical inventive concept, the embodiment of the invention also provides a kind of lifting control setup of elevator machinery, and the described suspender of application of aforementioned embodiment comprises:
Obtain equipment 10, be used for obtaining the attitude displacement information of pivot angle information in perpendicular of the relative suspender frame of hanging beam that the first detecting device detects, suspender frame relative inertness system of axes that second detection device detects, and the attitude displacement information of the goods putting platform relative inertness system of axes that detects of the 3rd detecting device;
Control convenience 11, the attitude displacement information and first that is used for the attitude displacement information of pivot angle information, suspender frame according to described hanging beam and goods putting platform waves control algorithm output first and waves control signal, control each first retractor device the corresponding anti-steel rope that shakes is waved the controlled motion compensation, make the relative goods putting platform of hanging beam be in the target balance position.
Preferably, the described equipment 10 that obtains is further used for obtaining the pivot angle information of the connecting rod that the 4th detecting device detects;
Described control convenience 11 also is used for waving control algorithm output second according to the pivot angle information and second of described connecting rod and waves control signal, controls the second retractor device connecting rod is applied shock damping action power, eliminates the revolution of the relative jib of suspender frame and waves.
Preferably, the described equipment 10 that obtains is further used for obtaining the corner information of the gear turntable that the 5th detecting device detects;
Described control convenience 11, the attitude displacement information and the 3rd that also is used for the attitude displacement information of corner information, suspender frame according to described gear turntable and goods putting platform waves control algorithm and exports the 3rd and wave control signal, and the relative pallet of pinion rotating disk turns to hanging beam and the contraposition of goods putting platform.
The lifting control setup of the elevator machinery that the embodiment of the invention provides can be controlled each first retractor device the corresponding anti-steel rope that shakes is waved controlled motion compensation, the greatly anti-effect of shaking of hoisting hanger.
As shown in Figure 8, the embodiment of the invention also provides a kind of lifting control system of elevator machinery, comprising:
Suspender 12 described in aforementioned any embodiment;
The first detecting device 13 is for detection of the pivot angle information of the relative suspender frame of hanging beam in perpendicular;
Second detection device 14 is for detection of the attitude displacement information of suspender frame relative inertness system of axes;
The 3rd detecting device 15 is for detection of the attitude displacement information of goods putting platform relative inertness system of axes;
Control setup 16, signal connects described the first detecting device 13, second detection device 14 and the 3rd detecting device 15, the attitude displacement information and first that is used for the attitude displacement information of pivot angle information, suspender frame according to described hanging beam and goods putting platform waves control algorithm output first and waves control signal, control each first retractor device the corresponding anti-steel rope that shakes is waved the controlled motion compensation, make the relative goods putting platform of hanging beam be in the target balance position.
As shown in Figure 9, as a preferred embodiment, this system also comprises the 4th detecting device 34, for detection of the pivot angle information of connecting rod;
Described control setup 16, further signal connects described the 4th detecting device 34, also be used for waving control algorithm output second according to the pivot angle information and second of described connecting rod and wave control signal, control the second retractor device connecting rod is applied shock damping action power, eliminate the revolution of the relative jib of suspender frame and wave.
Among this embodiment, the lifting control system also can further comprise the 5th detecting device 35, for detection of the corner information of gear turntable;
Described control setup 16, further signal connects described the 5th detecting device 35, the attitude displacement information and the 3rd that also is used for the attitude displacement information of corner information, suspender frame according to described gear turntable and goods putting platform waves control algorithm and exports the 3rd and wave control signal, and the relative pallet of pinion rotating disk turns to hanging beam and the contraposition of goods putting platform.
The lifting control system of the elevator machinery that the embodiment of the invention provides is waved controlled motion compensation, the greatly anti-lifting efficient of shaking effect and elevator machinery of hoisting hanger by the first retractor device to the corresponding anti-steel rope that shakes.
The embodiment of the invention also provides a kind of elevator machinery, comprises the described lifting control system of above-described embodiment, has higher lifting efficient and lifting accuracy.
In conjunction with shown in Figure 5, below be the specific implementation process of lifting control method one embodiment of elevator machinery:
Set up inertial coordinates system X-Y-Z, set up suspender system of axes X 1-Y 1-Z 1, set up goods putting platform coordinate system X 2-Y 2-Z 2When the lift heavy that links to each other with the suspender hanging beam waves with respect to the goods putting platform, record the pivot angle information (θ of lift heavy by the first detecting device (for example laser angle meter), ω), pivot angle θ and pivot angle angular velocity omega at the perpendicular inner projection at suspender boom type support body place, are obtained relative pivot angle information (θ 12, θ 34, ω 12, ω 34).When jib occurs to disturb oscillating motion, record suspender system of axes X by second detection device (for example Inertial Measurement Unit) and coordinate transformation relation 1-Y 1-Z 1Attitude displacement information (x 1, y 1, z 1, θ x 1, θ y 1, θ z 1).When goods putting platform generation disturbed motion, record goods putting platform coordinate system X by the 3rd detecting device (for example laser positioning instrument) 2-Y 2-Z 2Attitude displacement information (x 2, y 2, z 2, θ x 2, θ y 2, θ z 2).In addition, when connecting rod during with respect to jib generation rotary oscillation, need to record by the 4th detecting device (such as coder etc.) the pivot angle information (θ of connecting rod Lg, ω Lg), when lift heavy during with respect to the target location not contraposition of goods putting platform, need to record by the 5th detecting device (such as coder etc.) the corner information θ of gear turntable Zp
The first situation, when jib and goods putting platform do not disturb oscillating motion (being that the attitude displacement of suspender system of axes and the attitude displacement of goods putting platform coordinate system are zero), the relative pivot angle of lift heavy only by wind load or lifting start, acceleration and deceleration motion in the stopped process causes, this moment, suspender system of axes and goods putting platform coordinate system were static with respect to inertial coordinates system, and the target location on the goods putting platform be positioned at the suspender center under.When relative pivot angle and relative pivot angle cireular frequency as shown in Figure 5 the time, the first detecting device is with the pivot angle information (θ of the lift heavy that records 12, θ 34, ω 12, ω 34), the 4th detecting device is with the pivot angle information (θ of the connecting rod that records Lg, ω Lg), and the 5th detecting device is with the corner information θ of the gear turntable that records ZpImport control setup into by IO interface, after control setup carries out analyzing and processing and fuzzy control algorithm to information, first of output control the first retractor device waves control signal component (Δ S1_a, Δ S1_b, Δ S1_c, Δ S1_d), propelling sheave a, b and pulley c, d move along direction as shown, wave thereby reduce lift heavy, make lift heavy get back to fast the target location.When relative pivot angle and relative pivot angle cireular frequency are other situation, according to Fuzzy PID, can obtain corresponding control signal.
The second situation, when jib exist to disturb oscillating motion and the goods putting platform does not disturb oscillating motion (the attitude displacement that is the suspender system of axes is non-vanishing, but the attitude displacement of goods putting platform coordinate system is zero) time, the attitude displacement information (x of the suspender system of axes that control setup obtains according to second detection device and coordinate transformation 1, y 1, z 1, θ x 1, θ y 1, θ z 1), the pivot angle information (θ of the connecting rod that records according to the 4th detecting device Lg, ω Lg), the corner information θ of the gear turntable that the 5th detecting device records ZpWave control signal component (Δ S2_a with first of Fuzzy PID output control the first retractor device, Δ S2_b, Δ S2_c, Δ S2_d), propelling sheave a, b, c, d, motion compensation is carried out in displacement to lift heavy, and the balance position of lift heavy is remained unchanged with respect to the goods putting platform coordinate system.If this moment, lift heavy was static, then realized anti-shake and locating, if lift heavy because of wind load and startup, the reason such as stop and existing and wave, when then exporting simultaneously the first situation first waved control signal component (Δ S1_a, Δ S1_b, Δ S1_c, Δ S1_d), make lift heavy get back to fast the target location.
The third situation, when the goods putting platform exist to disturb oscillating motion and jib does not disturb oscillating motion (the attitude displacement that is the suspender system of axes is zero, but the attitude displacement of goods putting platform coordinate system is non-vanishing) time, the attitude displacement information (x of the goods putting platform that control setup records according to the 3rd detecting device 2, y 2, z 2, θ x 2, θ y 2, θ z 2), the pivot angle information (θ of the connecting rod that the 4th detecting device records Lg, ω Lg), the corner information θ of the gear turntable that the 5th detecting device records ZpWave control signal component (Δ S3_a with first of Fuzzy PID output control the first retractor device, Δ S3_b, Δ S3_c, Δ S3_d), propelling sheave a, b, c, d, motion compensation is carried out in displacement to lift heavy, and the balance position of lift heavy is remained unchanged with respect to the goods putting platform coordinate system.If this moment, lift heavy was static, then realized preventing shaking and locating, if lift heavy because of wind load and startup, the reason such as stop and existing and wave, when then exporting simultaneously the first situation first waved control signal component (Δ S1_a, Δ S1_b, Δ S1_c, Δ S1_d), continue to reduce lift heavy and wave, make lift heavy get back to fast the target location.
The 4th kind of situation, when jib and goods putting platform all exist when disturbing oscillating motion (the attitude displacement that is the attitude displacement of suspender system of axes and goods putting platform coordinate system is all non-vanishing), control setup is simultaneously to pivot angle size and pivot angle velocity information, suspender system of axes attitude displacement information, the pivot angle information of goods putting platform coordinate system attitude displacement information and connecting rod and the corner information of gear turntable are carried out fuzzy control algorithm analyzing and processing, output the first situation, in the second situation and the third situation first waved the superposed signal of control signal component, control the first retractor device, make the balance position of lift heavy follow all the time the target location of goods putting platform, wave thereby reduce lift heavy, realize fast location.
In first to fourth kind of situation, when relative rotary oscillation occurs with jib in the suspender frame, the pivot angle information (θ of the connecting rod that control setup records according to the 4th detecting device Lg, ω Lg) and Fuzzy PID output control the second retractor device second wave control signal Δ f, adjust connecting rod suffered resisting moment in swing process, the suspender frame is eliminated fast with respect to the gyroscopic movement of jib, and in the vertical direction is in the gravitational equilibrium position.
In first to fourth kind of situation, when lift heavy and not contraposition of target location, the attitude displacement information (x of the suspender system of axes that control setup obtains according to second detection device and coordinate transformation 1, y 1, z 1, θ x 1, θ y 1, θ z 1), the goods putting platform stance displacement information (x that the 3rd detecting device records 2, y 2, z 2, θ x 2, θ y 2, θ z 2) and the corner information θ of the gear turntable that records of the 5th detecting device ZpWave control signal (Δ θ with the 3rd of Fuzzy PID output pinion rotation Zp, Δ ω Zp), the relative attitude of adjustment lift heavy and target location makes lift heavy and target location rapid-aligning.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, if of the present invention these are revised and modification belongs within the scope of claim of the present invention and equivalent technologies thereof, then the present invention also is intended to comprise these changes and modification interior.
Claims (19)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210539742.2A CN102976200B (en) | 2012-12-13 | 2012-12-13 | Lifting control method, device and system as well as lifting appliance and hoisting machine |
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| CN201210539742.2A CN102976200B (en) | 2012-12-13 | 2012-12-13 | Lifting control method, device and system as well as lifting appliance and hoisting machine |
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| CN104803272A (en) * | 2015-04-20 | 2015-07-29 | 纽科伦（新乡）起重机有限公司 | Crane and lifting appliance thereof |
| CN106185624A (en) * | 2016-08-31 | 2016-12-07 | 河南卫华机械工程研究院有限公司 | Crane hanger anti-swing mechanism and anti-shake stay cord tension control system |
| CN106829732A (en) * | 2017-02-16 | 2017-06-13 | 浙江大学 | A kind of crane hook anti-roll device |
| CN107064951A (en) * | 2017-04-01 | 2017-08-18 | 中南大学 | A kind of potroom location information management and ranging data processing method |
| CN109292647A (en) * | 2018-11-16 | 2019-02-01 | 山东大学 | The active hard and soft mixing wave motion compensation unit of one kind and its control method |
| CN109534188A (en) * | 2018-11-16 | 2019-03-29 | 山东大学 | A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform |
| CN109553005A (en) * | 2018-11-16 | 2019-04-02 | 山东大学 | A kind of hard and soft formula multidimensional wave motion compensation unit for maritime floating platform |
| WO2019083630A1 (en) * | 2017-10-26 | 2019-05-02 | Miller Industries Towing Equipment Inc. | Pipe-laying vehicle with rotator platform leveling system |
| CN110255357A (en) * | 2019-05-31 | 2019-09-20 | 中南大学 | A kind of the lifting anti-sway multifunctional hanging tool of posture adjustment and its control method |
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| CN104803272A (en) * | 2015-04-20 | 2015-07-29 | 纽科伦（新乡）起重机有限公司 | Crane and lifting appliance thereof |
| CN106185624A (en) * | 2016-08-31 | 2016-12-07 | 河南卫华机械工程研究院有限公司 | Crane hanger anti-swing mechanism and anti-shake stay cord tension control system |
| CN106829732A (en) * | 2017-02-16 | 2017-06-13 | 浙江大学 | A kind of crane hook anti-roll device |
| CN106829732B (en) * | 2017-02-16 | 2018-04-10 | 浙江大学 | A kind of crane hook anti-roll device |
| CN107064951A (en) * | 2017-04-01 | 2017-08-18 | 中南大学 | A kind of potroom location information management and ranging data processing method |
| WO2019083630A1 (en) * | 2017-10-26 | 2019-05-02 | Miller Industries Towing Equipment Inc. | Pipe-laying vehicle with rotator platform leveling system |
| US10526054B2 (en) | 2017-10-26 | 2020-01-07 | Miller Industries Towing Equipment, Inc. | Pipe-laying vehicle with rotator platform leveling system |
| CN109292647A (en) * | 2018-11-16 | 2019-02-01 | 山东大学 | The active hard and soft mixing wave motion compensation unit of one kind and its control method |
| CN109534188A (en) * | 2018-11-16 | 2019-03-29 | 山东大学 | A kind of hard and soft hybrid Wave motion compensation device of sea floating hoisting platform |
| CN109553005A (en) * | 2018-11-16 | 2019-04-02 | 山东大学 | A kind of hard and soft formula multidimensional wave motion compensation unit for maritime floating platform |
| CN110255357A (en) * | 2019-05-31 | 2019-09-20 | 中南大学 | A kind of the lifting anti-sway multifunctional hanging tool of posture adjustment and its control method |
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