CN102976200B - 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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- CN102976200B CN102976200B CN201210539742.2A CN201210539742A CN102976200B CN 102976200 B CN102976200 B CN 102976200B CN 201210539742 A CN201210539742 A CN 201210539742A CN 102976200 B CN102976200 B CN 102976200B
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Abstract
The invention relates to the technical field of engineering machinery, and discloses lifting control method, device and system as well as a lifting appliance and a hoisting machine, and is used for effectively restraining the swing of a lifting weight in the lifting process. The lifting appliance comprises a lifting appliance frame and a lifting beam, wherein the lifting appliance frame comprises a box type frame body and at least three arm type frame bodies extending from the box type frame body in a radiating way, and the lifting beam is positioned below the box type frame body; the lifting appliance further comprises a first telescopic device, a pulley and at least one anti-swing steel wire rope, wherein the first telescopic device is correspondingly arranged on each arm type frame body; the pulley is fixedly connected with one end of the first telescopic device; and one end of the at least one anti-swing steel wire rope is coiled in an anti-swing steel wire rope reel fixed on the box type frame body, and the other end of the at least one anti-swing steel wire rope is connected with the lifting beam after bypassing the pulley.
Description
Technical field
The present invention relates to 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, due to the interference of stormy waves, the action such as revolution and pitching of jib, often can there is larger waving in lift heavy.In the time that the amplitude of fluctuation of lift heavy is larger, the lifting task that completes that is unfavorable on the one hand fast and stable, affects 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, existingly a kind ofly anti-shake suspender and connect 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 point rigidity in the horizontal direction, wave thereby suppress lift heavy.But this suspender is subject to the obvious effect of the factors such as lift heavy weight, steel rope rope length and external interference excitation, the effect that 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, comprising: suspender frame and hanging beam, and at least three arm type support bodys that described suspender frame comprises box support body and stretches out from the radiation of described box support body, 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 arm type support body described in each;
Pulley, is fixedly connected with one end of described the first retractor device;
At least one anti-steel rope that shakes, described anti-one end of shaking steel rope is involved in the anti-cable drum that shakes being fixed on 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 suspender described in application of aforementioned technical scheme, comprising:
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 of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and first and wave control signal, control each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, make the relative goods putting platform of hanging beam in target balance position.
The lifting control setup of elevator machinery of the present invention, the suspender described in application of aforementioned technical scheme, comprising:
Obtain equipment, 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, wave control signal for wave control algorithm output first according to the attitude displacement information of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and first, control each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, make the relative goods putting platform of hanging beam in target balance position.
The lifting control system of elevator machinery of the present invention, comprising:
Suspender described in aforementioned techniques scheme;
The first detecting device, the pivot angle information for detection of the relative suspender frame of hanging beam in perpendicular;
Second detection device, for detection of the attitude displacement information of suspender frame relative inertness system of axes;
The 3rd detecting device, 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, wave control signal for wave control algorithm output first according to the attitude displacement information of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and first, control each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, make the relative goods putting platform of hanging beam in target balance position.
Elevator machinery of the present invention, comprises the lifting control system described in aforementioned techniques scheme.
In technical solution of the present invention, on each arm type support body due to suspender, be provided with the first retractor device, this first retractor device can wave 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 in target balance position, therefore, can effectively suppress lift heavy waving in hoisting process, greatly improve the anti-ability of shaking; 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.
Brief description of the drawings
Fig. 1 is the existing anti-hanger structure schematic diagram 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 present invention;
Fig. 3 is the suspender front elevation (the inside lines of suspender frame and jib are not hidden) of the embodiment of the present 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 present invention;
Fig. 5 is the suspender perspective view (the inside lines of suspender frame and jib are hidden) of the embodiment of the present invention;
Fig. 6 is the lifting control method schematic flow sheet of the embodiment of the present invention;
Fig. 7 is the lifting control setup structural representation of the embodiment of the present invention;
Fig. 8 is the lifting control system structural representation of one embodiment of the invention;
Fig. 9 is the lifting control architecture schematic diagram 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
Detailed description of the invention
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, on each arm type support body of suspender, be provided with the first retractor device, this first retractor device can wave 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 in target balance position, thereby greatly improved the anti-ability of shaking of suspender.For making the object, technical solutions and advantages of the present invention clearer, below lift specific embodiment the present invention is described in further detail.
As shown in Figures 2 to 5, suspender one embodiment of the present invention, comprising: suspender frame 17 and hanging beam 18, and at least three arm type support bodys 20 that suspender frame 17 comprises box support body 19 and stretches out from 19 radiation of box support body, hanging beam 18 is positioned at the below of box support body 19;
Described suspender also comprises:
Correspondence is arranged at the first retractor device 21 on each arm type support body 20;
Pulley 22, is fixedly connected with one end of the first retractor device 21;
At least one anti-steel rope 23 that shakes, anti-one end of shaking steel rope 23 is involved in the anti-cable drum 24 that shakes being fixed on 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, in Fig. 2 to Fig. 4, the inside lines of suspender frame 17 are not depicted as hidingly, and in practical structures, due to blocking of suspender frame 17, inner structure is invisible.In 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 suppress waving of lift heavy is also to suppress waving of hanging beam 18 simultaneously.In 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 for example, play the effect of fixed pedestal for the installation of some parts (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, in the situation that increasing retractor device compensation stroke, reduce the increase of suspender weight significantly, therefore, contrasts 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, for example, can be three, four or five etc.In the preferred embodiment, the quantity of arm type support body 20 is four, between two adjacent arm type support bodys, is 90 degree.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 entirety are square, for each arm type support body 20, anti-quantity of shaking steel rope 23 is three, be connected with a jiao of hanging beam 18 and two adjacent limits respectively, suspender entirety 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 can make the pulley 22 of following of hanging beam 18 and lift heavy fast and stable move, and has further improved the anti-effect of shaking.
Please refer to shown in Fig. 2 and Fig. 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 coordinates with guide rail 31 and is fixedly connected with pulley 22.Described guide 32 can be selected slide block or roller etc.Guide 32 can play and support and directional tagging pulley 22 with rolling or the bearing fit of guide rail 31, 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 the length direction that can be controlled along arm type support body 20 stretches, can be hydraulic actuating cylinder or elastic damper or leading screw etc.Please refer to shown in Fig. 2 and Fig. 3, in this embodiment, the first retractor device 21 is hydraulic actuating cylinder, and the length direction that the piston rod of hydraulic actuating cylinder can be controlled along arm type support body 20 stretches, and pulley 22 is fixedly connected with the piston rod end of hydraulic actuating cylinder.Such as, in the time that the first retractor device 21 is leading screw (ball-screw etc.), the length direction that the screw mandrel of leading screw can be controlled along arm type support body 20 stretches, and pulley 22 is fixedly connected with the screw mandrel end of leading screw.
In technical solution of the present invention, on each arm type support body 20 due to suspender, be provided with the first retractor device 21, this first retractor device 21 can wave controlled motion compensation to hanging beam 18 and lift heavy by the anti-steel rope 23 that shakes, make the relative goods putting platform of hanging beam 18 in target balance position, therefore, can effectively suppress lift heavy waving in hoisting process, greatly improve the anti-ability of shaking; 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 22 of following of hanging beam 18 and lift heavy fast and stable move, 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 fixedly connected with box support body 19;
Described connecting rod 26, the jib 28 of one end and elevator machinery is hinged, and the other end is fixedly connected with pallet 29;
Described the second retractor device 27, two ends are hinged with connecting rod 26 and jib 28 respectively, form gusseted (in 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 to rotate 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 region of goods putting platform (being 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 are subject to external interference, cause suspender frame 17 in the time that 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 Fig. 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 advantages of that dumping force size is controlled, volume is little, it is fast to respond.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, can make like this stressed more balanced of suspender frame 17, is conducive to further strengthen the anti-effect of shaking.
The suspender that the embodiment of the present invention provides compared with prior art also has following advantage: suspender can be installed and used on ocean platform crane tool or port crane, also can on other land platform elevator machinery, use, and commonality is stronger; Suspender separates with the hoist rope 33 of elevator machinery, and suspender only need install articulated mounting and bracing or strutting arrangement additional at jib end when mounted, installs, uses more for convenience; Suspender itself is the anti-actuating unit that shakes, do not need to realize subtracting by the motion of control jib or dolly to 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 suspender described in application of aforementioned embodiment, comprises the following 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 of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and first and wave control signal, control each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, make the relative goods putting platform of hanging beam in 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 has lift heavy to produce the situation of oscillating motion because of factors such as wind loads; Jib exists and disturbs oscillating motion and goods putting platform does not disturb the situation of oscillating motion; Goods putting platform exists and disturbs oscillating motion and jib does not disturb the situation of oscillating motion; All there is situation about 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 to controlled motion compensation, like this, just can reduce waving of lift heavy, make lift heavy in the target location of 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 of described connecting rod and second and wave control signal, control the second retractor device connecting rod is applied to shock damping action power, eliminate the revolution of the relative jib of suspender frame and wave.
This embodiment method exists the situation, the goods putting platform that disturb oscillating motion and goods putting platform not disturb oscillating motion to exist to disturb oscillating motion applicable to jib and jib does not disturb situation, jib and the goods putting platform of oscillating motion all to have situation about disturbing oscillating motion etc.Second waves control signal waves controlled motion compensation for controlling the second retractor device to connecting rod, regulate the angle between jib and connecting rod, make suspender frame with respect to jib in gravitational equilibrium position, 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 output the 3rd according to the attitude displacement information of the attitude displacement information of the corner information of described gear turntable, suspender frame and goods putting platform and 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 region of lift heavy and goods putting platform is in a certain angle, lift heavy need to be rotated to an angle and just can make lift heavy accurately fall into the goods putting region of goods putting platform.The 3rd waves control signal turns to hanging beam and the contraposition of goods putting platform for controlling the relative pallet of gear turntable of rotating disk, and this embodiment has further promoted accuracy and the lifting speed of elevator machinery lifting.
In above embodiment, first wave control algorithm, second wave control algorithm and the 3rd wave control algorithm be preferably fuzzy (Proportion Integration Differentiation, proportional-integral-differential, be called for short PID) control algorithm.
As shown in Figure 7, based on identical inventive concept, the embodiment of the present invention also provides a kind of lifting control setup of elevator machinery, and the suspender described in application of aforementioned embodiment, comprising:
Obtain equipment 10, 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, wave control signal for wave control algorithm output first according to the attitude displacement information of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and first, control each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, make the relative goods putting platform of hanging beam in target balance position.
Preferably, described in obtain equipment 10, be further used for obtaining the pivot angle information of the connecting rod that the 4th detecting device detects;
Described control convenience 11, also waves control signal for wave control algorithm output second according to the pivot angle information of described connecting rod and second, controls the second retractor device connecting rod is applied to shock damping action power, eliminates the revolution of the relative jib of suspender frame and waves.
Preferably, described in obtain equipment 10, be further used for obtaining the corner information of the gear turntable that the 5th detecting device detects;
Described control convenience 11, also wave control signal for wave control algorithm output the 3rd according to the attitude displacement information of the attitude displacement information of the corner information of described gear turntable, suspender frame and goods putting platform and the 3rd, 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 present invention provides can be controlled each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, the anti-effect of shaking of hoisting hanger greatly.
As shown in Figure 8, the embodiment of the present 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, the pivot angle information for detection of the relative suspender frame of hanging beam in perpendicular;
Second detection device 14, for detection of the attitude displacement information of suspender frame relative inertness system of axes;
The 3rd detecting device 15, 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, wave control signal for wave control algorithm output first according to the attitude displacement information of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and first, control each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, make the relative goods putting platform of hanging beam in 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 wave control signal for wave control algorithm output second according to the pivot angle information of described connecting rod and second, control the second retractor device connecting rod is applied to shock damping action power, eliminate the revolution of the relative jib of suspender frame and wave.
In this embodiment, 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, also wave control signal for wave control algorithm output the 3rd according to the attitude displacement information of the attitude displacement information of the corner information of described gear turntable, suspender frame and goods putting platform and the 3rd, 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 present invention provides is waved controlled motion compensation, the anti-lifting efficiency of shaking effect and elevator machinery of hoisting hanger greatly by the first retractor device to the corresponding anti-steel rope that shakes.
The embodiment of the present invention also provides a kind of elevator machinery, comprises the lifting control system described in above-described embodiment, has higher lifting efficiency and lifting accuracy.
Shown in Fig. 5, be below 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
2.In the time that the lift heavy being connected with suspender hanging beam waves with respect to goods putting platform, for example, record the pivot angle information (θ of lift heavy by the first detecting device (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 to relative pivot angle information (θ
12, θ
34, ω
12, ω
34).In the time that jib occurs to disturb oscillating motion, for example, record suspender system of axes X by second detection device (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).In the time of goods putting platform generation disturbed motion, for example, record goods putting platform coordinate system X by the 3rd detecting device (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 is during with respect to jib generation rotary oscillation, need to such as, record the pivot angle information (θ of connecting rod by the 4th detecting device (coder etc.)
lg, ω
lg), when lift heavy is during with respect to the target location not contraposition of goods putting platform, need to such as, record the corner information θ of gear turntable by the 5th detecting device (coder etc.)
zp.
The first situation, in the time that 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 stopped process causes, now suspender system of axes and goods putting platform coordinate system are static with respect to inertial coordinates system, and target location on goods putting platform be positioned at suspender center under.When relative pivot angle and relatively pivot angle cireular frequency is as shown in Figure 5 time, the first detecting device is by the pivot angle information (θ of the lift heavy recording
12, θ
34, ω
12, ω
34), the 4th detecting device is by the pivot angle information (θ of the connecting rod recording
lg, ω
lg), and the 5th detecting device is by the corner information θ of the gear turntable recording
zpimport control setup into by IO interface, control setup carries out after analyzing and processing and fuzzy control algorithm information, output is controlled first of the first retractor device and is waved 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 target location.When relative pivot angle and when relatively pivot angle cireular frequency is other situation, according to Fuzzy PID, can obtain corresponding control signal.
The second situation, when jib exist disturb oscillating motion and goods putting platform not disturb oscillating motion (the attitude displacement that is 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 recording according to the 4th detecting device
lg, ω
lg), the corner information θ of the gear turntable that the 5th detecting device records
zpoutput is controlled first of the first retractor device and is waved control signal component (Δ S2_a with Fuzzy PID, Δ S2_b, Δ S2_c, Δ S2_d), propelling sheave a, b, c, d, the displacement of lift heavy is carried out to motion compensation, the balance position of lift heavy is remained unchanged with respect to goods putting platform coordinate system.If now lift heavy is static, realized and anti-shaken and locate, if lift heavy because of wind load and startup, the reason such as stop and existing and wave, while simultaneously exporting 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 target location.
The third situation, when goods putting platform exist disturb oscillating motion and jib not disturb oscillating motion (the attitude displacement that is 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
zpoutput is controlled first of the first retractor device and is waved control signal component (Δ S3_a with Fuzzy PID, Δ S3_b, Δ S3_c, Δ S3_d), propelling sheave a, b, c, d, the displacement of lift heavy is carried out to motion compensation, the balance position of lift heavy is remained unchanged with respect to goods putting platform coordinate system.If now lift heavy is static, realize and prevented shaking and locating, if lift heavy because of wind load and startup, the reason such as stop and existing and wave, while simultaneously exporting 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 target location.
The 4th kind of situation, when jib and goods putting platform all exist while disturbing oscillating motion (being that the attitude displacement of suspender system of axes and the attitude displacement of goods putting platform coordinate system are 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, thereby reducing lift heavy waves, realize location fast.
In first to fourth kind of situation, in the time there is relative rotary oscillation with jib in 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 second of the second retractor device and wave control signal Δ f, adjust connecting rod suffered resisting moment in swing process, suspender frame is eliminated fast with respect to the gyroscopic movement of jib, and in the vertical direction is in gravitational equilibrium position.
In first to fourth kind of situation, in the time of 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 and not depart from the spirit and scope of the present invention the present invention.Like this, if these amendments of the present invention and within modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (21)
1. a suspender, it is characterized in that, comprise: suspender frame (17) and hanging beam (18), at least three arm type support bodys (20) that described suspender frame (17) comprises box support body (19) and stretches out from described box support body (19) radiation, described hanging beam (18) is positioned at the below of described box support body (19);
Described suspender also comprises:
Correspondence is arranged at the first retractor device (21) on arm type support body (20) described in each;
Pulley (22), is fixedly connected with one end of described the first retractor device (21);
At least one anti-steel rope (23) that shakes, described anti-one end of shaking steel rope (23) is involved in the anti-cable drum (24) that shakes being fixed on described box support body (19), and the other end is walked around described pulley (22) and is connected with hanging beam (18).
2. suspender as claimed in claim 1, is characterized in that, described the first retractor device (21) is hydraulic actuating cylinder or elastic damper or leading screw.
3. suspender as claimed in claim 2, is characterized in that, also comprises rotating disk (25), connecting rod (26) and the second retractor device (27), wherein,
Described rotating disk (25), comprise pallet (29) and the gear turntable (30) that can rotate relative to described pallet (29), described gear turntable (30) is fixedly connected with described box support body (19);
Described connecting rod (26), the jib (28) of one end and elevator machinery is hinged, and the other end is fixedly connected with described pallet (29);
Described the second retractor device (27), two ends are hinged with described connecting rod (26) and described jib (28) respectively, form gusseted with described jib (28) and described connecting rod (26).
4. suspender as claimed in claim 3, is characterized in that, described the second retractor device (27) is hydraulic actuating cylinder or elastic damper or leading screw.
5. suspender as claimed in claim 1, is characterized in that, the quantity of described arm type support body (20) is four.
6. the suspender as described in any one in claim 1 to 5, is characterized in that, for each arm type support body (20), described anti-quantity of shaking steel rope (23) is three.
7. suspender as claimed in claim 6, it is characterized in that, for each arm type support body (20), also comprise guide rail (31) and guide (32), described guide (32) coordinates and is connected with described pulley (22) with described guide rail (31).
8. suspender as claimed in claim 7, is characterized in that, described guide (32) is slide block or roller.
9. a lifting control method for the elevator machinery of application suspender as described in any one in claim 1 to 8, is characterized in that, comprising:
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 of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and first and wave control signal, control each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, make the relative goods putting platform of hanging beam in target balance position.
10. lifting control method as claimed in claim 9, is characterized in that, also 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 of described connecting rod and second and wave control signal, control the second retractor device connecting rod is applied to shock damping action power, eliminate the revolution of the relative jib of suspender frame and wave.
11. lifting control methods as claimed in claim 9, is characterized in that, also comprise:
Obtain the corner information of the gear turntable that the 5th detecting device detects;
Wave control algorithm output the 3rd according to the attitude displacement information of the attitude displacement information of the corner information of described gear turntable, suspender frame and goods putting platform and the 3rd and wave control signal, the relative pallet of pinion rotating disk turns to hanging beam and the contraposition of goods putting platform.
12. lifting control methods as claimed in claim 11, is characterized in that, described first waves control algorithm and the 3rd, and to wave control algorithm be Fuzzy PID.
13. lifting control methods as claimed in claim 10, is characterized in that, also comprise:
Obtain the corner information of the gear turntable that the 5th detecting device detects;
Wave control algorithm output the 3rd according to the attitude displacement information of the attitude displacement information of the corner information of described gear turntable, suspender frame and goods putting platform and the 3rd and wave control signal, the relative pallet of pinion rotating disk turns to hanging beam and the contraposition of goods putting platform.
14. lifting control methods as claimed in claim 13, is characterized in that, described first waves control algorithm, second waves control algorithm and the 3rd to wave control algorithm be Fuzzy PID.
The lifting control setup of 15. 1 kinds of application lifting control elevator machinery of suspender as described in any one in claim 1 to 8, is characterized in that, comprising:
Obtain equipment (10), 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), wave control signal for wave control algorithm output first according to the attitude displacement information of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and first, control each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, make the relative goods putting platform of hanging beam in target balance position.
16. lifting control setups as claimed in claim 15, is characterized in that,
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 wave control signal for wave control algorithm output second according to the pivot angle information of described connecting rod and second, control the second retractor device connecting rod is applied to shock damping action power, eliminate the revolution of the relative jib of suspender frame and wave.
17. lifting control setups as described in claim 15 or 16, is characterized in that,
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), also wave control signal for wave control algorithm output the 3rd according to the attitude displacement information of the attitude displacement information of the corner information of described gear turntable, suspender frame and goods putting platform and the 3rd, the relative pallet of pinion rotating disk turns to hanging beam and the contraposition of goods putting platform.
The lifting control system of 18. 1 kinds of elevator machineries, is characterized in that, comprising:
Suspender (12) as described in claim 1～8 any one;
The first detecting device (13), the pivot angle information for detection of the relative suspender frame of hanging beam in perpendicular;
Second detection device (14), for detection of the attitude displacement information of suspender frame relative inertness system of axes;
The 3rd detecting device (15), 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), wave control signal for wave control algorithm output first according to the attitude displacement information of the attitude displacement information of the pivot angle information of described hanging beam, suspender frame and goods putting platform and first, control each first retractor device the corresponding anti-steel rope that shakes is waved to controlled motion compensation, make the relative goods putting platform of hanging beam in target balance position.
19. lifting control system as claimed in claim 18, is characterized in that, also comprise 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 wave control signal for wave control algorithm output second according to the pivot angle information of described connecting rod and second, control the second retractor device connecting rod is applied to shock damping action power, eliminate the revolution of the relative jib of suspender frame and wave.
20. lifting control system as described in claim 18 or 19, is characterized in that, also 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), also wave control signal for wave control algorithm output the 3rd according to the attitude displacement information of the attitude displacement information of the corner information of described gear turntable, suspender frame and goods putting platform and the 3rd, the relative pallet of pinion rotating disk turns to hanging beam and the contraposition of goods putting platform.
21. 1 kinds of elevator machineries, is characterized in that, comprise the lifting control system as described in claim 18～20 any one.
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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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