CN103112782A - Synchronous control device and method of multi-winch system - Google Patents
Synchronous control device and method of multi-winch system Download PDFInfo
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Abstract
The invention relates to a synchronous control device and method of a multi-winch system. The multi-winch system comprises a lifting hook, a plurality of groups of winches, as well as corresponding variable pumps and variable motors, wherein the plurality of groups of winches are connected with the lifting hook through steel wire ropes; and the synchronous control device comprises a tilt angle sensor and a controller which are installed on the lifting hook, wherein the controller is used for receiving tilt angle signals output by the tilt angle sensor and generating throughput control signals capable of regulating the throughput of the multi-winch system so as to regulate the rotation speed of the variable motors in the multi-winch system. According to the device and the method, a tilt angle is sensed by adopting the tilt angle sensor installed on the lifting hook, the length differences of the steel wire ropes are reflected accurately through the tile angle signals, and the throughput of the multi-winch system is regulated by the controller to regulate the rotation speed of the variable-speed motors in the multi-winch system, so that the synchronous motion of the steel wire ropes of the multi-winch system is realized; and compared with the prior art in which the measurement of the lengths of the steel wire ropes is firstly carried out through encoders and the implementation of synchronous regulation is secondly carried out, for the device and the method, the control accuracy is higher, the speed is faster, and the overmeasure is higher.
Description
Technical field
The present invention relates to engineering machinery field, relate in particular to sync control device and method that a kind of multireel is raised system.
Background technology
Along with the continuous increase of lifting tonnage, crawler crane is to the large-tonnage future development.Because the lifting tonnage is excessive, single elevator can't provide enough propulsive efforts, and adopting multireel to raise (being generally double hoisting and four elevators) is the effective ways that increase the crawler crane load-carrying ability.Raise the impact of the factors such as system pressure fluctuation, leakage, load disturbance, motor configuration parameter differences and non-linear friction resistance due to multireel, usually make multireel raise the motion of system asynchronous, cause rope capacity to have deviation, and then cause that the lifting hook pulley group tilts.Between the lifting hook pulley group that tilts and steel rope, shape is at a certain angle, and this will aggravate the wearing and tearing of steel rope and assembly pulley.Implement synchro control, the synchronized movement that the increase multireel is raised system will reduce the wearing and tearing of steel rope and assembly pulley effectively, improve service life and the reliability of hoisting system.
For the double hoisting system, existing synchronous control mode adopts master-slave mode closed loop synchro control usually, be about to the double hoisting system and be divided into major and minor hoisting system, on the cylinder output shaft of major and minor hoisting system, rotary encoder is installed, measure the angular transposition that cylinder turns over; Calculate major and minor hoisting rope length according to angular transposition; When there is deviation in major and minor hoisting rope length, regulate the controllable capacity pump of secondary hoisting system or the discharge capacity of variable-dis-placement motor by the PID controller, to regulate the rotating speed of secondary hoist motor, finally eliminate the length difference of major and minor hoisting rope, realize that double hoisting is synchronous.
This master-slave mode closed loop synchro control also exists some defectives, comprising:
1, complex operation: all need to demarcate the steel rope initial length when adopting this control method to require each erecting crane, requiring all needs the manual regulation rope capacity to make suspension hook be in horizontality before each lifting;
2, the rope capacity difference measurements is inaccurate: adopt coder to survey rope capacity, owing to may having idle running in the cylinder operational process, and because cylinder Mismachining tolerance, lay winding wire ropes number of plies deviation, load deviation cause steel rope elastic elongation amount different, all can cause the rope capacity difference measurements inaccurate;
3, leveling repeatedly: the measured error of rope capacity can affect synchronous control accuracy, after causing suspension hook operation one segment distance, still can run-off the straight, when the suspension hook angle of inclination surpasses allowable value, need to stop synchronous mode, to continuing again operation after the operation of suspension hook employing manual leveling.
For four hoisting systems, still conveniently be not suitable for the synchro control scheme.
Summary of the invention
The objective of the invention is to propose a kind of sync control device and the method that multireel is raised system, can realize that multireel raises the synchro control of the degree of precision of system.
for achieving the above object, the invention provides a kind of multireel and raise the sync control device of system, the described multireel system of raising comprises suspension hook, the many groups elevator and corresponding controllable capacity pump and the variable-dis-placement motor that connect described suspension hook by steel rope, wherein said sync control device comprises obliquity sensor and the controller that is arranged on described suspension hook, described controller is used for receiving the dip angle signal of described obliquity sensor output, and generate according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, raise the rotating speed of the variable-dis-placement motor in system to adjust described multireel.
For achieving the above object, the invention provides a kind of synchronisation control means of raising the sync control device of system based on aforesaid multireel, comprising:
Raise under system's coarse synchronization state of kinematic motion at described multireel, controller receives the dip angle signal of the obliquity sensor output of installing on suspension hook;
Described controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and raises the rotating speed of the variable-dis-placement motor in system to adjust described multireel.
Further, the described multireel system of raising is the double hoisting system, and described double hoisting system comprises the first controllable capacity pump and first variable-dis-placement motor of first group, and second controllable capacity pump of second group and the second variable-dis-placement motor.
Further, described controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates controllable capacity pump displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook, and respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described controllable capacity pump displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted.
Further, described controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates variable-dis-placement motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook, and respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted.
Further, described controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates controllable capacity pump displacement control signal and variable-dis-placement motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook, and respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described controllable capacity pump displacement control signal, and respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted.
Further, the described multireel system of raising is four hoisting systems, described four hoisting systems comprise first controllable capacity pump of first group and the first variable-dis-placement motor corresponding to the left connecting plate of described suspension hook, and second controllable capacity pump of second group and the second variable-dis-placement motor, corresponding to ternary pump and the ternary motor of the 3rd group of the right connecting plate of described suspension hook, and the 4th controllable capacity pump of the 4th group and the 4th variable-dis-placement motor.
Further, described controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates respectively the first controllable capacity pump displacement control signal and the second controllable capacity pump displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described left connecting plate and right connecting plate, and generates ternary pump capacity control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook;
Respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the first controllable capacity pump displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted;
Respectively described ternary pump and the 4th controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the second controllable capacity pump displacement control signal, and then the rotating speed of described ternary motor and the 4th variable-dis-placement motor is adjusted;
Controllable capacity pump in respectively first and second being organized according to described ternary pump capacity control signal carries out the counter regulation mutually of discharge capacity with the controllable capacity pump in third and fourth group, and then rotating speed of the variable-dis-placement motor in first and second group and third and fourth group is adjusted.
Further, described controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates respectively the first variable-dis-placement motor displacement control signal and the second variable-dis-placement motor displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described left connecting plate and right connecting plate, and generates ternary motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook;
Respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the first variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted;
Respectively described ternary motor and the 4th variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the second variable-dis-placement motor displacement control signal, and then the rotating speed of described ternary motor and the 4th variable-dis-placement motor is adjusted;
Variable-dis-placement motor in respectively first and second being organized according to described ternary motor displacement control signal carries out the counter regulation mutually of discharge capacity with the variable-dis-placement motor in third and fourth group, and then rotating speed of the variable-dis-placement motor in first and second group and third and fourth group is adjusted.
Further, described controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates respectively the first controllable capacity pump displacement control signal and the first variable-dis-placement motor displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described left connecting plate, generate respectively the second controllable capacity pump displacement control signal and the second variable-dis-placement motor displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described right connecting plate, and generate ternary pump capacity control signal and ternary motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook;
Respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the first controllable capacity pump displacement control signal, and respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the first variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted;
Respectively described ternary pump and the 4th controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the second controllable capacity pump displacement control signal, and respectively described ternary motor and the 4th variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the second variable-dis-placement motor displacement control signal, and then the rotating speed of described ternary motor and the 4th variable-dis-placement motor is adjusted;
Controllable capacity pump in respectively first and second being organized according to described ternary pump capacity control signal carries out the counter regulation mutually of discharge capacity with the controllable capacity pump in third and fourth group, variable-dis-placement motor in respectively first and second being organized according to described ternary motor displacement control signal carries out the counter regulation mutually of discharge capacity with the variable-dis-placement motor in third and fourth group, and then rotating speed of the variable-dis-placement motor in first and second group and third and fourth group is adjusted.
Further, to raise system's coarse synchronization state of kinematic motion be that described multireel is raised controllable capacity pump in system and variable-dis-placement motor and all inputted identical displacement control signal and realize by the main handle that makes to described multireel.
Further, described controller is PID controller with changing integration rate controller, PID controller, fuzzy controller or fuzzy controller.
Based on technique scheme, the present invention adopts the obliquity sensor that is arranged on suspension hook to carry out sensing to the inclination angle, and accurately reflect the length difference of steel rope by dip angle signal, the discharge capacity of by controller, multireel being raised system again regulates to adjust the rotating speed that multireel is raised variable speed motor in system, thereby realize that multireel raises the steel rope synchronized movement of system, thus the present invention to implement the control accuracy of synchronization regulation by coder measuring steel wire rope length higher again than existing.
Description of drawings
Accompanying drawing described herein is used to provide a further understanding of the present invention, consists of the application's a part, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the control principle schematic diagram of an embodiment of the multireel of the present invention sync control device of raising system.
Fig. 2 is the control principle schematic diagram of another embodiment of the multireel of the present invention sync control device of raising system.
The specific embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
In embodiments of the present invention, the multireel system of raising comprises suspension hook, connects many groups elevator and corresponding controllable capacity pump and the variable-dis-placement motor of described suspension hook by steel rope.Raise the synchro control of system in order to realize multireel, sync control device embodiment comprises obliquity sensor and controller, wherein obliquity sensor is arranged on suspension hook, can export corresponding dip angle signal by the inclined degree in the space along with its accompanying object, and after dip angle signal is transferred to controller, controller can generate according to the dip angle signal that receives the multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, raise the rotating speed of the variable-dis-placement motor in system in order to adjust multireel, and then realize that multireel raises the steel rope synchronized movement of system.
In engineering machinery field; can adopt the elevator of varying number according to different application scenarios; below only be illustrated for the synchro control process of double hoisting system and four hoisting systems; though and other multireels raise sync control device and the method for system and do not list at this paper, protection should be prolonged under constructed design and other multireels that this paper is unlisted are raised system.
As shown in Figure 1, raise the control principle schematic diagram of an embodiment of the sync control device of system for multireel of the present invention.In the present embodiment, the multireel system of raising is the double hoisting system, and described double hoisting system comprises the first controllable capacity pump and first variable-dis-placement motor of first group, and second controllable capacity pump of second group and the second variable-dis-placement motor.Under double hoisting system coarse synchronization state of kinematic motion, controller receives the dip angle signal of the obliquity sensor output of installing on suspension hook, and generate according to dip angle signal the double hoisting system is carried out the displacement control signal that discharge capacity is regulated, to adjust the rotating speed of the variable-dis-placement motor in the double hoisting system.
In the present embodiment, controller preferably adopts the PID controller with changing integration rate controller, it can generate according to the suspension hook dip angle signal of the obliquity sensor output of installing on suspension hook controllable capacity pump displacement control signal y, and respectively the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to controllable capacity pump displacement control signal y, and then the rotating speed of the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted.
The counter regulation mutually of respectively the first controllable capacity pump and the second controllable capacity pump being carried out discharge capacity according to controllable capacity pump displacement control signal y here refers to select the first controllable capacity pump is realized that negative (just) effect regulates according to the positive and negative situation of controllable capacity pump displacement control signal y, simultaneously the second controllable capacity pump is realized the opposite effect of just (bearing) adjusting, realize finally that by this phase counter regulation to two variable capacity of pump double hoisting is synchronized with the movement.
In the present embodiment, the motion of the coarse synchronization of double hoisting system preferably makes the handle master make that handle is that described multireel is raised controllable capacity pump in system and variable-dis-placement motor and all inputted identical displacement control signal r and realize by main.
In conjunction with Fig. 1, in motion process, if the kinematic velocity of steel rope 1 is greater than the kinematic velocity of steel rope 2, because two rope motions are asynchronous, therefore can cause suspension hook to tilt, and the obliquity sensor on suspension hook can detect the variation at this inclination angle, and dip angle signal is offered controller, and controller just can become according to dip angle signal the controllable capacity pump displacement control signal y of correspondence next life.the size of controllable capacity pump displacement control signal y is relevant with positive and negative direction and angle with the suspension hook inclination, for the larger situation of steel rope 1 kinematic velocity, controllable capacity pump displacement control signal y can generate corresponding negative adjustment value accordingly, namely the first variable capacity of pump is carried out negative regulator, reduce its discharge capacity on the basis of displacement control signal r, and then reduction drives the rotating speed of the first variable-dis-placement motor of steel rope 1 corresponding reel, thereby reduced the kinematic velocity of steel rope 1, also the second variable capacity of pump is just regulated simultaneously, improve its discharge capacity on the basis of displacement control signal r, and then raising drives the rotating speed of the second variable-dis-placement motor of steel rope 2 corresponding reels, thereby increased the kinematic velocity of steel rope 2.By the reverse adjusting to the kinematic velocity of steel rope 1 and steel rope 2, eliminated the synchronous error of two rope motions, realized the synchro control of double hoisting system, and owing to having adopted the reverse adjusting of two controllable capacity pumps being carried out simultaneously discharge capacity, therefore than existing synchro control means, the present embodiment is faster on governing speed.
On the other hand, under the poor certain condition of double hoisting rope capacity, the described controllable capacity pump displacement control of the present embodiment signal y control signal used in the existing synchro control means is less, therefore the present embodiment can be directed to that larger rope capacity is poor regulates, and has larger synchronization regulation allowance.
As shown in Figure 2, raise the control principle schematic diagram of another embodiment of the sync control device of system for multireel of the present invention.In the present embodiment, the multireel system of raising is four hoisting systems, four hoisting systems comprise first controllable capacity pump of first group and the first variable-dis-placement motor corresponding to the left connecting plate of suspension hook, and second controllable capacity pump of second group and the second variable-dis-placement motor, corresponding to ternary pump and the ternary motor of the 3rd group of the right connecting plate of described suspension hook, and the 4th controllable capacity pump of the 4th group and the 4th variable-dis-placement motor.Under four hoisting system coarse synchronization state of kinematic motions, controller receives the dip angle signal of obliquity sensor (comprising the obliquity sensor of installing on the left and right connecting plate of suspension hook itself and the suspension hook) output of installing on suspension hook, and generate the displacement control signal that four hoisting systems is carried out the discharge capacity adjusting according to dip angle signal, to adjust the rotating speed of the variable-dis-placement motor in four hoisting systems.
In the present embodiment, controller preferably adopts the PID controller with changing integration rate controller, it can generate respectively the first controllable capacity pump displacement control signal y1 and the second controllable capacity pump displacement control signal y2 according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on left connecting plate and right connecting plate, and generates ternary pump capacity control signal y3 according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook.Controller carries out respectively the counter regulation mutually of discharge capacity according to the first controllable capacity pump displacement control signal y1 again to the first controllable capacity pump and the second controllable capacity pump, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted; Respectively ternary pump and the 4th controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to the second controllable capacity pump displacement control signal y2, and then the rotating speed of described ternary motor and the 4th variable-dis-placement motor is adjusted; Controllable capacity pump in respectively first and second being organized according to described ternary pump capacity control signal y3 carries out the counter regulation mutually of discharge capacity with the controllable capacity pump in third and fourth group, and then rotating speed of the variable-dis-placement motor in first and second group and third and fourth group is adjusted.
Similar with the synchro control process of double hoisting system, the controller of four hoisting systems is also by controllable capacity pump displacement control signal, different controllable capacity pumps to be carried out the phase counter regulation, just should adjust the whole connected steel rope of suspension hook, also will adjust respectively the left and right connecting plate connected steel rope of suspension hook.
In the present embodiment, the coarse synchronization of four hoisting systems motion is preferably that controllable capacity pump in described four hoisting systems and variable-dis-placement motor are all inputted identical displacement control signal r and realized by the main handle that makes.
In conjunction with Fig. 2, in motion process, if the kinematic velocity of steel rope 1 is greater than the kinematic velocity of steel rope 2, because two rope motions are asynchronous, therefore can cause left connecting plate to tilt, and the obliquity sensor on left connecting plate can detect the variation at this inclination angle, and dip angle signal is offered controller, and controller just can become according to dip angle signal the controllable capacity pump displacement control signal y1 of correspondence next life.the size of controllable capacity pump displacement control signal y1 is relevant with direction and angle that positive and negative and left connecting plate tilts, for the larger situation of steel rope 1 kinematic velocity, controllable capacity pump displacement control signal y can generate corresponding negative adjustment value accordingly, namely the first variable capacity of pump is carried out negative regulator, reduce its discharge capacity on the basis of displacement control signal r, and then reduction drives the rotating speed of the first variable-dis-placement motor of steel rope 1 corresponding reel, thereby reduced the kinematic velocity of steel rope 1, also the second variable capacity of pump is just regulated simultaneously, improve its discharge capacity on the basis of displacement control signal r, and then raising drives the rotating speed of the second variable-dis-placement motor of steel rope 2 corresponding reels, thereby increased the kinematic velocity of steel rope 2.
In like manner, if the kinematic velocity of steel rope 3 is less than the kinematic velocity of steel rope 4, because two rope motions are asynchronous, therefore can cause right connecting plate to tilt, and the obliquity sensor on right connecting plate can detect the variation at this inclination angle, and dip angle signal is offered controller, controller just can become according to dip angle signal the controllable capacity pump displacement control signal y2 of correspondence next life.the size of controllable capacity pump displacement control signal y2 is relevant with direction and angle that positive and negative and right connecting plate tilts, for the less situation of steel rope 3 kinematic velocitys, controllable capacity pump displacement control signal y2 can generate corresponding positive adjustment value accordingly, namely the ternary capacity of pump is just being regulated, improve its discharge capacity on the basis of displacement control signal r, and then raising drives the rotating speed of the ternary motor of steel rope 3 corresponding reels, thereby improved the kinematic velocity of steel rope 3, also the 4th variable capacity of pump is carried out negative regulator simultaneously, reduce its discharge capacity on the basis of displacement control signal r, and then reduction drives the rotating speed of the 4th variable-dis-placement motor of steel rope 4 corresponding reels, thereby reduced the kinematic velocity of steel rope 4.
Consider that steel rope corresponding to the left connecting plate steel rope corresponding with right connecting plate nonsynchronous situation of moving on the whole can also appear in four hoisting systems, so just can detect by being arranged on obliquity sensor on suspension hook the variation at suspension hook inclination angle, and dip angle signal is offered controller, controller just can become according to dip angle signal the controllable capacity pump displacement control signal y3 of correspondence next life.the size of controllable capacity pump displacement control signal y3 is relevant with positive and negative direction and angle with suspension hook inclination itself, for the corresponding steel rope mass motion of left connecting plate speed situation bigger than normal, controllable capacity pump displacement control signal y3 can generate corresponding negative adjustment value accordingly, namely simultaneously the first controllable capacity pump and the second variable capacity of pump are carried out negative regulator, reduce its discharge capacity on the basis of displacement control signal r and controllable capacity pump displacement control signal y1, and then reduction drives the first variable-dis-placement motor of the corresponding reel of the corresponding steel rope of left connecting plate and the rotating speed of the second variable-dis-placement motor, thereby reduced the kinematic velocity of the corresponding steel rope of left connecting plate, also ternary pump and the 4th variable capacity of pump are just being regulated simultaneously, improve its discharge capacity on the basis of displacement control signal r and controllable capacity pump displacement control signal y2, and then raising drives the first variable-dis-placement motor of the corresponding reel of the corresponding steel rope of right connecting plate and the rotating speed of the second variable-dis-placement motor, thereby improved the kinematic velocity of the corresponding steel rope of right connecting plate.
Eliminated the synchronous error of suspension hook and the motion of connecting plate connected steel rope by above-mentioned control process, realized the synchro control of four hoisting systems, and owing to having adopted grouping and the interior oppositely adjusting of group of a plurality of controllable capacity pumps being carried out discharge capacity, therefore than existing synchro control means, the present embodiment is faster on governing speed.
On the other hand, under the certain condition of four hoisting rope length differences, the described controllable capacity pump displacement control of the present embodiment signal y1, y2, y3 control signal used in the existing synchro control means is less, therefore the present embodiment can be directed to that larger rope capacity is poor regulates, and has larger synchronization regulation allowance.
In the sync control device of above-mentioned double hoisting system and four hoisting systems, can also adopt the mode of the discharge capacity of regulated variable motor, perhaps not only adjust controllable capacity pump but also adjusted the mode of variable-dis-placement motor.Wherein, for the double hoisting system, controller can generate variable-dis-placement motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook, and respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted.Controller also can generate controllable capacity pump displacement control signal and variable-dis-placement motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook, and respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described controllable capacity pump displacement control signal, and respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted.
Because existing motor displacement, the discharge capacity of regulated variable motor regulates the too small risk that causes the pressure overload protection; and this risk can cause the discharge capacity of variable-dis-placement motor can automatically be adjusted to max.cap.; cause that between elevator, speed discrepancy sharply increases, the mode of therefore simple regulated variable capacity of pump is better than simple regulated variable motor displacement or the mode of the discharge capacity of regulated variable pump and variable-dis-placement motor simultaneously.
For four hoisting systems, controller can generate respectively the first variable-dis-placement motor displacement control signal and the second variable-dis-placement motor displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described left connecting plate and right connecting plate, and generates ternary motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook; Respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the first variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted; Respectively described ternary motor and the 4th variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the second variable-dis-placement motor displacement control signal, and then the rotating speed of described ternary motor and the 4th variable-dis-placement motor is adjusted; Variable-dis-placement motor in respectively first and second being organized according to described ternary motor displacement control signal carries out the counter regulation mutually of discharge capacity with the variable-dis-placement motor in third and fourth group, and then rotating speed of the variable-dis-placement motor in first and second group and third and fourth group is adjusted.
Controller also can generate respectively the first controllable capacity pump displacement control signal and the first variable-dis-placement motor displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described left connecting plate, generate respectively the second controllable capacity pump displacement control signal and the second variable-dis-placement motor displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described right connecting plate, and generate ternary pump capacity control signal and ternary motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook;
Respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the first controllable capacity pump displacement control signal, and respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the first variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted;
Respectively described ternary pump and the 4th controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the second controllable capacity pump displacement control signal, and respectively described ternary motor and the 4th variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the second variable-dis-placement motor displacement control signal, and then the rotating speed of described ternary motor and the 4th variable-dis-placement motor is adjusted;
Controllable capacity pump in respectively first and second being organized according to described ternary pump capacity control signal carries out the counter regulation mutually of discharge capacity with the controllable capacity pump in third and fourth group, variable-dis-placement motor in respectively first and second being organized according to described ternary motor displacement control signal carries out the counter regulation mutually of discharge capacity with the variable-dis-placement motor in third and fourth group, and then rotating speed of the variable-dis-placement motor in first and second group and third and fourth group is adjusted.
Same; because existing motor displacement, the discharge capacity of regulated variable motor regulates the too small risk that causes the pressure overload protection; and this risk can cause the discharge capacity of variable-dis-placement motor can automatically be adjusted to max.cap.; cause that between elevator, speed discrepancy sharply increases, the mode of therefore simple regulated variable pump capacity is better than simple regulated variable motor displacement or the mode of regulated variable pump and variable-dis-placement motor discharge capacity simultaneously.
In addition, controller is except can adopting the PID controller with changing integration rate controller, in another embodiment, can also adopt classical PID controller, fuzzy controller or fuzzy controller etc., because these controllers all belong to controller commonly used in Industry Control, just repeated no more its function and structure here.
The explanation of sync control device by multireel of the present invention being raised system and a plurality of embodiment of method, can see that multireel of the present invention raises sync control device and the embodiment of the method for system and have following one or more advantages:
1, synchronization accuracy is high: because rope capacity missionary society accurately reflects by the suspension hook inclination angle, when the suspension hook tilt adjustment is zero, just must realize that multireel raises the synchronized movement of system's steel rope, to survey by coder the control accuracy of implementing again synchronization regulation after rope capacity higher than existing for this;
2, synchronization regulation speed is fast: raise system motion when asynchronous when the suspension hook inclination angle reflects multireel, the control signal of controller output is oppositely regulated simultaneously multireel and is raised the running velocity of system (the fast hoisting system that moves slows down, the slow hoisting system that moves tunes up), therefore faster than existing master-slave mode synchronisation control means;
3, the synchronization regulation allowance is large: raise under the poor certain condition of rope capacity at multireel, the variable-dis-placement motor displacement control signal of output is less than the control signal of existing master-slave mode synchronisation control means output, therefore can regulate larger rope capacity is poor, have larger synchronization regulation allowance.
In sum, multireel of the present invention is raised the sync control device of system and method and is gone for all kinds of employing multireels and raise the engineering mechanical device of system, especially is fit to be applied in crawler crane.
Should be noted that at last: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; Although with reference to preferred embodiment, the present invention is had been described in detail, those of ordinary skill in the field are to be understood that: still can modify or the part technical characterictic is equal to replacement the specific embodiment of the present invention; And not breaking away from the spirit of technical solution of the present invention, it all should be encompassed in the middle of the technical scheme scope that the present invention asks for protection.
Claims (12)
1. a multireel is raised the sync control device of system, the described multireel system of raising comprises suspension hook, connects many groups elevator and corresponding controllable capacity pump and the variable-dis-placement motor of described suspension hook by steel rope, wherein said sync control device comprises obliquity sensor and the controller that is arranged on described suspension hook, described controller is used for receiving the dip angle signal of described obliquity sensor output, and generate according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, raise the rotating speed of the variable-dis-placement motor in system to adjust described multireel.
2. synchronisation control means of raising the sync control device of system based on multireel claimed in claim 1 comprises:
Raise under system's coarse synchronization state of kinematic motion at described multireel, controller receives the dip angle signal of the obliquity sensor output of installing on suspension hook;
Described controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and raises the rotating speed of the variable-dis-placement motor in system to adjust described multireel.
3. synchronisation control means according to claim 2, the wherein said multireel system of raising is the double hoisting system, described double hoisting system comprises the first controllable capacity pump and first variable-dis-placement motor of first group, and second controllable capacity pump of second group and the second variable-dis-placement motor.
4. synchronisation control means according to claim 3, wherein said controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates controllable capacity pump displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook, and respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described controllable capacity pump displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted.
5. synchronisation control means according to claim 3, wherein said controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates variable-dis-placement motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook, and respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted.
6. synchronisation control means according to claim 3, wherein said controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates controllable capacity pump displacement control signal and variable-dis-placement motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook, and respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described controllable capacity pump displacement control signal, and respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted.
7. synchronisation control means according to claim 2, the wherein said multireel system of raising is four hoisting systems, described four hoisting systems comprise first controllable capacity pump of first group and the first variable-dis-placement motor corresponding to the left connecting plate of described suspension hook, and second controllable capacity pump of second group and the second variable-dis-placement motor, corresponding to ternary pump and the ternary motor of the 3rd group of the right connecting plate of described suspension hook, and the 4th controllable capacity pump of the 4th group and the 4th variable-dis-placement motor.
8. synchronisation control means according to claim 7, wherein said controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates respectively the first controllable capacity pump displacement control signal and the second controllable capacity pump displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described left connecting plate and right connecting plate, and generates ternary pump capacity control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook;
Respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the first controllable capacity pump displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted;
Respectively described ternary pump and the 4th controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the second controllable capacity pump displacement control signal, and then the rotating speed of described ternary motor and the 4th variable-dis-placement motor is adjusted;
Controllable capacity pump in respectively first and second being organized according to described ternary pump capacity control signal carries out the counter regulation mutually of discharge capacity with the controllable capacity pump in third and fourth group, and then rotating speed of the variable-dis-placement motor in first and second group and third and fourth group is adjusted.
9. synchronisation control means according to claim 7, wherein said controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates respectively the first variable-dis-placement motor displacement control signal and the second variable-dis-placement motor displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described left connecting plate and right connecting plate, and generates ternary motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook;
Respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the first variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted;
Respectively described ternary motor and the 4th variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the second variable-dis-placement motor displacement control signal, and then the rotating speed of described ternary motor and the 4th variable-dis-placement motor is adjusted;
Variable-dis-placement motor in respectively first and second being organized according to described ternary motor displacement control signal carries out the counter regulation mutually of discharge capacity with the variable-dis-placement motor in third and fourth group, and then rotating speed of the variable-dis-placement motor in first and second group and third and fourth group is adjusted.
10. synchronisation control means according to claim 7, wherein said controller generates according to described dip angle signal the described multireel system of raising is carried out the displacement control signal that discharge capacity is regulated, and the operation of raising the rotating speed of the variable-dis-placement motor in system to adjust described multireel comprises:
Described controller generates respectively the first controllable capacity pump displacement control signal and the first variable-dis-placement motor displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described left connecting plate, generate respectively the second controllable capacity pump displacement control signal and the second variable-dis-placement motor displacement control signal according to the connecting plate dip angle signal of the obliquity sensor output of installing respectively on described right connecting plate, and generate ternary pump capacity control signal and ternary motor displacement control signal according to the suspension hook dip angle signal of the obliquity sensor output of installing on described suspension hook;
Respectively described the first controllable capacity pump and the second controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the first controllable capacity pump displacement control signal, and respectively described the first variable-dis-placement motor and the second variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the first variable-dis-placement motor displacement control signal, and then the rotating speed of described the first variable-dis-placement motor and the second variable-dis-placement motor is adjusted;
Respectively described ternary pump and the 4th controllable capacity pump are carried out the counter regulation mutually of discharge capacity according to described the second controllable capacity pump displacement control signal, and respectively described ternary motor and the 4th variable-dis-placement motor are carried out the counter regulation mutually of discharge capacity according to described the second variable-dis-placement motor displacement control signal, and then the rotating speed of described ternary motor and the 4th variable-dis-placement motor is adjusted;
Controllable capacity pump in respectively first and second being organized according to described ternary pump capacity control signal carries out the counter regulation mutually of discharge capacity with the controllable capacity pump in third and fourth group, variable-dis-placement motor in respectively first and second being organized according to described ternary motor displacement control signal carries out the counter regulation mutually of discharge capacity with the variable-dis-placement motor in third and fourth group, and then rotating speed of the variable-dis-placement motor in first and second group and third and fourth group is adjusted.
11. it is that described multireel is raised controllable capacity pump in system and variable-dis-placement motor and all inputted identical displacement control signal and realize by the main handle that makes that synchronisation control means according to claim 2, wherein said multireel are raised system's coarse synchronization state of kinematic motion.
12. synchronisation control means according to claim 2, wherein said controller are PID controller with changing integration rate controller, PID controller, fuzzy controller or fuzzy controller.
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| CN2013100637871A CN103112782A (en) | 2013-02-28 | 2013-02-28 | Synchronous control device and method of multi-winch system |
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| CN103482478A (en) * | 2013-10-17 | 2014-01-01 | 徐工集团工程机械股份有限公司 | Method and device for identifying swinging characteristic of crane hook |
| CN104627838A (en) * | 2014-12-30 | 2015-05-20 | 武汉港迪电气有限公司 | Synchronous control method for non-rigidity connection of working condition of gantry crane hook |
| CN110921538A (en) * | 2019-12-23 | 2020-03-27 | 三一汽车起重机械有限公司 | Hoisting system and crane |
| CN112456334A (en) * | 2020-12-02 | 2021-03-09 | 太原重工股份有限公司 | Multi-winch lifting sling leveling method and system |
| CN114706312A (en) * | 2022-06-06 | 2022-07-05 | 中国科学技术大学 | High-precision self-adaptive cooperative control method for rope traction parallel robot |
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