CN103601093A - Synchronous control method, device and system for tower crane and double hoisting mechanisms thereof - Google Patents
Synchronous control method, device and system for tower crane and double hoisting mechanisms thereof Download PDFInfo
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- CN103601093A CN103601093A CN201310425378.1A CN201310425378A CN103601093A CN 103601093 A CN103601093 A CN 103601093A CN 201310425378 A CN201310425378 A CN 201310425378A CN 103601093 A CN103601093 A CN 103601093A
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Abstract
The invention discloses a synchronous control method, a device and a system for a tower crane and double hoisting mechanisms thereof. The synchronous control method for the tower crane and the double hoisting mechanisms thereof comprises receiving the real-time operation speed of two coiling drums; controlling the speed of the two coiling drums to be synchronous through two motors which are corresponding to the two coiling drums according to the speed deviation of the two coiling drums; controlling the motor which is corresponding to one coiling drum through a closed loop to control the speed of the two coiling drums to be synchronous with the real-time speed of the other coiling drum serving as a target speed when the speed deviation is not zero. According to the synchronous control method for the tower crane and the double hoisting mechanisms thereof, the motors are controlled to control the speed of the two coiling drums to be synchronous according to the speed deviation of the coiling drums with the speed of the two coiling drums serving as final controlled objects, the rope discharging amount of steel wire ropes of the coiling drums is guaranteed identical and balancing control of a lifting device is achieved.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly a kind of tower machine and two lifting mechanism synchronisation control means, equipment and system.
Background technology
At present, in tower crane lifting control system, majority is that single lifting mechanism is controlled.Along with Practical Project is increasing to the demand of tower machine lift heavy amount, single lifting mechanism can not meet the demand of large lift heavy amount, two lifting mechanisms arise at the historic moment, can improve greatly tower machine lift heavy amount, but the complexity of dual-mechanism is brought many difficulties to control, especially the synchro control of dual-mechanism, is prone to inclination energy imbalance in suspender work, needs especially the problem of solution badly.
Summary of the invention
The present invention, in for problems of the prior art, provides a kind of tower machine and two lifting mechanism synchronisation control means, equipment and system, guarantees that the rope stretching amount of reel steel wire ropes is the same, realizes the balance of suspender and controls.
The invention provides the two lifting mechanism synchronisation control meanss of a kind of tower machine, comprising:
Receive the real-time speed of two reel operations;
Synchronous by the speed of two reels of electric machine control corresponding to described two reels difference according to the velocity deviation of described two reels; When described velocity deviation is not 0, take one of them reel real-time speed as target velocity synchronous to control the speed of two reels by motor corresponding to another reel of closed loop control.
The present invention also provides a kind of tower machine two lifting mechanism Synchronizing Control Devices, comprising:
Receiving device, for receiving the real-time speed of two reel operations;
Control setup, for synchronous by the speed of two reels of electric machine control corresponding to described two reels difference according to the velocity deviation of described two reels; When described velocity deviation is not 0, take one of them reel real-time speed as target velocity synchronous to control the speed of two reels by motor corresponding to another reel of closed loop control.
The present invention also provides a kind of tower machine two lifting mechanism synchronous control systems, comprising:
Spool velocity detecting device, for detection of the speed of two reels; And
The two lifting mechanism Synchronizing Control Devices of tower machine as above.
The present invention also provides a kind of tower machine, comprises the two lifting mechanism synchronous control systems of tower machine as above.
The present invention be take two spool velocity as final control object, synchronous to control the speed of two reels by controlling motor, guarantees that the rope stretching amount of reel steel wire ropes is the same, realizes the balance of suspender and controls, and avoids suspender in work to occur that tilt phenomenon causes operating irregularity.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for specification sheets, is used from explanation the present invention, but is not construed as limiting the invention with the specific embodiment one below.In the accompanying drawings:
Fig. 1 is the diagram of circuit of the two lifting mechanism synchronisation control meanss of tower machine in one embodiment of the invention;
Fig. 2 is the constructional drawing of the two lifting mechanism Synchronizing Control Devices of tower machine in one embodiment of the invention;
Fig. 3 is the constructional drawing of the two lifting mechanism synchronous control systems of tower machine in one embodiment of the invention;
Fig. 4 is the constructional drawing of the two lifting mechanism synchronous control systems of tower machine in another embodiment of the present invention;
Fig. 5 is the specific embodiment of the two lifting mechanism synchro control schemes of tower machine of the present invention.
The specific embodiment
For making those skilled in the art more clearly understand the present invention, below in conjunction with accompanying drawing, do more detailed description, but these explanations are not limited to protection scope of the present invention.
Fig. 1 is the diagram of circuit of the two lifting mechanism synchronisation control meanss of tower machine in one embodiment of the invention.The two lifting mechanism synchronisation control meanss of tower machine, comprising: S101, receives the real-time speed that two reels move; S103, synchronous by the speed of two reels of two electric machine control corresponding to described two reels difference according to the velocity deviation of described two reels; When described velocity deviation is not 0, take one of them reel real-time speed as target velocity synchronous to control the speed of two reels by motor corresponding to another reel of closed loop control.The inventive method be take two spool velocity as final control object, synchronous to control the speed of two reels by controlling motor according to the velocity deviation of reel, guarantees that the rope stretching amount of reel steel wire ropes is the same, realizes the balance of suspender and controls.
Preferably, described method also comprises: when described velocity deviation is 0, the speed of two motors of closed loop control is synchronous to control the speed of two reels respectively as target velocity to take the motor speed set.No matter whether the speed of two reels there is deviation, and the rope stretching amount of reel steel wire ropes is the same, realizes the balance of suspender and controls, and avoids suspender in work to occur that tilt phenomenon causes operating irregularity.
Preferably, described closed loop control adoption rate-integration-differential is controlled.
Preferably, when the two lifting mechanisms of described tower machine start, send simultaneously and start operation and speed command, realize the startup synchro control of two lifting mechanism control system.
Fig. 2 is the constructional drawing of two lifting mechanism Synchronizing Control Devices the first embodiment of tower machine of the present invention.The two lifting mechanism Synchronizing Control Devices 10 of a kind of tower machine, comprising: receiving device 11, for receiving the real-time speed of two reel operations; Control setup 12, for synchronous by the speed of two reels of two electric machine control corresponding to described two reels difference according to the velocity deviation of described two reels; When described velocity deviation is not 0, take one of them reel real-time speed as target velocity synchronous to control the speed of two reels by motor corresponding to another reel of closed loop control.This equipment be take two spool velocity as final control object, synchronous to control the speed of two reels by controlling motor according to the velocity deviation of reel, guarantees that the rope stretching amount of reel steel wire ropes is the same, realizes the balance of suspender and controls.
Preferably, in two lifting mechanism Synchronizing Control Devices the second embodiment of tower machine of the present invention, described control setup also for: when described velocity deviation is 0, the speed of two motors of closed loop control is synchronous to control the speed of two reels respectively as target velocity to take the motor speed set.No matter whether the speed of two reels there is deviation, and the rope stretching amount of reel steel wire ropes is the same, realizes the balance of suspender and controls, and avoids suspender in work to occur that tilt phenomenon causes operating irregularity.
Preferably, when the two lifting mechanisms of described tower machine start, described control setup also sends simultaneously and starts operation and speed command, realizes the startup synchro control of two lifting mechanism control system.
Fig. 3 is the constructional drawing of the two lifting mechanism synchronous control systems of tower machine in one embodiment of the invention.The two lifting mechanism synchronous control systems of tower machine, comprising: spool velocity detecting device 20, for detection of the speed of two reels; And two lifting mechanism Synchronizing Control Devices 10 of tower machine in two lifting mechanism Synchronizing Control Devices the first embodiment of tower machine as mentioned above.Native system is synchronous by the speed speed synchronous and reel of control motor, guarantees that the rope stretching amount of reel steel wire ropes is the same, realizes the balance of suspender and controls.
Fig. 4 is the constructional drawing of the two lifting mechanism synchronous control systems of tower machine in another embodiment of the present invention.The two lifting mechanism synchronous control systems of tower machine, comprising: motor speed detecting device 30, for detection of the speed of two motors; Spool velocity detecting device 20, for detection of the speed of two reels; And the two lifting mechanism Synchronizing Control Devices 10 of tower machine in two lifting mechanism Synchronizing Control Devices the second embodiment of tower machine as above.
The present invention also provides a kind of tower machine, comprises the two lifting mechanism synchronous control systems of above-mentioned tower machine.
Fig. 5 is the specific embodiment of the two lifting mechanism synchro control schemes of tower machine of the present invention: controller is according to external input signal output control logic and the control signal of the given gear signal of gear setter and collection, 1, No. 2 frequency converter carries out data transmission by bus communication mode and controller, 1, No. 2 frequency converter receives while starting operation control signal, 1, No. 2 frequency converter is carried out respectively 1, the control of No. 2 lifting motor operations, 1, No. 2 motors are respectively through 1, No. 2 speed reduction gearing drives respectively 1, No. 2 reel work, 1, No. 2 reel folding and unfoldings 1 respectively, No. 2 steel rope drives suspender work jointly, complete the lifting work of hoisting heavy.
In velocity-stabilization operational process, the motor speed that first controller is set gear by the mode of bus communication is transferred to frequency converter 1, No. 2, and 1, No. 2 frequency converter is controlled respectively the operation of 1, No. 2 motor.1, on No. 2 motors, speed detector is housed respectively 1, No. 2, the real-time speed of 1, No. 2 motor operation is fed back to respectively to frequency converter 1, No. 2,1, No. 2 frequency converter adopts PID closed loop control motor speed according to gear setting speed and Real-time Feedback speed.Meanwhile, 1, No. 2 spool velocity detecting device feeds back to controller by 1, No. 2 reel real-time speed.It is the speed that benchmark regulates No. 2 motors that controller adopts PID to control to take No. 1 motor speed according to the velocity deviation of 1, No. 2 reel, the speed of controlling No. 2 reels is synchronizeed with the speed of No. 1 reel, the rope stretching amount that guarantees reel steel wire ropes is the same, realize the balance of suspender and control, avoid suspender in work to occur that tilt phenomenon causes operating irregularity.Wherein, when velocity deviation equals 0, the setting speed of take adopts motor speed closed loop PID to regulate synchro control as controlling target velocity, and when velocity deviation is not 0, No. 1 reel real-time speed of take adopts spool velocity closed loop PID to regulate synchro control as controlling target velocity.
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 within of the present invention these are revised and 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 (10)
1. the two lifting mechanism synchronisation control meanss of tower machine, is characterized in that, comprising:
Receive the real-time speed of two reel operations;
Synchronous by the speed of two reels of electric machine control corresponding to described two reels difference according to the velocity deviation of described two reels; When described velocity deviation is not 0, take one of them reel real-time speed as target velocity synchronous to control the speed of two reels by motor corresponding to another reel of closed loop control.
2. method according to claim 1, is characterized in that, also comprises:
When described velocity deviation is 0, the speed of two motors of closed loop control is synchronous to control the speed of two reels respectively as target velocity to take the motor speed set.
3. method according to claim 1 and 2, is characterized in that, the equal adoption rate-integration of described closed loop control-differential is controlled.
4. method according to claim 1, is characterized in that, when the two lifting mechanisms of described tower machine start, sends simultaneously and starts operation and speed command, realizes the startup synchro control of two lifting mechanism control system.
5. the two lifting mechanism Synchronizing Control Devices of tower machine, is characterized in that, comprising:
Receiving device, for receiving the real-time speed of two reel operations;
Control setup, for synchronous by the speed of two reels of electric machine control corresponding to described two reels difference according to the velocity deviation of described two reels; When described velocity deviation is not 0, take one of them reel real-time speed as target velocity synchronous to control the speed of two reels by motor corresponding to another reel of closed loop control.
6. equipment according to claim 5, is characterized in that, described control setup also for:
When described velocity deviation is 0, the speed of two motors of closed loop control is synchronous to control the speed of two reels respectively as target velocity to take the motor speed set.
7. according to the equipment described in claim 5 or 6, it is characterized in that, when the two lifting mechanisms of described tower machine start, described control setup also sends simultaneously and starts operation and speed command, realizes the startup synchro control of two lifting mechanism control system.
8. the two lifting mechanism synchronous control systems of tower machine, is characterized in that, comprising:
Spool velocity detecting device, for detection of the speed of two reels; And
The two lifting mechanism Synchronizing Control Devices of tower machine as claimed in claim 5.
9. the two lifting mechanism synchronous control systems of tower machine, is characterized in that, comprising:
Motor speed detecting device, for detection of the speed of two motors;
Spool velocity detecting device, for detection of the speed of two reels; And
The two lifting mechanism Synchronizing Control Devices of tower machine as described in claim 6 or 7.
10. a tower machine, is characterized in that, comprises the two lifting mechanism synchronous control systems of tower machine as claimed in claim 8 or 9.
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| CN201310425378.1A CN103601093B (en) | 2013-09-17 | 2013-09-17 | Tower machine and two lifting mechanism synchronization control method, apparatus and system thereof |
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| CN201310425378.1A CN103601093B (en) | 2013-09-17 | 2013-09-17 | Tower machine and two lifting mechanism synchronization control method, apparatus and system thereof |
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| CN103601093B CN103601093B (en) | 2016-06-01 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104843567A (en) * | 2015-05-19 | 2015-08-19 | 上海德圣米高电梯有限公司 | Synchronous control system for double traction machines of lift |
| CN106517003A (en) * | 2015-09-09 | 2017-03-22 | 包尔机械有限公司 | Construction machine and method for upward and downward movement of a lifting element |
| CN109052176A (en) * | 2018-10-10 | 2018-12-21 | 上海海事大学 | A kind of measuring device of the two-electron atom bridge crane synchronous error based on optoelectronic induction |
| CN113979312A (en) * | 2021-11-22 | 2022-01-28 | 徐州建机工程机械有限公司 | Operating system and operating method of multi-mechanism tower crane |
| CN114084802A (en) * | 2021-11-19 | 2022-02-25 | 徐州建机工程机械有限公司 | Double-closed-loop master-slave synchronous control system for multiple mechanisms of tower crane |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111762706B (en) * | 2020-06-11 | 2021-06-15 | 中联重科股份有限公司 | Double-winch single-hook type lifting equipment and winch synchronous calibration method and system thereof |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN106517003A (en) * | 2015-09-09 | 2017-03-22 | 包尔机械有限公司 | Construction machine and method for upward and downward movement of a lifting element |
| CN106517003B (en) * | 2015-09-09 | 2020-02-18 | 包尔机械有限公司 | Construction machine and method for up-and-down movement of a lifting element |
| CN109052176A (en) * | 2018-10-10 | 2018-12-21 | 上海海事大学 | A kind of measuring device of the two-electron atom bridge crane synchronous error based on optoelectronic induction |
| CN109052176B (en) * | 2018-10-10 | 2020-04-07 | 上海海事大学 | Double-lifting-appliance bridge crane synchronization error measuring device based on photoelectric sensing |
| CN114084802A (en) * | 2021-11-19 | 2022-02-25 | 徐州建机工程机械有限公司 | Double-closed-loop master-slave synchronous control system for multiple mechanisms of tower crane |
| WO2023088449A1 (en) * | 2021-11-19 | 2023-05-25 | 徐州建机工程机械有限公司 | Multi-mechanism double-closed-loop master-slave synchronous control system for tower crane |
| CN113979312A (en) * | 2021-11-22 | 2022-01-28 | 徐州建机工程机械有限公司 | Operating system and operating method of multi-mechanism tower crane |
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Application publication date: 20140226 Assignee: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042749 Denomination of invention: Synchronous control method, equipment, and system for tower cranes and their dual lifting mechanisms Granted publication date: 20160601 License type: Common License Record date: 20231008 Application publication date: 20140226 Assignee: Zoomlion Construction Crane Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042704 Denomination of invention: Synchronous control method, equipment, and system for tower cranes and their dual lifting mechanisms Granted publication date: 20160601 License type: Common License Record date: 20231008 |
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