CN103640977A - Rotation control method, device and system and tower crane - Google Patents
Rotation control method, device and system and tower crane Download PDFInfo
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Abstract
The invention discloses a rotation control method, a device and a system thereof and a tower crane, wherein the method comprises the following steps: receiving an operation instruction for instructing a boom of a tower crane to perform rotary operation; receiving the current wind speed of the position of the crane; determining a received rotation driving parameter corresponding to the current wind speed in preset rotation driving parameters; and controlling the arm support to perform rotary operation according to the determined rotary driving parameters. The technical scheme of the invention solves the problems that the precision of the rotation control of the tower crane is lower and the performance of the rotation control is poorer in the prior art.
Description
Technical field
The present invention relates to the revolution control technology field of hoisting crane, particularly a kind of revolving-control method, Apparatus and system, tower crane.
Background technology
Tower crane is a kind of important hoisting and conveying machinery and equipment in building operation, and the speed adjusting performance of three large work structuring (structure that hoists, revolving structure, luffing mechanism) of tower crane directly has influence on work efficiency, safety performance and the reliability of hoisting crane.
The jib that staff operates tower crane turns round while moving, need to select revolution gear, according to this revolution gear, corresponding revolution drives parameter to rotation controller, regulate the drive torque of drive motor and the lock torque of drg, thereby reach the object of the revolution running velocity that regulates jib.
In prior art, generally set based on experience value and respectively turn round the corresponding revolution driving of gear parameter, but the working environment of hoisting crane may be different, if all use identical revolution to drive parameter to turn round control under different working environments, cannot control accurately the speed of revolution operation, the precision that revolution is controlled is lower.For example, when hoisting crane is worked, the wind speed of present position is very large, if still drive parameter to turn round control according to the revolution of setting, may cause the speed of revolutions of jib to cross the situations such as slow.
Summary of the invention
The embodiment of the present invention provides a kind of revolving-control method, Apparatus and system, tower crane, lower in order to solve the precision that the revolution of tower crane in prior art controls, and makes the problem of the poor-performing that revolution controls.
Embodiment of the present invention technical scheme is as follows:
The embodiment of the present invention provides a kind of revolving-control method, comprising: the jib that reception is used to indicate tower crane turns round the operation indication moving; Receive the current wind speed of described hoisting crane position; In each default revolution, drive in parameter, determine that the corresponding revolution of the described current wind speed receiving drives parameter; And drive parameter according to the revolution of determining, control described jib and turn round operation.
As shown from the above technical solution, in the revolving-control method that the embodiment of the present invention proposes, when the jib of controlling hoisting crane turns round operation, according to the current wind speed of hoisting crane position, determine that revolution drives parameter, under the different working environment of wind speed, the revolution of turning round while controlling drives parameter also just different, therefore can control accurately the speed of jib revolution operation so, improve the precision that revolution is controlled, also improved the stability of revolution operation.
Preferably, in described operation indication, carry speed of revolutions information; In each default revolution, drive in parameter, determine that the corresponding revolution of the described current wind speed receiving drives parameter, specifically comprises: in each default wind speed rank, determine the corresponding wind speed rank of described current wind speed receiving; In default speed of revolutions information, wind speed rank and revolution, drive in the corresponding relation between parameter the corresponding revolution driving of the wind speed rank parameter of searching the speed of revolutions information of carrying in described operation indication and determining.Therefore, set in advance speed of revolutions information, wind speed rank and revolution and drive the corresponding relation between parameter, so follow-up just can be according to the current wind speed of hoisting crane position, from above-mentioned corresponding relation, find revolution and control required revolution driving parameter, control accurately the speed of jib revolution operation.
Preferably, receive the current wind speed of described hoisting crane position, specifically comprise: receive and be placed in the air velocity transducer current wind speed that detect, described hoisting crane position on described hoisting crane.Therefore, air velocity transducer is placed on hoisting crane to the current wind speed of detection hoisting crane position that can be real-time.
The embodiment of the present invention also provides a kind of rotation control device, comprising: operation indication reception facilities, and the jib that is used to indicate tower crane for receiving turns round the operation indication of operation; Wind speed reception facilities, for receiving the current wind speed of described hoisting crane position; Revolution drives parameter to determine equipment, for each revolution default, drives parameter, determines that the corresponding revolution of described current wind speed that wind speed reception facilities receives drives parameter; Revolution operation control device, drives parameter for the revolution that drives parameter to determine that equipment is determined according to revolution, controls described jib and turns round operation.
As shown from the above technical solution, when the jib of controlling hoisting crane turns round operation, according to the current wind speed of hoisting crane position, determine that revolution drives parameter, so under the different working environment of wind speed, the revolution of turning round while controlling drives parameter also just different, therefore can control accurately the speed of jib revolution operation, improve the precision that revolution is controlled, also improve the stability of revolution operation.
Preferably, in described operation indication, carry speed of revolutions information; Described revolution drives parameter to determine equipment, in each wind speed rank default, determine the corresponding wind speed rank of described current wind speed receiving, in default speed of revolutions information, wind speed rank and revolution, drive in the corresponding relation between parameter the corresponding revolution driving of the wind speed rank parameter of searching the speed of revolutions information of carrying in described operation indication and determining.Therefore, set in advance speed of revolutions information, wind speed rank and revolution and drive the corresponding relation between parameter, so follow-up just can be according to the current wind speed of hoisting crane position, from above-mentioned corresponding relation, find revolution and control required revolution driving parameter, control accurately the speed of jib revolution operation.
Preferably, described wind speed reception facilities, is placed in the air velocity transducer current wind speed that detect, described hoisting crane position on described hoisting crane specifically for receiving.Therefore, air velocity transducer is placed on hoisting crane to the current wind speed of detection hoisting crane position that can be real-time.
The embodiment of the present invention also provides a kind of rotary control system, comprising: operation pointing input device, and the jib that is used to indicate tower crane for inputting turns round the operation indication of operation; Wind speed detection device, for detection of the current wind speed of tower crane position; And above-mentioned rotation control device.
As shown from the above technical solution, when the jib of controlling hoisting crane turns round operation, according to the current wind speed of hoisting crane position, determine that revolution drives parameter, so under the different working environment of wind speed, the revolution of turning round while controlling drives parameter also just different, therefore can control accurately the speed of jib revolution operation, improve the precision that revolution is controlled, also improve the stability of revolution operation.
Preferably, described wind speed detection device is air velocity transducer.Therefore, air velocity transducer is placed on hoisting crane to the current wind speed of detection hoisting crane position that can be real-time.
The embodiment of the present invention provides a kind of tower crane, at least comprises above-mentioned rotary control system.
Accompanying drawing explanation
Fig. 1 is in the embodiment of the present invention one, revolving-control method schematic flow sheet;
Fig. 2 is in the embodiment of the present invention two, revolving-control method specific implementation schematic flow sheet;
Fig. 3 is in the embodiment of the present invention three, rotation control device structural representation;
Fig. 4 is in the embodiment of the present invention three, rotary control system structural representation.
The specific embodiment
Below in conjunction with each accompanying drawing, embodiment of the present invention technical scheme main realized to principle, the specific embodiment and the beneficial effect that should be able to reach is at length set forth.
Embodiment mono-
As shown in Figure 1, be the revolving-control method diagram of circuit that the embodiment of the present invention one proposes, its concrete treatment scheme is as follows:
Step 11, the jib that reception is used to indicate tower crane turns round the operation indication moving.
When the operating personal of tower crane wants the jib of manipulating crane to turn round operation, can send to the rotation control device of hoisting crane operation indication, the jib that this operation indication is used to indicate tower crane turns round operation.
Because the jib of hoisting crane need to turn round operation according to certain gyratory directions and speed of revolutions, so carry revolution parameter in the operation indication that receives of rotation control device, revolution parameter comprises gyratory directions information and speed of revolutions information.
The mode of speed control of the swing type mechanism of tower crane can be gear mode of speed control, and now above-mentioned speed of revolutions information is identification information corresponding to revolution gear.
Step 12, receives the current wind speed of described hoisting crane position.
The embodiment of the present invention one proposes, and air velocity transducer can be installed on tower crane, for detection of the current wind speed of hoisting crane position.Air velocity transducer can be arranged on the top of tower of hoisting crane, or is arranged on jib, or is arranged on the bracing frame of jib.
Air velocity transducer is connected with rotation control device.
Wherein, air velocity transducer can periodically detect the current wind speed of hoisting crane position, and after current wind speed being detected, the current wind speed detecting is sent to rotation control device, the current wind speed of the acquisition hoisting crane position that rotation control device just can be real-time so at every turn.
In addition, rotation control device also can be after receiving above-mentioned operation indication, to air velocity transducer, send the request signal that obtains that obtains current wind speed, air velocity transducer receives above-mentioned obtaining after request signal, and current wind speed that detect, hoisting crane position is sent to rotation control device.
Step 13, drives in parameter in each default revolution, determines that the corresponding revolution of the described current wind speed receiving drives parameter.
Revolution drives parameter to comprise driving voltage value and brake voltage values.
In prior art, if the mode of speed control of the swing type mechanism of tower crane is gear mode of speed control, sets in advance and respectively turn round revolution driving parameter corresponding to gear difference, the corresponding one group of revolution driving parameter of each revolution gear, as shown in table 1:
Table 1
| Revolution gear | Driving voltage value | Brake voltage values |
| Revolution gear 1 | U1 | u1 |
| Revolution gear 2 | U2 | u2 |
| Revolution gear 3 | U3 | u3 |
| Revolution gear 4 | U4 | u4 |
When rotation control device receives after above-mentioned operation indication, according to the revolution gear information of carrying in operation indication, in table 1, search revolution corresponding to this revolution gear information and drive parameter, the jib that then drives parameter to control hoisting crane according to the revolution finding turns round operation.
But the working environment of hoisting crane may be different, if all use identical revolution to drive parameter to turn round control, cannot control accurately the speed of revolution operation under different working environments, the precision that revolution is controlled is lower.
To this, the embodiment of the present invention one proposes, and sets in advance several wind speed ranks, the corresponding wind speed range of each wind speed rank, for example, sets in advance N wind speed rank, wherein, the wind speed range of wind speed rank 1 correspondence be [0,5m/s), the wind speed range of wind speed rank 2 correspondences is [5,10m/s), the wind speed range of wind speed rank 3 correspondences be [10,15m/s),, the like.
In addition, also set in advance speed of revolutions information, wind speed rank and revolution and drive the corresponding relation between parameter, wherein, the corresponding a plurality of wind speed ranks of each speed of revolutions information, and the corresponding one group of revolution of each the wind speed rank under each speed of revolutions information drives parameter, if the mode of speed control of the swing type mechanism of tower crane is gear mode of speed control, speed of revolutions information is revolution gear information, now turns round gear information, wind speed rank and revolution and drives the corresponding relation between parameter as shown in table 2:
Table 2
When rotation control device receives after above-mentioned operation indication, receive the current wind speed of hoisting crane position, in each default wind speed rank, determine the corresponding wind speed rank of current wind speed of hoisting crane position, then in default speed of revolutions information, wind speed rank and revolution drive in the corresponding relation between parameter, the corresponding revolution driving of the wind speed rank parameter of searching the speed of revolutions information of carrying in the operation indication receiving and determining, the jib that rotation control device drives parameter to control hoisting crane according to the revolution finding turns round operation.
For example, the identification information that the revolution gear information of carrying in the operation indication that rotation control device receives is revolution gear 1 correspondence, being placed in the current wind speed that air velocity transducer on hoisting crane detects hoisting crane position is 6m/s, rotation control device is when determining that revolution drives parameter, first in each default wind speed rank, wind speed rank corresponding to current wind speed of determining hoisting crane position is wind speed rank 2, then in the corresponding relation as shown in table 2 of setting up in advance, search the corresponding revolution of revolution gear 1 and wind speed rank 2 and drive parameter, obtain driving voltage value U12 and brake voltage values u12.
Step 14, drives parameter according to the revolution of determining, and controls described jib and turns round operation.
When rotation control device drives parameter control jib to turn round operation according to revolution, according to revolution, drive the driving voltage value in parameter, to driving voltage regulating control, send corresponding driving voltage conditioning signal, driving voltage regulating control is according to the driving voltage conditioning signal receiving, regulate the input voltage of drive motor, drive motor according to input voltage to swing type mechanism output drive strength square; Rotation control device also needs to drive the brake voltage values in parameter according to revolution, to brake voltage regulating control, send corresponding brake voltage conditioning signal, brake voltage regulating control is according to the brake voltage conditioning signal receiving, the input voltage of regulating brake, drg is exported lock torque according to input voltage to swing type mechanism.
In above-mentioned control process, the driving voltage conditioning signal that rotation control device sends to driving voltage regulating control and the brake voltage conditioning signal sending to brake voltage regulating control can be analog signals, also can be pulse width modulation (Pulse Width Modulation, PWM) signal.
Wherein, the lock torque of drg output can suppress the shake of jib when revolution operation, makes the revolution operation of jib more steady.
Above-mentioned braking motor can be, but not limited to as phase asynchronous torque motor, and the features such as torque motor has that detent torque is high, adaptivity is strong, speed-regulating range width have larger advantage as the drive motor of swing type mechanism.
Above-mentioned drg can be, but not limited to as eddy-current brake, and the size of the input voltage of eddy-current brake can reflect the size of the swirl number of eddy-current brake.
In order to prevent because wind speed changes the uncontrolled problem of switching that causes revolution to drive parameter, the embodiment of the present invention one proposes, after revolution starts, revolution drives parameter chosen, can according to the current wind speed of hoisting crane position, not change again, after revolution stops, while again starting revolution, can reselect revolution according to the current wind speed of hoisting crane position and drive parameter to turn round control.For example, when revolution starts, the current wind speed of hoisting crane position is 4m/s, rotation control device is used the revolution of wind speed rank 1 correspondence to drive parameter to turn round control, in revolution operational process, for example, even if variation (becoming 8m/s) has occurred the current wind speed of hoisting crane position, rotation control device can not changed revolution yet and drive parameter.
In addition, the embodiment of the present invention one also proposes, can increase man-machine interactive system, operating personal can be known the current wind speed of hoisting crane position by man-machine interactive system, by operating personal, according to current wind speed artificial selection revolution, drive parameter, the revolution that rotation control device is selected according to operating personal drives parameter to turn round control.
As shown from the above technical solution, in the revolving-control method that the embodiment of the present invention one proposes, when the jib of controlling hoisting crane turns round operation, according to the current wind speed of hoisting crane position, determine that revolution drives parameter, under the different working environment of wind speed, the revolution of turning round while controlling drives parameter also just different, therefore can control accurately the speed of jib revolution operation so, improve the precision that revolution is controlled, also improved the stability of revolution operation.
Embodiment bis-
As shown in Figure 2, be the revolving-control method specific implementation diagram of circuit that the embodiment of the present invention two proposes, its concrete treatment scheme is as follows:
Step 25, rotation control device drives the driving voltage value in parameter according to revolution, to driving voltage regulating control, sends corresponding driving voltage conditioning signal.
Step 26, driving voltage regulating control, according to the driving voltage conditioning signal receiving, regulates the input voltage of drive motor.
Step 28, rotation control device drives the brake voltage values in parameter according to revolution, to brake voltage regulating control, sends corresponding brake voltage conditioning signal.
Embodiment tri-
The revolving-control method proposing with the embodiment of the present invention one is corresponding, and the embodiment of the present invention three also provides a kind of rotation control device, and its structure as shown in Figure 3, comprising:
Operation indication reception facilities 31, the jib that is used to indicate tower crane for receiving turns round the operation indication of operation;
Wind speed reception facilities 32, for receiving the current wind speed of described hoisting crane position;
Revolution drives parameter to determine equipment 33, for each revolution default, drives parameter, determines that the corresponding revolution of described current wind speed that wind speed reception facilities 32 receives drives parameter;
Revolution operation control device 34, drives parameter for the revolution that drives parameter to determine that equipment 33 is determined according to revolution, controls described jib and turns round operation.
Preferably, in described operation indication, carry speed of revolutions information;
Described revolution drives parameter to determine equipment 33, in each wind speed rank default, determine the corresponding wind speed rank of described current wind speed receiving, in default speed of revolutions information, wind speed rank and revolution, drive in the corresponding relation between parameter the corresponding revolution driving of the wind speed rank parameter of searching the speed of revolutions information of carrying in described operation indication and determining.
Preferably, described wind speed reception facilities 32, is placed in the air velocity transducer current wind speed that detect, described hoisting crane position on described hoisting crane specifically for receiving.
Accordingly, the embodiment of the present invention three also provides a kind of rotary control system, and its structure as shown in Figure 4, comprises operation pointing input device 41, wind speed detection device 42 and above-mentioned rotation control device 43, wherein:
Operation pointing input device 41, the jib that is used to indicate tower crane for inputting turns round the operation indication of operation;
Wind speed detection device 42, for detection of the current wind speed of tower crane position;
Preferably, described wind speed detection device is air velocity transducer.
In addition, the embodiment of the present invention three also proposes a kind of tower crane, at least comprises above-mentioned rotary control system.Wherein, tower crane can be, but not limited to as arm tower crane.
One of ordinary skill in the art will appreciate that realizing all or part of step that above-described embodiment method carries is to come the hardware that instruction is relevant to complete by program, described program can be stored in a kind of computer-readable recording medium, this program, when carrying out, comprises step of embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can be also that the independent physics of unit exists, and also can be integrated in a module two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and also can adopt the form of software function module to realize.If described integrated module usings that the form of software function module realizes and during as production marketing independently or use, also can be stored in a computer read/write memory medium.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt complete hardware implementation example, implement software example or in conjunction with the form of the embodiment of software and hardware aspect completely.And the present invention can adopt the form that wherein includes the upper computer program of implementing of computer-usable storage medium (including but not limited to disc storage and optical memory etc.) of computer usable program code one or more.
The present invention is with reference to describing according to diagram of circuit and/or the block scheme of the method for the embodiment of the present invention, equipment (system) and computer program.Should understand can be in computer program instructions realization flow figure and/or block scheme each flow process and/or the flow process in square frame and diagram of circuit and/or block scheme and/or the combination of square frame.Can provide these computer program instructions to the treater of general computer, single-purpose computer, Embedded Processor or other programmable data processing device to produce a machine, the instruction of carrying out by the treater of computing machine or other programmable data processing device is produced for realizing the device in the function of flow process of diagram of circuit or a plurality of flow process and/or square frame of block scheme or a plurality of square frame appointments.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, the instruction that makes to be stored in this computer-readable memory produces the manufacture that comprises command device, and this command device is realized the function of appointment in flow process of diagram of circuit or a plurality of flow process and/or square frame of block scheme or a plurality of square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make to carry out sequence of operations step to produce computer implemented processing on computing machine or other programmable devices, thereby the instruction of carrying out is provided for realizing the step of the function of appointment in flow process of diagram of circuit or a plurality of flow process and/or square frame of block scheme or a plurality of square frame on computing machine or other programmable devices.
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 embodiment of 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 (9)
1. a revolving-control method, is characterized in that, comprising:
The jib that reception is used to indicate tower crane turns round the operation indication moving;
Receive the current wind speed of described hoisting crane position;
In each default revolution, drive in parameter, determine that the corresponding revolution of the described current wind speed receiving drives parameter; And
According to the revolution of determining, drive parameter, control described jib and turn round operation.
2. the method for claim 1, is characterized in that, in described operation indication, carries speed of revolutions information;
In each default revolution, drive in parameter, determine that the corresponding revolution of the described current wind speed receiving drives parameter, specifically comprises:
In each default wind speed rank, determine the corresponding wind speed rank of described current wind speed receiving;
In default speed of revolutions information, wind speed rank and revolution, drive in the corresponding relation between parameter the corresponding revolution driving of the wind speed rank parameter of searching the speed of revolutions information of carrying in described operation indication and determining.
3. the method for claim 1, is characterized in that, receives the current wind speed of described hoisting crane position, specifically comprises:
Reception is placed in the air velocity transducer current wind speed that detect, described hoisting crane position on described hoisting crane.
4. a rotation control device, is characterized in that, comprising:
Operation indication reception facilities, the jib that is used to indicate tower crane for receiving turns round the operation indication of operation;
Wind speed reception facilities, for receiving the current wind speed of described hoisting crane position;
Revolution drives parameter to determine equipment, for each revolution default, drives parameter, determines that the corresponding revolution of described current wind speed that wind speed reception facilities receives drives parameter;
Revolution operation control device, drives parameter for the revolution that drives parameter to determine that equipment is determined according to revolution, controls described jib and turns round operation.
5. device as claimed in claim 4, is characterized in that, in described operation indication, carries speed of revolutions information;
Described revolution drives parameter to determine equipment, in each wind speed rank default, determine the corresponding wind speed rank of described current wind speed receiving, in default speed of revolutions information, wind speed rank and revolution, drive in the corresponding relation between parameter the corresponding revolution driving of the wind speed rank parameter of searching the speed of revolutions information of carrying in described operation indication and determining.
6. device as claimed in claim 4, is characterized in that, described wind speed reception facilities is placed in the air velocity transducer current wind speed that detect, described hoisting crane position on described hoisting crane specifically for receiving.
7. a rotary control system, is characterized in that, comprising:
Operation pointing input device, the jib that is used to indicate tower crane for inputting turns round the operation indication of operation;
Wind speed detection device, for detection of the current wind speed of tower crane position; And
Rotation control device as described in claim 4-6 any one.
8. system as claimed in claim 7, is characterized in that, described wind speed detection device is air velocity transducer.
9. a tower crane, is characterized in that, comprises the rotary control system described in claim 7 or 8.
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| CN102826454A (en) * | 2012-08-29 | 2012-12-19 | 三一重工股份有限公司 | Crane rotation control system, control method and crane |
| CN103253598A (en) * | 2013-05-28 | 2013-08-21 | 中联重科股份有限公司 | Tower crane rotary arm support control device, system and method and tower crane |
| CN103274299A (en) * | 2013-06-21 | 2013-09-04 | 中联重科股份有限公司 | Tower crane and rotation control system and rotation control method thereof |
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2013
- 2013-11-19 CN CN201310586165.7A patent/CN103640977B/en active Active
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| CN101585487A (en) * | 2008-05-22 | 2009-11-25 | 马尼托沃克起重机集团（法国）公司 | Be used to control the method and the device of gyroscopic movement of the rotating part of tower crane |
| US20100006530A1 (en) * | 2008-05-22 | 2010-01-14 | Manitowoc Crane Group France | Method for controlling the slewing movement of the rotary part of a tower crane |
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