CN103640977B - Revolving-control method, Apparatus and system, tower crane - Google Patents

Revolving-control method, Apparatus and system, tower crane Download PDF

Info

Publication number
CN103640977B
CN103640977B CN201310586165.7A CN201310586165A CN103640977B CN 103640977 B CN103640977 B CN 103640977B CN 201310586165 A CN201310586165 A CN 201310586165A CN 103640977 B CN103640977 B CN 103640977B
Authority
CN
China
Prior art keywords
revolution
wind speed
parameter
control
hoisting crane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201310586165.7A
Other languages
Chinese (zh)
Other versions
CN103640977A (en
Inventor
方淼
黄国勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoomlion Heavy Industry Science and Technology Co Ltd
Original Assignee
Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zoomlion Heavy Industry Science and Technology Co Ltd filed Critical Zoomlion Heavy Industry Science and Technology Co Ltd
Priority to CN201310586165.7A priority Critical patent/CN103640977B/en
Publication of CN103640977A publication Critical patent/CN103640977A/en
Application granted granted Critical
Publication of CN103640977B publication Critical patent/CN103640977B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention discloses a kind of revolving-control method, Apparatus and system, tower crane, the method comprises: receive the jib being used to indicate tower crane and carry out turning round the operation instruction run; Receive the current wind speed of described hoisting crane position; Drive in parameter in each revolution preset, determine that the revolution corresponding to described current wind speed received drives parameter; And drive parameter according to the revolution determined, control described jib and carry out revolution operation.The precision that the revolution that technical solution of the present invention solves tower crane in prior art controls is lower, makes the problem of turning round the poor-performing controlled.

Description

Revolving-control method, Apparatus and system, tower crane
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 the work efficiency of hoisting crane, safety performance and reliability.
When the jib of operated by personnel's tower crane carries out revolution operation, need to select revolution gear, the revolution that rotation controller is corresponding according to this revolution gear drives parameter, regulate the drive torque of drive motor and the lock torque of drg, thus reach the object of the revolution running velocity regulating jib.
In prior art, the general revolution set based on experience value corresponding to each revolution gear drives parameter, but the working environment of hoisting crane may be different, if all use identical revolution to drive parameter to carry out revolution in different operating environments to control, then cannot control accurately to turn round the speed run, make the precision of turning round control lower.Such as, when hoisting crane works, the wind speed of present position is very large, controls if still drive parameter to carry out revolution according to the revolution of setting, then the speed of revolutions of jib may be caused to cross the situations such as slow.
In prior art, if the mode of speed control of the swing type mechanism of tower crane is gear mode of speed control, then pre-sets the revolution corresponding respectively of each revolution gear and drive parameter, the corresponding one group of revolution of each revolution gear drives parameter, 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
After rotation control device receives above-mentioned operation instruction, according to running the revolution gear information of carrying in instruction, search revolution corresponding to this revolution gear information in Table 1 and drive parameter, the jib then driving parameter to control hoisting crane according to the revolution found carries out revolution and runs.
But the working environment of hoisting crane may be different, control if all use identical revolution driving parameter to carry out revolution in different operating environments, then cannot control accurately to turn round the speed run, make the precision of turning round control lower.
To this, the embodiment of the present invention one proposes, and pre-sets several wind speed ranks, the corresponding wind speed range of each wind speed rank, such as, pre-sets N number of 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 correspondence is [5,10m/s), the wind speed range of wind speed rank 3 correspondence be [10,15m/s),, the like.
In addition, also pre-set speed of revolutions information, wind speed rank and turn round the corresponding relation driven between parameter, wherein, the corresponding multiple wind speed rank of each speed of revolutions information, and the corresponding one group of revolution of each 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, then 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
After rotation control device receives above-mentioned operation instruction, receive the current wind speed of hoisting crane position, in each wind speed rank preset, determine the wind speed rank corresponding to current wind speed of hoisting crane position, then the speed of revolutions information preset, wind speed rank and revolution drive in the corresponding relation between parameter, search the speed of revolutions information of carrying in the operation instruction received and the driving of the revolution corresponding to the wind speed rank parameter determined, rotation control device carries out revolution according to the jib that the revolution found drives parameter to control hoisting crane and runs.
Such as, the revolution gear information of carrying in the operation instruction that rotation control device receives is the identification information of revolution gear 1 correspondence, the air velocity transducer be placed on hoisting crane detects that the current wind speed of hoisting crane position is 6m/s, rotation control device is when determining that revolution drives parameter, first in each wind speed rank preset, determine that the wind speed rank that the current wind speed of hoisting crane position is corresponding is wind speed rank 2, then in the corresponding relation as shown in table 2 set up in advance, search revolution gear 1 and the driving of the revolution corresponding to wind speed rank 2 parameter, obtain driving voltage value U12 and brake voltage values u12.
Step 14, drives parameter according to the revolution determined, controls described jib and carries out revolution operation.
When rotation control device drives state modulator jib to carry out revolution operation according to revolution, the driving voltage value in parameter is driven according to revolution, corresponding driving voltage conditioning signal is sent to driving voltage regulating control, driving voltage regulating control is according to the driving voltage conditioning signal received, 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 the brake voltage values driven according to revolution in parameter, corresponding brake voltage conditioning signal is sent to brake voltage regulating control, brake voltage regulating control is according to the brake voltage conditioning signal received, the input voltage of regulating brake, drg exports 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 can be analog signals to the brake voltage conditioning signal that brake voltage regulating control sends, also can be pulse width modulation (Pulse Width Modulation, PWM) signal.
Wherein, the lock torque that drg exports can suppress jib turning round shake when running, and the revolution of jib is run more steady.
Above-mentioned braking motor can be, but not limited to as phase asynchronous torque motor, and torque motor has the features such as detent torque is high, adaptivity strong, speed-regulating range width, and the drive motor as swing type mechanism has larger advantage.
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 change causes turning round the uncontrolled problem of switching driving parameter, the embodiment of the present invention one proposes, after revolution starts, revolution drives parameter to be namely selected, can not change according to the current wind speed of hoisting crane position again, after revolution stops, again during startup revolution, revolution can be reselected according to the current wind speed of hoisting crane position and drive parameter to carry out revolution control.Such as, when turning round startup, the current wind speed of hoisting crane position is 4m/s, then rotation control device uses the revolution of wind speed rank 1 correspondence to drive parameter to carry out revolution control, in revolution operational process, even if the current wind speed of hoisting crane position there occurs change (such as becoming 8m/s), rotation control device also can not be changed revolution and drive parameter.
In addition, the embodiment of the present invention one also proposes, man-machine interactive system can be increased, operating personal can know the current wind speed of hoisting crane position by man-machine interactive system, turn round driving parameter by operating personal according to current wind speed artificial selection, rotation control device drives parameter to carry out revolution according to the revolution that operating personal is selected and controls.
As shown from the above technical solution, in the revolving-control method that the embodiment of the present invention one proposes, when the jib controlling hoisting crane carries out revolution operation, determine that revolution drives parameter according to the current wind speed of hoisting crane position, so under the working environment that wind speed is different, the revolution driving parameter of carrying out turning round when controlling is also just different, therefore, it is possible to control the speed of jib revolution operation accurately, improve the precision that revolution controls, also improve the stability that revolution runs.
Summary of the invention
The embodiment of the present invention provides a kind of revolving-control method, Apparatus and system, tower crane, and the precision that the revolution in order to solve tower crane in prior art controls is lower, makes the problem of turning round the poor-performing controlled.
Embodiment of the present invention technical scheme is as follows:
The embodiment of the present invention provides a kind of revolving-control method, comprising: receive the jib being used to indicate tower crane and carry out turning round the operation instruction run; Receive the current wind speed of described hoisting crane position; Drive in parameter in each revolution preset, determine that the revolution corresponding to described current wind speed received drives parameter; And drive parameter according to the revolution determined, control described jib and carry out revolution operation.
As shown from the above technical solution, in the revolving-control method that the embodiment of the present invention proposes, when the jib controlling hoisting crane carries out revolution operation, determine that revolution drives parameter according to the current wind speed of hoisting crane position, so under the working environment that wind speed is different, the revolution driving parameter of carrying out turning round when controlling is also just different, therefore, it is possible to control the speed of jib revolution operation accurately, improve the precision that revolution controls, also improve the stability that revolution runs.
Preferably, speed of revolutions information is carried in described operation instruction; Drive in parameter in each revolution preset, determine that the revolution corresponding to described current wind speed received drives parameter, specifically comprise: in each wind speed rank preset, determine the wind speed rank corresponding to described current wind speed received; Drive in the corresponding relation between parameter in default speed of revolutions information, wind speed rank and revolution, search the speed of revolutions information of carrying in described operation instruction and the driving of the revolution corresponding to the wind speed rank parameter determined.Therefore, pre-set speed of revolutions information, wind speed rank and turn round the corresponding relation driven between parameter, so follow-up just can according to the current wind speed of hoisting crane position, the revolution found from above-mentioned corresponding relation needed for revolution control drives parameter, controls the speed that jib revolution runs accurately.
Preferably, receive the current wind speed of described hoisting crane position, specifically comprise: receive current wind speed that the air velocity transducer be placed on described hoisting crane detects, described hoisting crane position.Therefore, air velocity transducer is placed on hoisting crane, 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: run instruction reception facilities, carries out turning round the operation instruction run for receiving the jib being used to indicate tower crane; Wind speed reception facilities, for receiving the current wind speed of described hoisting crane position; Revolution drives parameter determination device, for driving in parameter in each revolution preset, determines that the revolution corresponding to described current wind speed that wind speed reception facilities receives drives parameter; Revolution operation control device, drives parameter for the revolution driving parameter determination device to determine according to revolution, controls described jib and carries out revolution operation.
As shown from the above technical solution, when the jib controlling hoisting crane carries out revolution operation, determine that revolution drives parameter according to the current wind speed of hoisting crane position, so under the working environment that wind speed is different, carrying out the revolution of turning round when controlling drives parameter also just different, therefore, it is possible to control the speed of jib revolution operation accurately, improve the precision that revolution controls, also improve the stability that revolution runs.
Preferably, speed of revolutions information is carried in described operation instruction; Described revolution drives parameter determination device, specifically in each wind speed rank preset, determine the wind speed rank corresponding to described current wind speed received, drive in the corresponding relation between parameter in default speed of revolutions information, wind speed rank and revolution, search the speed of revolutions information of carrying in described operation instruction and the driving of the revolution corresponding to the wind speed rank parameter determined.Therefore, pre-set speed of revolutions information, wind speed rank and turn round the corresponding relation driven between parameter, so follow-up just can according to the current wind speed of hoisting crane position, the revolution found from above-mentioned corresponding relation needed for revolution control drives parameter, controls the speed that jib revolution runs accurately.
Preferably, described wind speed reception facilities, specifically for receiving current wind speed that the air velocity transducer be placed on described hoisting crane detects, described hoisting crane position.Therefore, air velocity transducer is placed on hoisting crane, 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: run pointing input device, carries out turning round the operation instruction run for inputting the jib being used to indicate tower crane; Wind speed detection device, for detecting the current wind speed of tower crane position; And above-mentioned rotation control device.
As shown from the above technical solution, when the jib controlling hoisting crane carries out revolution operation, determine that revolution drives parameter according to the current wind speed of hoisting crane position, so under the working environment that wind speed is different, carrying out the revolution of turning round when controlling drives parameter also just different, therefore, it is possible to control the speed of jib revolution operation accurately, improve the precision that revolution controls, also improve the stability that revolution runs.
Preferably, described wind speed detection device is air velocity transducer.Therefore, air velocity transducer is placed on hoisting crane, 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.
Detailed description of the invention
Below in conjunction with each accompanying drawing, the main of embodiment of the present invention technical scheme is realized principle, detailed description of the invention and set forth in detail the beneficial effect that should be able to reach.
Embodiment one
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, receives the jib being used to indicate tower crane and carries out turning round the operation instruction run.
When the operating personal of tower crane wants the jib of manipulating crane to carry out revolution operation, can send run instruction to the rotation control device of hoisting crane, the jib that this operation instruction is used to indicate tower crane carries out revolution operation.
Jib due to hoisting crane needs to carry out revolution according to certain gyratory directions and speed of revolutions and runs, and carry revolution parameter in the operation instruction that therefore rotation control device receives, 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 can install air velocity transducer on tower crane, for detecting 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 periodically can detect the current wind speed of hoisting crane position, and after current wind speed being detected, the current wind speed detected is sent to rotation control device, so current wind speed of the acquisition hoisting crane position that rotation control device just can be real-time at every turn.
In addition, rotation control device also can after receiving above-mentioned operation instruction, the acquisition request signal obtaining current wind speed is sent to air velocity transducer, after air velocity transducer receives above-mentioned acquisition request signal, by detect, the current wind speed of hoisting crane position sends to rotation control device.
Step 13, drives in parameter in each revolution preset, and determines that the revolution corresponding to described current wind speed received drives parameter.
Revolution drives parameter to comprise driving voltage value and brake voltage values.
Embodiment two
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 21, rotation control device receives the jib being used to indicate tower crane to carry out turning round the operation instruction run, and runs in instruction and carries gyratory directions information and revolution gear information.
Step 22, current wind speed that the rotation control device air velocity transducer received on hoisting crane detects, this hoisting crane position.
Step 23, rotation control device, in each wind speed rank preset, determines the wind speed rank corresponding to current wind speed of hoisting crane position.
Step 24, rotation control device drives in the corresponding relation between parameter in the revolution gear information preset, wind speed rank and revolution, search the revolution gear information of carrying in the operation instruction received and the driving of the revolution corresponding to the wind speed rank parameter determined, then go to step 25 and step 28 respectively.
Step 25, rotation control device drives the driving voltage value in parameter according to revolution, sends corresponding driving voltage conditioning signal to driving voltage regulating control.
Step 26, driving voltage regulating control, according to the driving voltage conditioning signal received, regulates the input voltage of drive motor.
Step 27, drive motor according to input voltage to swing type mechanism output drive strength square.
Step 28, rotation control device drives the brake voltage values in parameter according to revolution, sends corresponding brake voltage conditioning signal to brake voltage regulating control.
Step 29, brake voltage regulating control according to the brake voltage conditioning signal received, the input voltage of regulating brake.
Step 210, drg exports lock torque according to input voltage to swing type mechanism.
Embodiment three
Corresponding with the revolving-control method that the embodiment of the present invention one proposes, the embodiment of the present invention three also provides a kind of rotation control device, and its structure as shown in Figure 3, comprising:
Running instruction reception facilities 31, carrying out turning round the operation instruction run for receiving the jib being used to indicate tower crane;
Wind speed reception facilities 32, for receiving the current wind speed of described hoisting crane position;
Revolution drives parameter determination device 33, for driving in parameter in each revolution preset, determines that the revolution corresponding to described current wind speed that wind speed reception facilities 32 receives drives parameter;
Revolution operation control device 34, drives parameter for the revolution driving parameter determination device 33 to determine according to revolution, controls described jib and carries out revolution operation.
Preferably, speed of revolutions information is carried in described operation instruction;
Described revolution drives parameter determination device 33, specifically in each wind speed rank preset, determine the wind speed rank corresponding to described current wind speed received, drive in the corresponding relation between parameter in default speed of revolutions information, wind speed rank and revolution, search the speed of revolutions information of carrying in described operation instruction and the driving of the revolution corresponding to the wind speed rank parameter determined.
Preferably, described wind speed reception facilities 32, specifically for receiving current wind speed that the air velocity transducer be placed on described hoisting crane detects, described hoisting crane position.
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 and runs pointing input device 41, wind speed detection device 42 and above-mentioned rotation control device 43, wherein:
Running pointing input device 41, carrying out turning round the operation instruction run for inputting the jib being used to indicate tower crane;
Wind speed detection device 42, for detecting the current wind speed of tower crane position;
Rotation control device 43, the operation instruction that described jib carries out turning round operation is used to indicate for receiving, drive in parameter in each revolution preset, determine that the revolution corresponding to current wind speed of tower crane position drives parameter, and drive parameter according to the revolution determined, control described jib and carry out revolution operation.
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 that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising 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, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, 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 the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to disc storage and optical memory etc.) of computer usable program code.
The present invention describes with reference to according to the diagram of circuit of the method for the embodiment of the present invention, equipment (system) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and diagram of circuit and/or block scheme and/or square frame.These computer program instructions can being provided to the treater of general computer, single-purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the treater of computing machine or other programmable data processing device produce device for realizing the function of specifying in diagram of circuit flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in diagram of circuit flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in diagram of circuit flow process or multiple flow process and/or block scheme square frame or multiple square frame.
Obviously, those skilled in the art can carry out various change and modification to the embodiment of the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (7)

1. a revolving-control method, is characterized in that, comprising:
Receive the jib being used to indicate tower crane to carry out turning round the operation instruction run;
Receive the current wind speed of described hoisting crane position;
Drive in parameter in each revolution preset, determine that the revolution corresponding to described current wind speed received drives parameter; And
Drive parameter according to the revolution determined, control described jib and carry out revolution operation;
Wherein, speed of revolutions information is carried in described operation instruction;
Drive in parameter in each revolution preset, determine that the revolution corresponding to described current wind speed received drives parameter, specifically comprise:
In each wind speed rank preset, determine the wind speed rank corresponding to described current wind speed received;
Drive in the corresponding relation between parameter in default speed of revolutions information, wind speed rank and revolution, search the speed of revolutions information of carrying in described operation instruction and the driving of the revolution corresponding to the wind speed rank parameter determined.
2. the method for claim 1, is characterized in that, receives the current wind speed of described hoisting crane position, specifically comprises:
Receive current wind speed that the air velocity transducer be placed on described hoisting crane detects, described hoisting crane position.
3. a rotation control device, is characterized in that, comprising:
Running instruction reception facilities, carrying out turning round the operation instruction run for receiving the jib being used to indicate tower crane;
Wind speed reception facilities, for receiving the current wind speed of described hoisting crane position;
Revolution drives parameter determination device, for driving in parameter in each revolution preset, determines that the revolution corresponding to described current wind speed that wind speed reception facilities receives drives parameter;
Revolution operation control device, drives parameter for the revolution driving parameter determination device to determine according to revolution, controls described jib and carries out revolution operation;
Wherein, speed of revolutions information is carried in described operation instruction;
Described revolution drives parameter determination device, specifically in each wind speed rank preset, determine the wind speed rank corresponding to described current wind speed received, drive in the corresponding relation between parameter in default speed of revolutions information, wind speed rank and revolution, search the speed of revolutions information of carrying in described operation instruction and the driving of the revolution corresponding to the wind speed rank parameter determined.
4. device as claimed in claim 3, is characterized in that, described wind speed reception facilities, specifically for receiving current wind speed that the air velocity transducer be placed on described hoisting crane detects, described hoisting crane position.
5. a rotary control system, is characterized in that, comprising:
Running pointing input device, carrying out turning round the operation instruction run for inputting the jib being used to indicate tower crane;
Wind speed detection device, for detecting the current wind speed of tower crane position; And
Rotation control device as described in claim 3 or 4.
6. system as claimed in claim 5, it is characterized in that, described wind speed detection device is air velocity transducer.
7. a tower crane, is characterized in that, comprises the rotary control system described in claim 5 or 6.
CN201310586165.7A 2013-11-19 2013-11-19 Revolving-control method, Apparatus and system, tower crane Active CN103640977B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310586165.7A CN103640977B (en) 2013-11-19 2013-11-19 Revolving-control method, Apparatus and system, tower crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310586165.7A CN103640977B (en) 2013-11-19 2013-11-19 Revolving-control method, Apparatus and system, tower crane

Publications (2)

Publication Number Publication Date
CN103640977A CN103640977A (en) 2014-03-19
CN103640977B true CN103640977B (en) 2015-10-14

Family

ID=50246315

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310586165.7A Active CN103640977B (en) 2013-11-19 2013-11-19 Revolving-control method, Apparatus and system, tower crane

Country Status (1)

Country Link
CN (1) CN103640977B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN102328875A (en) * 2011-08-25 2012-01-25 长沙中联重工科技发展股份有限公司 Control method and control system for engineering machinery swing mechanism and engineering machinery
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 Device, system and method for controlling rotary cantilever crane of tower crane and tower crane
CN103274299A (en) * 2013-06-21 2013-09-04 中联重科股份有限公司 Tower crane, swing control system and swing control method thereof

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
CN102328875A (en) * 2011-08-25 2012-01-25 长沙中联重工科技发展股份有限公司 Control method and control system for engineering machinery swing mechanism and engineering machinery
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 Device, system and method for controlling rotary cantilever crane of tower crane and tower crane
CN103274299A (en) * 2013-06-21 2013-09-04 中联重科股份有限公司 Tower crane, swing control system and swing control method thereof

Also Published As

Publication number Publication date
CN103640977A (en) 2014-03-19

Similar Documents

Publication Publication Date Title
CN203643175U (en) Electric wheel hub motor testing stand
CN101512098B (en) Horizontal drilling system with oscillation control
CN202754140U (en) Digital servo
EP2921448B1 (en) Method for operating winch, and winch
CN104912733B (en) Wind driven generator yaw control method, control module and the control device based on the module
CN100498625C (en) Control system for satellite antenna motion
CN102644545B (en) Method and system for processing faults of wind generating set
CN104314754B (en) A kind of Yaw control method and yaw control system
CN102865191B (en) Novel real-time damping control method of yaw system of wind generating set
CA2718373C (en) Motor controller for air-conditioner fan and control method thereof
CN205176665U (en) Accurate controlling means of rotary platform
US8057175B2 (en) Active control of a wind turbine blade
CN102923511B (en) Winding Tension Controlling System
CN102642775B (en) Device and method for controlling slewing mechanism of tower crane
CN105007012B (en) A kind of vehicle-mounted rotating table control system and method
CN102707637B (en) Robot handheld teaching device
CN1873571A (en) Integrated control system based on bus for variable frequency speed control of wire drawing bench
CN201188125Y (en) Electric machine characteristic test system supported by multi-data acquisition mode
CN104061145A (en) Frequency conversion compressor control method and device, as well as frequency conversion dehumidifier and frequency conversion window machine
CN102718147B (en) Hook motion control mechanism and tower crane
KR20130073035A (en) Wind-driven generator and yaw rotation control method for wind-driven generator
US20120083931A1 (en) Method and apparatus for judging an unnecessary windward condition and method and system for tracking wind
CN101493684A (en) Servo dynamic tester and test method thereof
CN102701077B (en) System and method for controlling position of lifting hook of crane, as well as crane
EP2860599B1 (en) Control device with PLC programmable logic controller and with a touchscreen

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C56 Change in the name or address of the patentee
CP02 Change in the address of a patent holder

Address after: 415106 Dingcheng City, Changde Province, the town of irrigation district ZOOMLION Creek Industrial Park

Patentee after: Zoomlion Heavy Industry Science & Technology Development Co., Ltd.

Address before: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No.

Patentee before: Zoomlion Heavy Industry Science & Technology Development Co., Ltd.

CP02 Change in the address of a patent holder
CP02 Change in the address of a patent holder

Address after: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No.

Patentee after: Zoomlion Heavy Industry Science & Technology Development Co., Ltd.

Address before: 415106 Dingcheng City, Changde Province, the town of irrigation district ZOOMLION Creek Industrial Park

Patentee before: Zoomlion Heavy Industry Science & Technology Development Co., Ltd.