CN103693560A - Tower crane, and method, device and system for controlling slewing mechanism of tower crane - Google Patents

Abstract

The invention discloses a tower crane, and a method, a device and a system for controlling a slewing mechanism of the tower crane. The system comprises a controller, a frequency converter, an intelligent eddy current control module, an eddy current device and a motor, wherein the motor is used for driving a slewing mechanism of the tower crane to act; the frequency converter is used for feeding back moment current parameters of the load moment of the motor to the controller; the controller is used for determining actual output eddy current parameters according to the moment current parameters; the intelligent eddy current control module is used for regulating eddy current applied to the motor by the eddy current device according to the actual output eddy current parameters. According to the system for controlling the slewing mechanism of the tower crane, provided by the invention, the abnormal situations such as jittering and slewing difficulty caused by influence on a slewing dragging system of the tower crane due to factors such as wind force and friction force can be eliminated.

Description

The control method of a kind of tower crane and swing type mechanism thereof, device and system

Technical field

The present invention relates to elevator machinery Electrical Control Technology field, particularly the control method of a kind of tower crane and swing type mechanism thereof, device and system.

Background technology

The revolution dragging system of tower crane carries certain in the situation that hanging, be subject to wind-force, the effect of the uncertain factors such as friction force can cause motor load to strengthen, make to turn round dragging system and occur shake and turn round the situations such as painstaking in revolution operational process, thereby directly affect the turnability that turns round dragging system.

In prior art, generally by vortex device, to motor, applying the revolution dragging system that eddy current guarantees tower crane operates steadily, as shown in Figure 1, in the eddy current control system of tower crane, controller 101 is according to the gear signal of input and the limit signal gear signal that draws current operation, then according to the gear signal of current operation, export corresponding eddy current control signal to Intelligent EDDY Current control module 102, Intelligent EDDY Current control module 102 drives vortex device 103 to apply eddy current to motor 104 according to the eddy current control signal receiving.

But, in prior art in each gear of tower crane, at controller 101, according to gear signal, determine after eddy current control signal, the eddy current parameter that Intelligent EDDY Current control module 102 imposes on motor according to eddy current control signal controlled vortex flow device 103 is all fixed, and the eddy current that can not be applied on motor 104 according to the current actual loading situation flexible vortex device 103 of motor 104, thereby there is shake and turn round the unusual conditions such as painstaking in the effect that causes the dragging system of tower crane cannot overcome because of wind-force and friction force etc.

Summary of the invention

The invention provides control method, device and the system of a kind of tower crane and swing type mechanism thereof, to overcome that the revolution dragging system of tower crane is subject to the impact of the factors such as wind-force and friction force and the shake that occurs and turn round the unusual conditions such as painstaking.

For achieving the above object, the invention provides following technical scheme:

The control method of tower type crane slewing gear provided by the invention, comprising:

Obtain the torque current parameter of the load moment of frequency converter feedback;

According to torque current parameter, determine actual output eddy current parameter;

Issue actual output eddy current parameter to Intelligent EDDY Current control module, make Intelligent EDDY Current control module to motor, apply eddy current according to reality output eddy current parameter controlled vortex flow device.

In the control method of tower type crane slewing gear provided by the invention, controller obtains the torque current parameter of the load moment of frequency converter feedback; According to obtained torque current parameter, determine actual output eddy current parameter again, and this actual eddy current output parameter is handed down to controlled vortex flow device to motor, applies the Intelligent EDDY Current control module of eddy current, the eddy current that makes Intelligent EDDY Current control module regulate vortex device to apply to motor according to actual eddy current output parameter, to guarantee that revolution dragging system reaches dynamical equilibrium again, and then solve that revolution dragging system is subject to the effect of the uncertain factors such as wind-force, friction force and the shake that occurs, turn round the problems such as painstaking.

Preferably, described according to the definite actual output eddy current parameter of torque current parameter, be specially:

According to torque current parameter, motor rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter; Wherein, initially exporting eddy current parameter is the eddy current parameter corresponding with the given rotating speed of motor.

Preferably, according to

determine initial output eddy current parameter; Wherein, i _w1for initial output eddy current parameter; N _maxmaximum speed for motor; N is the given rotating speed of motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque.

Preferably, described according to torque current parameter, rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter, specifically comprise:

When torque current parameter is less than or equal to rated current parameter, determine that initial output eddy current parameter is actual output eddy current parameter;

When torque current parameter is greater than motor rated current parameter, determine that actual output eddy current parameter obtains for initial output eddy current parameter is multiplied by coefficient k; Wherein,

$k=\left\{\begin{array}{cc}0,& k_1<0\\ k_1,& k_1\&GreaterEqual;0\end{array}\right.,$

$k_1=1-\frac{\left(\frac{i_q-i_N}{i_N}\right)T_N{i}_{w\left(\max \right)}}{T_{w\left(\max \right)}};$

In formula, i _qfor torque current parameter; i _nrated current parameter for motor; T _nrated output torque for motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque; T _{w (max)}for vortex device imposes on the maximum vortex torque of motor.

The control setup of tower type crane slewing gear provided by the invention, comprising:

Obtain equipment, for obtaining the torque current parameter of the load moment of frequency converter feedback;

Determine equipment, for determine actual output eddy current parameter according to torque current parameter;

Outdevice, for issuing actual output eddy current parameter to Intelligent EDDY Current control module, makes Intelligent EDDY Current control module to motor, apply eddy current according to reality output eddy current parameter controlled vortex flow device.

Preferably, described definite equipment, specifically for according to torque current parameter, motor rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter; Wherein, initially exporting eddy current parameter is the eddy current parameter corresponding with the given rotating speed of motor.

Preferably, described definite equipment, specifically for basis determine initial output eddy current parameter; Wherein, i _w1for initial output eddy current parameter; N _maxmaximum speed for motor; N is the given rotating speed of motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque.

Preferably, described definite equipment is according to torque current parameter, rated current parameter and initially export the definite actual output eddy current parameter of eddy current parameter, specifically comprises:

When torque current parameter is less than or equal to rated current parameter, described definite equipment determines that initial output eddy current parameter is actual output eddy current parameter;

When torque current parameter is greater than motor rated current parameter, described definite equipment determines that actual output eddy current parameter obtains for initial output eddy current parameter is multiplied by coefficient k; Wherein,

$k=\left\{\begin{array}{cc}0,& k_1<0\\ k_1,& k_1\&GreaterEqual;0\end{array}\right.$

$k_1=1-\frac{\left(\frac{i_q-i_N}{i_N}\right)T_N{i}_{w\left(\max \right)}}{T_{w\left(\max \right)}};$

In formula, i _qfor torque current parameter; i _nrated current parameter for motor; T _nrated output torque for motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque; T _{w (max)}for vortex device imposes on the maximum vortex torque of motor.

The control system of tower type crane slewing gear provided by the invention, comprising: the motor of controller, frequency converter, Intelligent EDDY Current control module, vortex device, the described tower type crane slewing gear action of driving; Wherein,

Described frequency converter is connected with described controller signals, and described frequency converter is for giving described controller by the torque current parameter feedback of motor load moment;

Described Intelligent EDDY Current control module is connected with controller signals, and described controller is determined actual output eddy current parameter according to described torque current parameter, and is handed down to described Intelligent EDDY Current control module;

Described vortex device is connected with described Intelligent EDDY Current control module signal, the eddy current that described Intelligent EDDY Current control module regulates described vortex device to apply to described motor according to described actual output eddy current parameter.

In the control system of tower type crane slewing gear provided by the invention, when the revolution dragging system of tower crane is subject to the impact of the factors such as wind-force or friction force and while causing load moment to increase, current parameters when Frequency Converter Control motor reaches given rotating speed is torque current parameter, and this torque current parameter is the current parameters of revolution dragging system while being subject to the composite factors such as load, wind-force and friction force to affect lower motor to reach given rotating speed; Controller is according to torque current parameter and then can determine the actual output eddy current parameter that need to issue to Intelligent EDDY Current control module, the eddy current that makes Intelligent EDDY Current control module regulate vortex device to apply to motor reaches this actual output eddy current parameter, thereby reduce vortex torque and make to turn round dragging system maintenance balance, the shake that occurs to solve that revolution dragging system is subject to the effect of the uncertain factors such as wind-force, friction force, turn round the problems such as painstaking, and then improve the turnability of revolution dragging system.

Preferably, described controller is according to torque current parameter, motor rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter; Wherein, initially exporting eddy current parameter is the eddy current parameter corresponding with the given rotating speed of motor.

Preferably, described controller basis

determine initial output eddy current parameter, wherein i _w1for initial output eddy current parameter; N _maxmaximum speed for motor; N is the given rotating speed of motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque.

Preferably, described controller is according to torque current parameter, rated current parameter and initially export the definite actual output eddy current parameter of eddy current parameter, specifically comprises:

When torque current parameter is less than or equal to rated current parameter, initially exports eddy current parameter and be actual output eddy current parameter;

When torque current parameter is greater than motor rated current parameter, actual output eddy current parameter obtains for initial output eddy current parameter is multiplied by coefficient k; Wherein,

$k=\left\{\begin{array}{cc}0,& k_1<0\\ k_1,& k_1\&GreaterEqual;0\end{array}\right.,$

$k_1=1-\frac{\left(\frac{i_q-i_N}{i_N}\right)T_N{i}_{w\left(\max \right)}}{T_{w\left(\max \right)}};$

In formula, i _qfor torque current parameter; i _nrated current parameter for motor; T _nrated output torque for motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque; T _{w (max)}for vortex device imposes on the maximum vortex torque of motor.

The present invention also provides a kind of tower crane, comprises the control system of the tower type crane slewing gear that above-mentioned arbitrary scheme provides.Based on above-mentioned tower type crane slewing gear control system, have advantages of, the stability in this tower type crane slewing gear operational process is higher.

Accompanying drawing explanation

Fig. 1 is the control system structural representation of tower type crane slewing gear in prior art;

Fig. 2 is the control method diagram of circuit of tower type crane slewing gear provided by the invention;

Fig. 3 is the control setup structural representation of tower type crane slewing gear provided by the invention;

Fig. 4 is the control system structural representation of tower type crane slewing gear provided by the invention.

The specific embodiment

Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.

Please refer to Fig. 2, Fig. 2 is the control method schematic flow sheet that the invention provides tower type crane slewing gear, and the control method of tower type crane slewing gear provided by the invention, comprising:

Step 201: control setup obtains the torque current parameter of the load moment of frequency converter feedback;

Step 202: control setup is determined actual output eddy current parameter according to torque current parameter;

Step 203: control setup issues actual output eddy current parameter to Intelligent EDDY Current control module, makes Intelligent EDDY Current control module to motor, apply eddy current according to reality output eddy current parameter controlled vortex flow device.

Because tower crane is in operational process, main stressed the comprising of its revolution dragging system: the drive torque of motor, the load moment of arm, and the vortex torque of vortex device, the math modeling of its revolution dragging system in the time of can building thus the operation of tower machine:

T _q-T _w-T _f=J·ω （1）

Wherein, T _qfor motor drive torque; T _wfor vortex torque, its size is controlled; T _ffor load moment, it comprises wind-force moment, system friction moment etc., owing to being subject to the impact of wind-force and system friction etc., and T _fsize be uncertain; Rotor inertia when J is arm rotation; Angular acceleration when ω is arm rotation.

When revolution dragging system reaches after dynamical equilibrium, angular acceleration ω when rotor inertia J and arm rotate when arm rotates keeps constant; Revolution dragging system is subject to, after the impact of the factors such as wind-force or friction force, can causing load moment T _fincrease, thereby make to turn round dragging system, occur turning round the phenomenons such as painstaking or shake, from (1) formula, now, keeping motor drive torque T _qin constant situation, can be by reducing vortex torque T _wmake to turn round dragging system and keep balance.

Therefore, in the control method of tower type crane slewing gear provided by the invention, when the revolution dragging system of tower crane is subject to the impact of the factors such as wind-force or friction force and causes load moment T _fduring increase, controller obtains the torque current parameter of the load moment of frequency converter feedback, according to obtained torque current parameter, determine actual output eddy current parameter again, and this actual eddy current output parameter is handed down to controlled vortex flow device to motor, applies the Intelligent EDDY Current control module of eddy current, so that the eddy current that Intelligent EDDY Current control module can regulate vortex device to apply to motor according to actual eddy current output parameter, thereby the vortex torque that makes vortex device impose on motor changes, to guarantee that revolution dragging system reaches dynamical equilibrium again, and then solution revolution dragging system is subject to wind-force, the effect of the uncertain factors such as friction force and the shake that occurs, turn round the problems such as painstaking.

In step 202, preferably, control setup is determined actual output eddy current parameter according to torque current parameter, is specially:

According to torque current parameter, motor rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter; Wherein, initially exporting eddy current parameter is the eddy current parameter corresponding with the given rotating speed of motor.

More specifically, according to

determine initial output eddy current parameter; Wherein, i _w1for initial output eddy current parameter; N _maxmaximum speed for motor; N is the given rotating speed of motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque.

Maximum speed N due to motor _maxbeing the performance perameter of motor itself, is a fixed value; Maximum vortex torque T _{w (max)}being the performance perameter of vortex device itself, is also a fixed value; Therefore after tower crane has been built, the maximum speed N of motor wherein _max, vortex device maximum vortex torque T _{w (max)}and eddy current parameter i corresponding to maximum vortex torque _{w (max)}be fixed value, so, eddy current parameter i initially exported _w1for the corresponding eddy current parameter of the given rotating speed N with motor.

Wherein, above-mentioned according to torque current parameter, rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter, specifically comprise:

When torque current parameter is less than or equal to rated current parameter, determine that initial output eddy current parameter is actual output eddy current parameter;

When torque current parameter is greater than motor rated current parameter, determine that actual output eddy current parameter obtains for initial output eddy current parameter is multiplied by coefficient k; Wherein,

$k=\left\{\begin{array}{cc}0,& k_1<0\\ k_1,& k_1\&GreaterEqual;0\end{array}\right.,$

$k_1=1-\frac{\left(\frac{i_q-i_N}{i_N}\right)T_N{i}_{w\left(\max \right)}}{T_{w\left(\max \right)}};$

In formula, i _qfor torque current parameter; i _nrated current parameter for motor; T _nrated output torque for motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque; T _{w (max)}for vortex device imposes on the maximum vortex torque of motor.

More specifically, as torque current parameter i _qbe less than the rated current parameter i of motor _ntime, motor can drive revolution dragging system normal operation, and can make to turn round dragging system and in operation process, reach dynamical equilibrium, so, the eddy current that now vortex device imposes on motor can not adjust, so, and the actual output eddy current parameter i of vortex device now _wbe initial output eddy current parameter i _w1.

More specifically, as torque current parameter i _qbe more than or equal to the rated current parameter i of motor _ntime, the load moment T of revolution dragging system _fexcessive, now can be by reducing vortex torque T _wmake to turn round dragging system and in operation process, keep balance, to adapt to current working; Now need by regulating vortex device to impose on the actual output eddy current parameter i of motor _w, to reduce vortex torque T _w, make to turn round dragging system and reach dynamical equilibrium; According to known, as torque current parameter i _qbe more than or equal to the rated current parameter i of motor _ntime, k ₁≤ 1; Work as k ₁during <0, the torque current parameter i of motor is described _qexcessive, drive torque when now motor reaches given rotating speed is excessive, thus be now not suitable for to motor, applying eddy current again, so the value of k is 0; As 0≤k ₁, initially export eddy current parameter i at≤1 o'clock _w1be less than initial output eddy current parameter i with the product of coefficient k _w1so,, can realize the eddy current that imposes on motor by reducing vortex device and reduce vortex torque, so that revolution dragging system reaches dynamical equilibrium.

Based on same design, the embodiment of the present invention also provides a kind of control setup of tower type crane slewing gear, the controlling party ratio juris of the tower type crane slewing gear that the principle of this control setup provides with above-described embodiment is identical, concrete enforcement can be participated in the embodiment of control system, repeats part and repeats no more.

Please refer to Fig. 3, the control setup of a kind of tower type crane slewing gear provided by the invention, comprising:

Obtain equipment 301, for obtaining the torque current parameter of the load moment of frequency converter feedback;

Determine equipment 302, for determine actual output eddy current parameter according to torque current parameter;

Outdevice 303, for issuing actual output eddy current parameter to Intelligent EDDY Current control module, makes Intelligent EDDY Current control module to motor, apply eddy current according to reality output eddy current parameter controlled vortex flow device.

In above-mentioned control setup, obtain equipment 301 and according to setpoint frequency, obtain the torque current parameter of the motor load moment of frequency converter feedback;

In above-mentioned control setup, determine equipment 302 according to obtained torque current parameter and pre-enter the rated current parameter of control setup and initially export eddy current parameter and just can determine actual output eddy current parameter; Wherein, initially exporting eddy current parameter is the eddy current parameter corresponding with the given rotating speed of motor.。

In above-mentioned control setup, outdevice 303 is handed down to controlled vortex flow device by this actual eddy current output parameter and to motor, applies the Intelligent EDDY Current control module of eddy current, so that the eddy current that Intelligent EDDY Current control module can regulate vortex device to apply to motor according to actual eddy current output parameter.

When above-mentioned control setup is handed down to the actual output eddy current parameter of determining after Intelligent EDDY Current control module, the eddy current that Intelligent EDDY Current control module regulates vortex device to apply to motor, thereby the vortex torque that makes vortex device impose on motor changes, to guarantee that revolution dragging system reaches dynamical equilibrium again, and then solve that revolution dragging system is subject to the effect of the uncertain factors such as wind-force, friction force and the shake that occurs, turn round the problems such as painstaking.

In above-mentioned control setup, determine equipment 302, specifically for basis determine initial output eddy current parameter; Wherein, i _w1for initial output eddy current parameter; N _maxmaximum speed for motor; N is the given rotating speed of motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque.

Maximum speed N due to motor _maxbeing the performance perameter of motor itself, is a fixed value; Maximum vortex torque T _{w (max)}being the performance perameter of vortex device itself, is also a fixed value; Therefore after tower crane has been built, the maximum speed N of motor wherein _max, vortex device maximum vortex torque T _{w (max)}and eddy current parameter i corresponding to maximum vortex torque _{w (max)}be fixed value, so, eddy current parameter i initially exported _w1for the corresponding eddy current parameter of the given rotating speed N with motor.

Above-mentioned definite equipment 302, according to torque current parameter, rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter, specifically comprises:

When torque current parameter is less than or equal to rated current parameter, determine that the definite initial output eddy current parameter of equipment 302 is actual output eddy current parameter;

When torque current parameter is greater than motor rated current parameter, determine that equipment 302 determines that actual output eddy current parameter obtains for initial output eddy current parameter is multiplied by coefficient k; Wherein,

$k=\left\{\begin{array}{cc}0,& k_1<0\\ k_1,& k_1\&GreaterEqual;0\end{array}\right.$

$k_1=1-\frac{\left(\frac{i_q-i_N}{i_N}\right)T_N{i}_{w\left(\max \right)}}{T_{w\left(\max \right)}};$

In formula, i _qfor torque current; i _nrated current for motor; T _nrated output torque for motor; i _{w (max)}for eddy current corresponding to maximum vortex torque; T _{w (max)}for vortex device imposes on the maximum vortex torque of motor.

More specifically, as torque current parameter i _qbe less than the rated current parameter i of motor _ntime, motor can drive revolution dragging system normal operation, and can make to turn round dragging system and in operation process, reach dynamical equilibrium, so, the eddy current that now vortex device imposes on motor can not adjust, so, and the actual output eddy current parameter i of vortex device now _wbe initial output eddy current parameter i _w1.

As torque current parameter i _qbe more than or equal to the rated current parameter i of motor _ntime, the load moment T of revolution dragging system _fexcessive, now can be by regulating vortex device to impose on the actual output eddy current parameter i of motor _w, to reduce vortex torque T _w, make to turn round dragging system and reach dynamical equilibrium, to adapt to current working.

According to known, as torque current parameter i _qbe more than or equal to the rated current parameter i of motor _ntime, k ₁≤ 1; Work as k ₁during <0, the torque current parameter i of motor is described _qexcessive, drive torque when now motor reaches given rotating speed is excessive, so be now not suitable for applying eddy current to motor again, the value of k is 0; As 0≤k ₁, initially export eddy current parameter i at≤1 o'clock _w1be less than initial output eddy current parameter i with the product of coefficient k _w1so,, can realize the eddy current that imposes on motor by reducing vortex device and reduce vortex torque, so that revolution dragging system reaches dynamical equilibrium.

Please refer to Fig. 4, the embodiment of the present invention has also built a kind of control system of tower type crane slewing gear, and it comprises: the motor 405 of controller 401, frequency converter 402, Intelligent EDDY Current control module 403, vortex device 404, the action of driving tower type crane slewing gear; Wherein,

Frequency converter 402 is connected with controller 401 signals, and frequency converter 402 for by the torque current parameter feedback of motor 405 load moments to controller 401;

Intelligent EDDY Current control module 403 is connected with controller 401 signals, and controller 401 is determined actual output eddy current parameter according to torque current parameter, and is handed down to Intelligent EDDY Current control module 403;

Vortex device 404 is connected with Intelligent EDDY Current control module 403 signals, the eddy current that Intelligent EDDY Current control module 403 regulates vortex device 404 to apply to motor 405 according to reality output eddy current parameter.

Particularly, above-mentioned controller 401 is operation and the rotational speed setup signal for determining motor 405 according to the gear receiving and limit signal also, and above-mentioned frequency converter 402 reaches given rotating speed according to the rotating speed of rotational speed setup Signal Regulation motor 405, and when motor 405 is reached to given rotating speed the torque current parameter feedback of the load moment of motor to controller 401.

More specifically, controller 401 is specifically according to torque current parameter, motor rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter; Wherein, initially exporting eddy current parameter is the eddy current parameter corresponding with the given rotating speed of motor.

When motor 405 operation, eddy current coil in vortex device 404 passes into electric current (this electric current is determined according to reality output eddy current parameter by above-mentioned Intelligent EDDY Current control module 403), according to electromagnetic eddy principle, eddy current magnetism produces opposing torque to the output shaft of motor 405.Thus, adopt vortex device 404 to realize the control of motor eddy current, thus the rigid shock in the time of can slowing down motor 405 speed governing and rigidity friction.So, when the revolution dragging system of tower crane is subject to the impact of the factors such as wind-force or friction force and while causing motor load moment to increase, also can adopt vortex device 404 to realize the control of motor eddy current, thereby slow down rigid shock and the rigidity friction of motor 405, to realize the control to swing type mechanism smooth running performance.

And at tower crane in operational process, main stressed the comprising of its revolution dragging system: the drive torque of motor 405, the load moment of arm, and the vortex torque of vortex device 404, the math modeling of its revolution dragging system in the time of therefore can building tower crane operation:

T _q-T _w-T _f=J·ω （1）

Wherein, T _qfor motor 405 drive torques; T _wfor vortex torque, its size is controlled; T _ffor motor load moment, it comprises wind-force moment, system friction moment etc., owing to being subject to the impact of wind-force and system friction etc., and T _fsize be uncertain; J is the arm of tower crane rotor inertia while rotating; ω is the angular acceleration of the arm of tower crane while rotating.

When revolution dragging system reaches after dynamical equilibrium, angular acceleration ω when rotor inertia J and arm rotate when arm rotates keeps constant; When revolution dragging system is subject to the impact of the factors such as wind-force or friction force and causes load moment T _fduring increase, revolution dragging system just likely occurs turning round the phenomenons such as painstaking or shake, and from above-mentioned (1) formula, now, is keeping motor 405 drive torque T _qin constant situation, can be by reducing vortex torque T _woffset the load moment T that exceeds part in revolution dragging system _f, so that revolution dragging system keeps balance.

Therefore, in the control system of tower type crane slewing gear provided by the invention, controller 401 can be determined the gear signal of the current operation of revolution dragging system according to the gear receiving and limit signal, and then be handed down to frequency converter 402 according to operation and rotational speed setup signal that this gear signal is determined motor 405, frequency converter 402 is according to the definite operation of controller 401 and rotational speed setup signal, determine the rated current parameter of motor 405 when affected by load-factor to be issued to given rotating speed, and feed back to controller 401; When the revolution dragging system of tower crane is subject to the impact of the factors such as wind-force or friction force and causes load moment T _fduring increase, current parameters when frequency converter 402 is controlled motors 405 and reached given rotating speed is torque current parameter, and this torque current parameter is the current parameters of revolution dragging system while being subject to the composite factors such as load, wind-force and friction force to affect lower motor 405 to reach given rotating speed; Controller 401 is according to rated current parameter and torque current parameter and then can determine the actual output eddy current parameter that need to issue to Intelligent EDDY Current control module 403, the eddy current that makes Intelligent EDDY Current control module 403 regulate vortex device 404 to apply to motor 405 reaches this actual output eddy current parameter, thereby reduces vortex torque T _wmake to turn round dragging system and keep balance, the shake that occurs to solve that revolution dragging system is subject to the effect of the uncertain factors such as wind-force, friction force, turn round the problems such as painstaking, and then improve the turnability of revolution dragging system.

In a kind of embodiment alternatively of the present invention, in tower crane rotation dragging system, be also provided with the gear detection device being connected with controller 401 signals, this gear detection device can detect gear and the limit signal of the current operation of revolution dragging system, and this gear and limit signal are fed back to controller 401, operation and rotational speed setup signal that the gear that controller 401 feeds back according to gear detection device and limit signal are determined motor 405.

At some preferably in embodiment, controller 401 bases

determine initial output eddy current parameter, wherein i _w1for initial output eddy current parameter; N _maxmaximum speed for motor 405; N is the given rotating speed of motor 405; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque.

After tower crane has been built, the maximum speed N of its motor 405 _max, vortex device 404 maximum vortex torque T _{w (max)}and eddy current parameter i corresponding to maximum vortex torque _{w (max)}be fixed value, can preserve.So, initially export eddy current parameter i _w1for the corresponding eddy current parameter of the given rotating speed N with motor 405.

At some alternatively in embodiment, controller 401 is according to torque current parameter, rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter, specifically comprises:

When torque current parameter is less than or equal to rated current parameter, initially exports eddy current parameter and be actual output eddy current parameter;

When torque current parameter is greater than motor 405 rated current parameter, actual output eddy current parameter obtains for initial output eddy current parameter is multiplied by coefficient k; Wherein,

$k=\left\{\begin{array}{cc}0,& k_1<0\\ k_1,& k_1\&GreaterEqual;0\end{array}\right.$

$k_1=1-\frac{\left(\frac{i_q-i_N}{i_N}\right)T_N{i}_{w\left(\max \right)}}{T_{w\left(\max \right)}};$

In formula, i _qfor torque current parameter; i _nrated current parameter for motor 405; T _nrated output torque for motor 405; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque; T _{w (max)}for vortex device 404 imposes on the maximum vortex torque of motor 405.

More specifically, as torque current parameter i _qbe less than the rated current parameter i of motor 405 _ntime, motor 405 can drive revolution dragging system normal operation, and can make to turn round dragging system and in operation process, reach dynamical equilibrium, so, the eddy current that now vortex device 404 imposes on motor 405 can not adjust, so, and the actual output eddy current parameter i of vortex device 404 now _wbe initial output eddy current parameter i _w1.

As torque current parameter i _qbe more than or equal to the rated current parameter i of motor 405 _ntime, the load moment T of revolution dragging system _fexcessive, the impact that the revolution dragging system that tower crane is described is subject to the factors such as wind-force or friction force is larger, now can be by regulating vortex device 404 impose on the actual output eddy current parameter i of motor 405 _w, to reduce vortex torque T _wadapt to current working, thereby solve that revolution dragging system is subject to the effect of the uncertain factors such as wind-force, friction force and the shake that occurs, turn round the problems such as painstaking, make to turn round dragging system and again reach dynamical equilibrium.

Control system based on above-mentioned tower type crane slewing gear, can build a kind of tower crane, and tower crane provided by the invention comprises the control system of the tower type crane slewing gear that above-mentioned arbitrary embodiment provides.

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 (13)

1. a control method for tower type crane slewing gear, is characterized in that, comprising:

Obtain the torque current parameter of the load moment of frequency converter feedback;

According to described torque current parameter, determine actual output eddy current parameter;

Issue actual output eddy current parameter to Intelligent EDDY Current control module, make Intelligent EDDY Current control module to motor, apply eddy current according to reality output eddy current parameter controlled vortex flow device.

2. control method as claimed in claim 1, is characterized in that, described according to the definite actual output eddy current parameter of torque current parameter, is specially:

According to torque current parameter, motor rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter; Wherein, initially exporting eddy current parameter is the eddy current parameter corresponding with the given rotating speed of motor.

3. control method as claimed in claim 2, is characterized in that,

According to

determine initial output eddy current parameter; Wherein, i _w1for initial output eddy current parameter; N _maxmaximum speed for motor; N is the given rotating speed of motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque.

4. control method as claimed in claim 2 or claim 3, is characterized in that, described according to torque current parameter, rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter, specifically comprises:

When torque current parameter is less than or equal to rated current parameter, determine that initial output eddy current parameter is actual output eddy current parameter;

When torque current parameter is greater than motor rated current parameter, determine that actual output eddy current parameter obtains for initial output eddy current parameter is multiplied by coefficient k; Wherein,

$k=\left\{\begin{array}{cc}0,& k_1<0\\ k_1,& k_1\&GreaterEqual;0\end{array}\right.,$

$k_1=1-\frac{\left(\frac{i_q-i_N}{i_N}\right)T_N{i}_{w\left(\max \right)}}{T_{w\left(\max \right)}};$

In formula, i _qfor torque current parameter; i _nrated current parameter for motor; T _nrated output torque for motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque; T _{w (max)}for vortex device imposes on the maximum vortex torque of motor.

5. a control setup for tower type crane slewing gear, is characterized in that, comprising:

Obtain equipment, for obtaining the torque current parameter of the load moment of frequency converter feedback;

Determine equipment, for determine actual output eddy current parameter according to torque current parameter;

Outdevice, for issuing actual output eddy current parameter to Intelligent EDDY Current control module, makes Intelligent EDDY Current control module to motor, apply eddy current according to reality output eddy current parameter controlled vortex flow device.

6. control setup as claimed in claim 5, is characterized in that,

Described definite equipment, specifically for according to torque current parameter, motor rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter; Wherein, initially exporting eddy current parameter is the eddy current parameter corresponding with the given rotating speed of motor.

7. control setup as claimed in claim 6, is characterized in that,

Described definite equipment, specifically for basis

determine initial output eddy current parameter; Wherein, i _w1for initial output eddy current parameter; N _maxmaximum speed for motor; N is the given rotating speed of motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque.

8. the control setup as described in claim 6 or 7, is characterized in that,

Described definite equipment is according to torque current parameter, rated current parameter and initially export the definite actual output eddy current parameter of eddy current parameter, specifically comprises:

When torque current parameter is less than or equal to rated current parameter, described definite equipment determines that initial output eddy current parameter is actual output eddy current parameter;

When torque current parameter is greater than motor rated current parameter, described definite equipment determines that actual output eddy current parameter obtains for initial output eddy current parameter is multiplied by coefficient k; Wherein,

$k=\left\{\begin{array}{cc}0,& k_1<0\\ k_1,& k_1\&GreaterEqual;0\end{array}\right.$

$k_1=1-\frac{\left(\frac{i_q-i_N}{i_N}\right)T_N{i}_{w\left(\max \right)}}{T_{w\left(\max \right)}};$

In formula, i _qfor torque current parameter; i _nrated current parameter for motor; T _nrated output torque for motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque; T _{w (max)}for vortex device imposes on the maximum vortex torque of motor.

9. a control system for tower type crane slewing gear, is characterized in that, comprises the motor of controller, frequency converter, Intelligent EDDY Current control module, vortex device, the described tower type crane slewing gear action of driving; Wherein,

Described frequency converter is connected with described controller signals, and described frequency converter is for giving described controller by the torque current parameter feedback of motor load moment;

Described Intelligent EDDY Current control module is connected with controller signals, and described controller is determined actual output eddy current parameter according to described torque current parameter, and is handed down to described Intelligent EDDY Current control module;

Described vortex device is connected with described Intelligent EDDY Current control module signal, the eddy current that described Intelligent EDDY Current control module regulates described vortex device to apply to described motor according to described actual output eddy current parameter.

10. control system as claimed in claim 9, is characterized in that, described controller is according to torque current parameter, motor rated current parameter and initially export the definite actual output eddy current parameter of eddy current parameter; Wherein, initially exporting eddy current parameter is the eddy current parameter corresponding with the given rotating speed of motor.

11. control system as claimed in claim 10, is characterized in that, described controller basis determine initial output eddy current parameter, wherein i _w1for initial output eddy current parameter; N _maxmaximum speed for motor; N is the given rotating speed of motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque.

12. control system as described in claim 10 or 11, is characterized in that, described controller is according to torque current parameter, rated current parameter and initially export eddy current parameter and determine actual output eddy current parameter, specifically comprise:

When torque current parameter is less than or equal to rated current parameter, initially exports eddy current parameter and be actual output eddy current parameter;

When torque current parameter is greater than motor rated current parameter, actual output eddy current parameter obtains for initial output eddy current parameter is multiplied by coefficient k; Wherein,

$k=\left\{\begin{array}{cc}0,& k_1<0\\ k_1,& k_1\&GreaterEqual;0\end{array}\right.$

$k_1=1-\frac{\left(\frac{i_q-i_N}{i_N}\right)T_N{i}_{w\left(\max \right)}}{T_{w\left(\max \right)}};$

In formula, i _qfor torque current parameter; i _nrated current parameter for motor; T _nrated output torque for motor; i _{w (max)}for eddy current parameter corresponding to maximum vortex torque; T _{w (max)}for vortex device imposes on the maximum vortex torque of motor.

13. 1 kinds of tower cranes, is characterized in that, comprise the control system of the tower type crane slewing gear as described in claim 9～12 any one.

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