CN103708353A - Method for determining brake transient load position of crane (brake slip amount detection) - Google Patents
Method for determining brake transient load position of crane (brake slip amount detection) Download PDFInfo
- Publication number
- CN103708353A CN103708353A CN201410013107.XA CN201410013107A CN103708353A CN 103708353 A CN103708353 A CN 103708353A CN 201410013107 A CN201410013107 A CN 201410013107A CN 103708353 A CN103708353 A CN 103708353A
- Authority
- CN
- China
- Prior art keywords
- brake
- braking
- speed
- crane
- detecting device
- 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.)
- Granted
Links
Images
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a method for determining a brake transient load position of a crane (brake slip amount detection). The method is characterized by comprising the following steps of receiving a moment of brake information transmitted by a brake signal sensitive circuit through a short-distance wireless communication way by a brake slip-amount detection device, subtracting the communication transmission and software processing delay time and the brake signal detection circuit hardware delay time to obtain a real brake transient moment of the crane, and accurately measuring a brake transient position of a load in the movement process through a dynamic positioning algorithm of the brake transient load position. By adopting the method, the problem of the traditional crane brake slip-amount detection method that the timing of the real brake transient moment is severely delayed can be solved, and the brake slip-amount detection consistency can be improved; the problem that the error in measuring the brake transient down load position of the crane is large in the dynamic measurement process based on an ultrasonic ranging sensor can be solved, and the automatic high-precision measurement of the brake slip-amount detection brake transient down load position can be realized.
Description
Technical field
The present invention relates to a kind of hoisting crane (braking glide quantity detection) braking momentary duty method for determining position, particularly a kind of hoisting crane (braking glide quantity detection) braking momentary duty position measurement and definite method based on ultrasonic measuring distance technology.
Background technology
It is to being suspended on the rated load of uniform descent on hoisting crane, sending brake command that crane brake downslide amount detects, and measures the distance that crane brake after load slides due to own wt.Note braking momentary duty height
, the final height of load after having braked
, braking glide quantity is
.Braking glide quantity is crossed the safety that conference directly has influence on field man and equipment, so braking glide quantity is an important indicator weighing hoisting crane performance, is also that constitutional law regular inspection is surveyed the important content of department to the check of elevator machinery performance constrained.Due to
position be to measure while remaining static after crane brake completes, no matter by distance measuring sensor or manual measurement method, all can obtain information accurately, and braking momentary duty position
to carry out dynamic measurement in Crane Load decline process, because brake slide displacement is less than 20mm conventionally, therefore to braking momentary duty position
survey precision require very high, when
measurement constantly lag behind when larger and uncertain with reality braking initial time, will directly cause braking momentary duty height
result of a measurement has larger error.
Existing crane brake downslide amount braking momentary duty location determining method has several as follows:
1 range estimation: inspector's manipulating crane controller, in load uniform descent process, press stop button, while estimating from braking, be carved into load and stop glided distance.The accuracy that the method is measured depends on inspector's sense organ judgement, and accuracy rate is low.
The 2 weight methods that adopt travel switch to control: pull travel switch to make hoisting crane send speed-slackening signal after weightlessness by the counterweight declining with load, then measure counterweight position to the distance of the dead load of having braked, i.e. distance of glide.Owing to pulling travel switch to hoist power-cut from counterweight, always there is a time delay, the distance of glide that causes detection to obtain is greater than actual braking glide quantity, and different power-down control device, and this deviation is different.
Said method need to carry out machinery and controller circuitry transformation to field apparatus, needs manual detection, has a strong impact on work efficiency, is difficult to realize the demand that automation detects simultaneously.
For improving the intelligent degree of measuring, prior art also has the crane brake downslide amount online test method based on pressure sensor and non-contact distance-measurement sensor, the method installs pressure sensor additional on brake controller, obtain brake command, because of pressure sensor impression is the pressure signal of manually pressing, speed-slackening signal detects and has shake, and its time delay is uncertain, is difficult to meet for the needed timing accuracy requirement of braking glide quantity braking momentary duty position probing; Meanwhile, the braking initial time that pressure sensor sends
, and actual electric braking is constantly
but be that hoisting crane electric control cabinet receives after the brake command of brake controller, cut off the power supply of hoisting crane corresponding motor, the initial time that load power-off is slided,
to lag behind
; For the system that adopts communication, also exist crane brake signal sensitive circuit to send braking information and process time delay to communication transfer time delay and the software of crane brake downslide amount detecting device
, these are that existing measuring system braking momentary duty errors in position measurement is large, the not high major reason of measurement conformability.
Wherein, the braking glide quantity detection scheme combining with noncontact rang sensor based on speed-slackening signal sensitive circuit has become very popular measurement pattern, comprise that the measurement scheme based on laser range sensor must install reflecting curtain additional in load bottom or side, machine rebuilding is more complicated, and ultrasonic distance-measuring sensor is because of its taper transmitting, less demanding to reflecting surface, without measuring load transformation, but to ultrasonic distance-measuring sensor measurement scheme, if received after brake command at brake slide amount detecting device, triggering ultrasonic distance-measuring sensor carries out detection and can produce larger error again, as the load of the uniform descent with 2m/min, when dropping to brake slide amount detecting device, it in succession sends speed-slackening signal when about 1.5m, brake slide amount detecting device receives after brake command, triggering ultrasonic distance-measuring sensor detects, to produce about 4.4ms time delay, cause braking momentary duty positional error to be about 8.8mm, seriously reduced survey precision, although this causes the present scheme checking system based on ultrasonic distance-measuring sensor to build convenient and efficient, but because precision is low, be difficult to practicality.
Summary of the invention
The object of this invention is to provide and a kind ofly for crane brake downslide amount, detect, braking momentary duty method for determining position based on speed-slackening signal sensitive circuit and ultrasonic distance-measuring sensor, the timing that solves the braking instantaneous moment of conventional hoist brake slide quantity measuring method existence has the problem of larger random delay and the large problem of braking momentary duty errors in position measurement.
For achieving the above object, hoisting crane of the present invention (braking glide quantity detection) braking momentary duty method for determining position is, first speed-slackening signal sensitive circuit is by the current transformer monitoring crane brake power cable line current being attached thereto, identification speed-slackening signal, by short-distance wireless communication mode, to brake slide amount detecting device, send braking information, brake slide amount detecting device obtains crane brake instantaneous moment by braking instantaneous accurate timing method; Again by the braking instantaneous position of kinematic Positioning Algorithm Measurement accuracy load in motion process of braking momentary duty position.
The instantaneous accurate timing method of described braking is by brake slide amount detecting device, to be received the moment of braking start information
deduct wireless communication transmissions and software and process time delay
with the time delay of speed-slackening signal testing circuit hardware
, obtain actual braking initial time
.Wherein, communications and software are processed time delay
on-line Measuring Method be, in system initialisation phase, speed-slackening signal sensitive circuit and brake slide amount detecting device are set up point-to-point communication channel, by speed-slackening signal sensitive circuit to brake slide amount detecting device transmission delay test command, brake slide amount detecting device receives after order immediately to the order of speed-slackening signal sensitive circuit loopback delay testing, so continuous circulation sends n time, and brake slide amount detecting device is measured n circle transmission institute elapsed time
, by
the communications and the software that calculate between speed-slackening signal sensitive circuit and brake slide amount detecting device are processed time delay
.
Described braking momentary duty position kinematic Positioning Algorithm is, the ultrasonic propagation time sequence of load " uniform descent-braking-stopping " process gathering with measurement period T according to ultrasonic distance-measuring sensor is chosen the interval travel time sequence of uniform descent process
t d(
nT s) carry out linear fit, obtain
t ddecline constantly with load
and load descending speed
v 1function
, then to the hypracoustic velocity of sound carry out temperature compensating and
the Doppler effect compensation causing obtains the velocity of sound accurately
, construct the at the uniform velocity kinematic function of the load position-time of process
, when
time calculate braking momentary duty position.
The beneficial effect that the present invention obtains is: the timing that (1) has solved the braking instantaneous moment that conventional hoist brake slide quantity measuring method exists has the problem of larger random delay, has improved the conformability that braking glide quantity detects; (2) solved in the dynamic measurement process based on ultrasonic distance-measuring sensor, the large problem of braking momentary duty errors in position measurement, has realized braking glide quantity and has detected the automatic, high precision measurement of braking momentary duty position.
Accompanying drawing explanation
Fig. 1 is the system architecture diagram that a kind of crane brake downslide amount of the present invention detects;
Fig. 2 is crane brake momentary duty location determining method diagram of circuit of the present invention;
Fig. 3 is signal time delay on-line measurement diagram of circuit of the present invention;
Fig. 4 is that the present invention brakes instantaneous descending load position dynamicpositioning computing block diagram;
Fig. 5 is that the present invention brakes instantaneous descending load position and determines method flow diagram;
Wherein: 1, split core type current transformer, 2, speed-slackening signal sensitive circuit, 3, brake slide amount detecting device, 4, ultrasonic distance-measuring sensor.
The specific embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further details:
Embodiments of the invention as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, for a kind of, for hoisting crane (braking glide quantity detection), brake momentary duty method for determining position, first speed-slackening signal sensitive circuit 2 is by the current transformer monitoring crane brake power cable line current being attached thereto, identification speed-slackening signal, by short-distance wireless communication mode, to brake slide amount detecting device 3, send braking information, brake slide amount detecting device 3 obtains crane brake instantaneous moment by braking instantaneous accurate timing method; Again by the braking instantaneous position of kinematic Positioning Algorithm Measurement accuracy load in motion process of braking momentary duty position.
In system initialisation phase, speed-slackening signal sensitive circuit 2 is set up point-to-point communication channel with brake slide amount detecting device 3, by speed-slackening signal sensitive circuit 2 to brake slide amount detecting device 3 transmission delay test commands, brake slide amount detecting device 3 receives after order immediately to the 2 loopback delay testing orders of speed-slackening signal sensitive circuit, so continuous circulation sends n time, by brake slide amount detecting device 3, measures n circle transmission institute elapsed time
, by
the communications and the software that calculate between speed-slackening signal sensitive circuit 2 and brake slide amount detecting device 3 are processed time delay
.
When brake slide amount detecting device 3 receives after braking start information, by current time
deduct communications and software and process time delay
with the time delay of speed-slackening signal testing circuit hardware
, obtain actual braking initial time
.
The ultrasonic propagation time sequence of load " uniform descent-braking-stopping " process gathering with measurement period T according to ultrasonic distance-measuring sensor 4 again, chooses the interval travel time sequence of uniform descent process
t d(
nT s) carry out linear fit, obtain
t ddecline constantly with load
and load descending speed
v 1function
, then to the hypracoustic velocity of sound carry out temperature compensating and
the Doppler effect compensation causing obtains the velocity of sound accurately
, construct the at the uniform velocity kinematic function of the load position-time of process
, when
time calculate braking momentary duty position.
The specific works mode of the present embodiment is as follows:
(1) split core type current transformer 1 pincer is installed in to the electric wireline place of crane brake motor;
(2) speed-slackening signal sensitive circuit 2 is set up point-to-point communication channel with brake slide amount detecting device 3; Speed-slackening signal sensitive circuit 2 is to brake slide amount detecting device 3 transmission delay test commands; Brake slide amount detecting device 3 receives the backward speed-slackening signal sensitive circuit 2 loopback delay testing orders of order, and so circulation sends n time, by brake slide amount detecting device 3, measures n circle transmission institute elapsed time
, by
the communications and the software that calculate between speed-slackening signal sensitive circuit 2 and brake slide amount detecting device 3 are processed time delay
.
(3) start super sonic real time distance module, with a fixed repetition period
real-time Collection load position, obtains the time series of ultrasonic probe to the interval travel time of load reflecting surface
;
(4) speed-slackening signal sensitive circuit 2 detects the current transformer output signal being attached thereto, and identification speed-slackening signal, sends braking start information by wired or wireless mode to brake slide amount detecting device 3;
(5) brake slide amount detecting device 3 receives after braking start information, by current time
deduct communications and software and process time delay
with the time delay of speed-slackening signal testing circuit hardware
, obtain actual braking initial time
(6) the interval travel time sequence segmentation that 3 pairs of ultrasonic distance-measuring sensors 4 of brake slide amount detecting device record in real time, is chosen at the time series in the interval travel time of load uniform descent process
, by method of least square, carry out linear fit, obtain the interval travel time
decline constantly with load
function
;
(7) ambient temperature obtaining according to temperature sensor measurement, looks into the relation table of the velocity of sound and temperature or obtains the velocity of sound under Current Temperatures according to the velocity of sound-temperature funtion relation
; By Doppler's formula, calculate the dynamic velocity of sound in dynamic decline process again
;
(8) set up the load function of the position-time in uniform descent process:
; Order
, calculate braking initial position.
The present embodiment adopts the useful technique effect of above technical scheme to be:
(1) timing that has solved the braking instantaneous moment that conventional hoist brake slide quantity measuring method exists has the problem of larger random delay, has improved the conformability that braking glide quantity detects;
(2) solved in the dynamic measurement process based on ultrasonic distance-measuring sensor, the large problem of braking momentary duty errors in position measurement, has realized braking glide quantity and has detected the automatic, high precision measurement of braking momentary duty position.
Claims (3)
1. hoisting crane (braking glide quantity detection) braking momentary duty method for determining position, is characterized in that: brake slide amount detecting device receives the moment of the braking information that speed-slackening signal sensitive circuit sends by short-distance wireless communication mode
, deduct communications and software and process time delay
with the time delay of speed-slackening signal testing circuit hardware
, obtain the instantaneous real-time moment of crane brake
, and by the braking instantaneous position of kinematic Positioning Algorithm Measurement accuracy load in motion process of braking momentary duty position.
2. hoisting crane according to claim 1 (braking glide quantity detection) braking momentary duty method for determining position, is characterized in that: described communications and software are processed time delay
method of measurement be, in system initialisation phase, speed-slackening signal sensitive circuit and brake slide amount detecting device are set up point-to-point communication channel, by speed-slackening signal sensitive circuit unit to brake slide amount detecting device transmission delay test command, brake slide amount detecting device receives after order immediately to the order of speed-slackening signal sensitive circuit loopback delay testing, so continuous circulation sends n time, by brake slide amount detecting device, measures n circle transmission institute elapsed time
, by
the communications and the software that calculate between speed-slackening signal sensitive circuit and brake slide amount detecting device are processed time delay
.
3. hoisting crane according to claim 1 and 2 (braking glide quantity detection) is braked momentary duty method for determining position, it is characterized in that: described braking momentary duty position kinematic Positioning Algorithm is, the ultrasonic propagation time sequence of load " uniform descent-braking-stopping " process gathering with measurement period T according to ultrasonic distance-measuring sensor, chooses the interval travel time sequence of uniform descent process
t d(
nT s) carry out linear fit, obtain
t ddecline constantly with load
and load descending speed
v 1function
, then to the hypracoustic velocity of sound carry out temperature compensating and
the Doppler effect compensation causing obtains the velocity of sound accurately
, construct the at the uniform velocity kinematic function of the load position-time of process
, when
time calculate braking momentary duty position.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410013107.XA CN103708353B (en) | 2014-01-13 | 2014-01-13 | Crane brake downslide amount detects braking momentary duty method for determining position |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410013107.XA CN103708353B (en) | 2014-01-13 | 2014-01-13 | Crane brake downslide amount detects braking momentary duty method for determining position |
Publications (2)
Publication Number | Publication Date |
---|---|
CN103708353A true CN103708353A (en) | 2014-04-09 |
CN103708353B CN103708353B (en) | 2015-09-23 |
Family
ID=50401758
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201410013107.XA Expired - Fee Related CN103708353B (en) | 2014-01-13 | 2014-01-13 | Crane brake downslide amount detects braking momentary duty method for determining position |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN103708353B (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103979420A (en) * | 2014-04-29 | 2014-08-13 | 南通中远船务自动化有限公司 | Power-off brake buffer device for large-scale gantry crane |
CN105486238A (en) * | 2015-12-25 | 2016-04-13 | 北京起重运输机械设计研究院 | Method and system for measuring brake downslide amount of lifting mechanism |
CN113353803A (en) * | 2021-06-30 | 2021-09-07 | 日照钢铁控股集团有限公司 | Automatic accurate and rapid positioning control method for cyclone well travelling crane |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101012044A (en) * | 2007-02-09 | 2007-08-08 | 上海港机重工有限公司 | Recording device and method for hoisting machinery operating state |
CN201052955Y (en) * | 2007-06-11 | 2008-04-30 | 中国第一冶金建设有限责任公司 | Braking apparatus for crawler crane |
CN201952113U (en) * | 2010-12-09 | 2011-08-31 | 江苏省特种设备安全监督检验研究院 | Braking gliding amount testing instrument for cranes |
CN101875477B (en) * | 2009-12-04 | 2012-05-09 | 哈尔滨工业大学 | Crane with brake failure protection device and brake failure protection method |
CN202562441U (en) * | 2012-05-25 | 2012-11-28 | 孙富亮 | Detecting device for braking glide quantity of crane |
CN103245316A (en) * | 2013-05-07 | 2013-08-14 | 福建省特种设备检验研究院 | Crane braking gliding amount detecting system |
-
2014
- 2014-01-13 CN CN201410013107.XA patent/CN103708353B/en not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101012044A (en) * | 2007-02-09 | 2007-08-08 | 上海港机重工有限公司 | Recording device and method for hoisting machinery operating state |
CN201052955Y (en) * | 2007-06-11 | 2008-04-30 | 中国第一冶金建设有限责任公司 | Braking apparatus for crawler crane |
CN101875477B (en) * | 2009-12-04 | 2012-05-09 | 哈尔滨工业大学 | Crane with brake failure protection device and brake failure protection method |
CN201952113U (en) * | 2010-12-09 | 2011-08-31 | 江苏省特种设备安全监督检验研究院 | Braking gliding amount testing instrument for cranes |
CN202562441U (en) * | 2012-05-25 | 2012-11-28 | 孙富亮 | Detecting device for braking glide quantity of crane |
CN103245316A (en) * | 2013-05-07 | 2013-08-14 | 福建省特种设备检验研究院 | Crane braking gliding amount detecting system |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103979420A (en) * | 2014-04-29 | 2014-08-13 | 南通中远船务自动化有限公司 | Power-off brake buffer device for large-scale gantry crane |
CN103979420B (en) * | 2014-04-29 | 2015-11-11 | 南通中远船务自动化有限公司 | Large-sized gantry crane dead electricity brake buffer unit |
CN105486238A (en) * | 2015-12-25 | 2016-04-13 | 北京起重运输机械设计研究院 | Method and system for measuring brake downslide amount of lifting mechanism |
CN113353803A (en) * | 2021-06-30 | 2021-09-07 | 日照钢铁控股集团有限公司 | Automatic accurate and rapid positioning control method for cyclone well travelling crane |
Also Published As
Publication number | Publication date |
---|---|
CN103708353B (en) | 2015-09-23 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN203212149U (en) | Online monitoring alarm device for elevator car vibration | |
CN203758455U (en) | Industrial robot repetitive positioning precision measuring device | |
CN103708353B (en) | Crane brake downslide amount detects braking momentary duty method for determining position | |
CN109733971A (en) | Balance coefficient of elevator detection device and its method | |
CN102814707B (en) | Device and method for determining trigger stroke of trigger sensor | |
CN103245316B (en) | A kind of crane brake downslide amount detection system | |
CN104176580B (en) | A kind of escalator and moving sidewalk stop characteristic detecting method and device | |
CN102322821B (en) | Equipment and method for automatically measuring water escape nappe shape in hydraulic model test | |
CN201952113U (en) | Braking gliding amount testing instrument for cranes | |
CN105486264A (en) | Crane brake down quantity measuring instrument based on acceleration sensor and measuring method thereof | |
CN102679886A (en) | Method and device for measuring brake down-slide distance of crane | |
CN207844829U (en) | A kind of escalator braking performance detector | |
CN204043608U (en) | A kind of part quality defect detector | |
CN105091758B (en) | A kind of system and method for automatic measurement drilling tool length | |
CN206599342U (en) | A kind of cage guide guidance stroke measurment robot based on sensor technology | |
CN105173977A (en) | Elevator guide rail quality detecting method | |
CN205262718U (en) | Portable elevator car system is stopped apart from detector | |
CN208091387U (en) | Boiler expansion displacement sensing apparatus | |
CN103759683A (en) | Device and method for detecting braking sliding amount of crane | |
CN103925894A (en) | Device for measuring length of slurry spraying pipe in grout hole | |
CN106841807A (en) | A kind of method and system of real-time measurement subway rail and ground transition resistance | |
CN102661775A (en) | Automatic water gage detector and application | |
CN102829971B (en) | The portable field pick-up unit of rack-and-pinion construction elevator anti-falling safety device | |
CN203615915U (en) | Brake downslide distance detecting device for crane | |
CN209559269U (en) | A kind of distributed industrial control system flow detector |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | 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 | ||
CF01 | Termination of patent right due to non-payment of annual fee | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150923 Termination date: 20160113 |