CN103738853B - Hoisting crane method of controlling operation and system - Google Patents
Hoisting crane method of controlling operation and system Download PDFInfo
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- CN103738853B CN103738853B CN201410033759.XA CN201410033759A CN103738853B CN 103738853 B CN103738853 B CN 103738853B CN 201410033759 A CN201410033759 A CN 201410033759A CN 103738853 B CN103738853 B CN 103738853B
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Abstract
The present invention discloses a kind of hoisting crane method of controlling operation and system.The method comprises: whether more current HM Hydraulic Motor output torque T is greater than memory output torque T
0; And whether rotary speed comparator elevator rotating speed N is greater than the stabilized speed N of the hoisting mechanism remembered when electric control handle has just entered control area
0, calculating current increases ratio of slope I
xand I
y, thus determine the lower current limit of different control electric currents as Hydraulic Pump received current, I
maxas upper current limit, to control the elevator action of hoisting mechanism.The present invention controls elevator action by the output torque of HM Hydraulic Motor and the minimum speed of corresponding elevator, can solve the improper problem such as shake, impact, downslide causing elevator to occur of coupling because of pressure and flow in hydraulic control circuit.
Description
Technical field
The present invention relates to crane control field, particularly a kind of hoisting crane method of controlling operation and system.
Background technology
Current electric-controlled type hoisting crane widely uses at middle large-tonnage, this dependence electric control handle carrys out the received current of hydraulic control pump or HM Hydraulic Motor, thus drive the mode of hydraulic gear action, having that low cost, response are fast, monitoring simultaneously easily, also have the electrohydraulic control such as unloadedly easily impact, heavy duty is easily glided, lift heavy is creeped not mate and the problem that causes.Because the most conventional in hoisting crane, important function are exactly the control of elevator, if go wrong during elevator action, the impact so for construction safety is the most fatal.
Summary of the invention
In view of above technical matters, the invention provides a kind of hoisting crane method of controlling operation and system.The present invention controls elevator action by the output torque of HM Hydraulic Motor and the minimum speed of corresponding elevator, solves the improper problem such as shake, impact, downslide causing elevator to occur of coupling because of pressure and flow in hydraulic control circuit.
According to an aspect of the present invention, a kind of hoisting crane method of controlling operation is provided, comprises:
After HM Hydraulic Motor starts, pressure sensor sends to moment comparator the HM Hydraulic Motor force value measured in real time with very first time gap periods, and rotary encoder sends the elevator rotating speed of the hoisting mechanism measured in real time with very first time gap periods to rotary speed comparator;
When electric control handle enters control area, moment comparator judges whether current HM Hydraulic Motor output torque T is greater than memory output torque T
0, wherein T is the HM Hydraulic Motor pressure value P and HM Hydraulic Motor max.cap. V that are currently received
maxproduct, T
0it is the output torque of HM Hydraulic Motor drg turn-off transient when electric control handle leaves control area;
If T is less than T
0, then gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x, and electric current is increased ratio of slope I
xsend to current control unit, wherein electric current increases ratio of slope I
xwith T
0reduce with the reduction of T difference;
Current control unit utilizes electric current to increase ratio of slope I
xwith initial current value I
0produce the control electric current I progressively increased
1, and the control electric current I that will produce
1be supplied to Hydraulic Pump, so that Hydraulic Pump is according to the input flow rate of the control electric current adjustment HM Hydraulic Motor received, to adjust HM Hydraulic Motor force value and HM Hydraulic Motor output torque T, wherein I
0it is the input current value of the Hydraulic Pump that electric control handle is remembered when just having entered control area;
When T equals T
0time, drg is opened, and indicates rotary speed comparator to start timing;
Rotary speed comparator opens schedule time t at drg
0after, judge whether elevator rotating speed N is greater than N
0, wherein N
0it is the stabilized speed of the hoisting mechanism that electric control handle is remembered when just having entered control area;
If N is more than or equal to N
0, then current control unit is by I
1as the lower current limit of Hydraulic Pump received current, I
maxas upper current limit, to control the elevator action of hoisting mechanism.
Preferably, if N is less than N
0, then gradient determining unit utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y, electric current is increased ratio of slope I
ysend to current control unit, wherein electric current increases ratio of slope I
ywith N
0reduce with the reduction of N difference;
Current control unit utilizes electric current to increase ratio of slope I
ywith control current value I
1produce the control electric current I progressively increased
2, and the control electric current I that will produce
2be supplied to Hydraulic Pump, by I
2as the lower current limit of Hydraulic Pump received current, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism.
Preferably, when electric control handle enters control area, if moment comparator judges that T is more than or equal to T
0, then current control unit will initially control current value I
0as control floor level of electric current I
minbe supplied to Hydraulic Pump, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism.
Preferably, after electric control handle leaves control area, brake delay schedule time t
1rear closedown, current control unit will initially control current value I simultaneously
0as control lower current limit I
minbe supplied to Hydraulic Pump.
Preferably, current control unit utilizes electric current to increase ratio of slope I
xwith initial current value I
0produce the control electric current I progressively increased
1, and the control electric current I that will produce
1the step being supplied to Hydraulic Pump comprises:
Current control unit utilizes formula I
1=I
x+ I
0obtain current control electric current I
1;
By current control electric current I
1be supplied to Hydraulic Pump;
After the second time gap, by current control electric current I
1as I
0, perform and utilize formula I
1=I
x+ I
0obtain current control electric current I
1step, wherein the second time gap is less than very first time interval.
Preferably, gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x, electric current is increased ratio of slope I
xthe step of current control unit is sent to comprise:
Gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x;
Utilize formula I
x'=I
x× N
min/ N
1calculating current increases ratio of slope I
xcorrection I
x', wherein N
1for the rotating speed of present engine, N
minfor engine idle;
By described correction I
x' send to current control unit.
Preferably, current control unit utilizes electric current to increase ratio of slope I
ywith control current value I
1produce the control electric current I progressively increased
2, and the control electric current I that will produce
2the step being supplied to Hydraulic Pump comprises:
Current control unit utilizes formula I
2=I
y+ I
1obtain current control electric current I
2;
By current control electric current I
2be supplied to Hydraulic Pump;
After the 3rd time gap, by current control electric current I
2as I
1, perform and utilize formula I
2=I
y+ I
1obtain current control electric current I
2step, wherein the 3rd time gap is less than very first time interval.
Preferably, gradient determining unit utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y, electric current is increased ratio of slope I
ythe step of current control unit is sent to comprise:
Gradient determining unit utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y;
Utilize formula I
y'=I
y× N
min/ N
1calculating current increases ratio of slope I
ycorrection I
y';
By described correction I
y' send to current control unit.
According to a further aspect in the invention, a kind of hoisting crane motion control system is provided, comprise the pressure sensor be arranged on the pressure measurement interface of HM Hydraulic Motor, the rotary encoder be connected with hoisting mechanism, detecting unit, moment comparator gradient determining unit, current control unit, Hydraulic Pump, drg and rotary speed comparator, wherein:
Pressure sensor, for after HM Hydraulic Motor starts, sends to moment comparator the HM Hydraulic Motor force value measured in real time with very first time gap periods;
Rotary encoder, for after HM Hydraulic Motor starts, sends the elevator rotating speed of the hoisting mechanism measured in real time with very first time gap periods to rotary speed comparator;
Detecting unit, for detecting handle, whether electric control handle enters control area;
Moment comparator, for when detecting unit detects that electric control handle enters control area, judges whether current HM Hydraulic Motor output torque T is greater than memory output torque T
0, wherein T is the HM Hydraulic Motor pressure value P and HM Hydraulic Motor max.cap. V that are currently received
maxproduct, T
0it is the output torque of HM Hydraulic Motor drg turn-off transient when electric control handle leaves control area;
Gradient determining unit, for the judged result according to moment comparator, is less than T at T
0time, utilize T
0ratio of slope I is increased with the difference determination electric current of T
x, and electric current is increased ratio of slope I
xsend to current control unit, wherein electric current increases ratio of slope I
xwith T
0reduce with the reduction of T difference;
Current control unit, increases ratio of slope I for utilizing electric current
xwith initial current value I
0produce the control electric current I progressively increased
1, and the control electric current I that will produce
1be supplied to Hydraulic Pump, wherein I
0it is the input current value of the Hydraulic Pump that electric control handle is remembered when just having entered control area; And according to the judged result of rotary speed comparator, be more than or equal to N at N
0time, by I
1as the lower current limit of Hydraulic Pump received current, I
maxas upper current limit, to control the elevator action of hoisting mechanism;
Hydraulic Pump, for the input flow rate according to the control electric current adjustment HM Hydraulic Motor received, to adjust HM Hydraulic Motor force value and HM Hydraulic Motor output torque T;
Drg, for the control electric current I will produced at current control unit
1after being supplied to the operation of Hydraulic Pump, according to the judged result of moment comparator, equal T at T
0time, perform open operation, and indicate rotary speed comparator to start timing;
Rotary speed comparator, for opening schedule time t at drg
0after, judge whether elevator rotating speed N is greater than N
0, wherein N
0it is the stabilized speed of the hoisting mechanism that electric control handle is remembered when just having entered control area.
Preferably, gradient determining unit also for the judged result according to rotary speed comparator, is less than N at N
0time, utilize N
0ratio of slope I is increased with the difference determination electric current of N
y, electric current is increased ratio of slope I
ysend to current control unit, wherein electric current increases ratio of slope I
ywith N
0reduce with the reduction of N difference.
Preferably, current control unit is also for utilizing electric current to increase ratio of slope I
ywith control current value I
1produce the control electric current I progressively increased
2, and the control electric current I that will produce
2be supplied to Hydraulic Pump, by I
2as the lower current limit of Hydraulic Pump received current, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism.
Preferably, current control unit also for when detecting unit detects that electric control handle enters control area, according to the judged result of moment comparator, is more than or equal to T at T
0time, will initially control current value I
0as control floor level of electric current I
minbe supplied to Hydraulic Pump, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism.
Preferably, drg also for when detecting unit detects that electric control handle leaves control area, delay scheduled time t
1rear closedown.
Preferably, current control unit, also for when detecting unit detects that electric control handle leaves control area, will initially control current value I
0as control lower current limit I
minbe supplied to Hydraulic Pump.
Preferably, current control unit specifically utilizes formula I
1=I
x+ I
0obtain current control electric current I
1; By current control electric current I
1be supplied to Hydraulic Pump; After the second time gap, by current control electric current I
1as I
0, perform and utilize formula I
1=I
x+ I
0obtain current control electric current I
1operation, wherein the second time gap is less than very first time interval.
Preferably, current control unit specifically utilizes formula I
2=I
y+ I
1obtain current control electric current I
2; By current control electric current I
2be supplied to Hydraulic Pump; After the 3rd time gap, by current control electric current I
2as I
1, perform and utilize formula I
2=I
y+ I
1obtain current control electric current I
2operation, wherein the 3rd time gap is less than very first time interval.
Preferably, gradient determining unit specifically utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x; Utilize formula I
x'=I
x× N
min/ N
1calculating current increases ratio of slope I
xcorrection I
x', wherein N
1for the rotating speed of present engine, N
minfor engine idle; By described correction I
x' send to current control unit.
Preferably, gradient determining unit specifically utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y; Utilize formula I
y'=I
y× N
min/ N
1calculating current increases ratio of slope I
ycorrection I
y'; By described correction I
y' send to current control unit.
The present invention is based on the hoisting crane motion control system that the above embodiment of the present invention provides, elevator is controlled by the output torque of HM Hydraulic Motor and the minimum speed of corresponding elevator, by moment and flows match, can realize elevator more stable, control accurately and rapidly; By compensating the leakage of whole hydraulic control circuit, masking the leakage contribution of other hydraulic parts, making the speed of response of whole system faster; Carry out inside by actual measurement to compare and control, do not exist after external theory calculates and carry out pressure compensation and the deviation that causes; The present invention simultaneously uses closed loop control to complete the control of elevator action, steadily reliably, avoids producing and impacts and oscillatory occurences.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of a hoisting crane method of controlling operation of the present invention embodiment.
Fig. 2 is the schematic diagram of another embodiment of hoisting crane method of controlling operation of the present invention.
Fig. 3 is the relation schematic diagram of electric control handle position and control electric current in one embodiment of the invention.
Fig. 4 is the schematic diagram of a hoisting crane motion control system of the present invention embodiment.
Fig. 5 is the schematic diagram of another embodiment of hoisting crane motion control system of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts of setting forth in these embodiments and step and numerical value do not limit the scope of the invention.
Meanwhile, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not draw according to the proportionate relationship of reality.
May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in the appropriate case, described technology, method and apparatus should be regarded as a part of authorizing specification sheets.
In all examples with discussing shown here, any occurrence should be construed as merely exemplary, instead of as restriction.Therefore, other example of exemplary embodiment can have different values.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to be further discussed it in accompanying drawing subsequently.
With regard to general electric-control system, the ratio controlling electric current and Hydraulic Pump or hydraulic motor displacement is fixing, and obvious rotating speed can be variant when heavy duty and underloading, and then cause elevator to impact, creep, reverse, dead band is excessive and it is long etc. to respond, the major cause of above phenomenon is caused to be that the control electric current of Hydraulic Pump or HM Hydraulic Motor and brake switch do not have Proper Match in the volume of hydraulic circuit, the i.e. leakage DQ of hydraulic circuit, it is by the influence of rotation speed of operation pressure, hydraulic tubing leak tightness, hydraulic oil viscosity and pump.
Moment formula according to HM Hydraulic Motor: T=P × V, wherein T is HM Hydraulic Motor output torque, and P is its pressure, and V is its discharge capacity.When load one timing, outside required torque remains unchanged, and therefore, the relation how handling the output torque of HM Hydraulic Motor, rotating speed and hydraulic control circuit DQ well is the key point of rolling control.
For rolling control, a solution attempting adopting at hoisting crane is by increasing pressure compensation device, carrying out the flow leakage compensation of HM Hydraulic Motor when elevator works.
Program hydraulic efficiency pressure system is except the control structures such as Hydraulic Pump, HM Hydraulic Motor, drg, and need a pressure sensor to be arranged between drg and HM Hydraulic Motor, and pressure compensation device and HM Hydraulic Motor are connected, pressure compensation device comprises a Hydraulic Pump.
Concrete method is: first remember last HM Hydraulic Motor stop before instantaneous pressure value, then calculate the theoretical pressure value required for the actual driving of motor, both subtract each other and namely obtain pressure set points.As long as therefore when upper once HM Hydraulic Motor action, Hydraulic Pump in start-up compensation equipment, the delivery pressure of pressure compensation device is adjusted to pressure set points, and be supplied to HM Hydraulic Motor, make in its volume, to produce the pressure set points calculated, just can realize the smooth running of motor, and the received current scope of the corresponding Hydraulic Pump in the position of electric control handle or HM Hydraulic Motor is fixing.
The technical scheme of carrying out the leakage compensation of HM Hydraulic Motor above by increase pressure compensation device still has shortcomings:
The first, the departure point of technique scheme is that the pressure at lifting HM Hydraulic Motor place carrys out the hydraulic fluid leak of indirect compensation control loop.According to the characteristic of fluid control, in whole hydraulic control circuit, all there is leakage in various degree in Hydraulic Pump, hydraulic valve, HM Hydraulic Motor and oil circuit etc., and leakage affects by operation pressure, rotating speed and Hydraulic Elements self etc., therefore list carries out pressure compensation from HM Hydraulic Motor, and when especially electric control handle opening is less, the received current of its correspondence is also smaller, can not operation pressure large or slow-revving time realize accurate control, thus shake or the impact of elevator action can be caused.
The second, the program carrys out balanced load moment by improving HM Hydraulic Motor pressure, and then controls elevator.Strictly, the balance of elevator refers to that the load moment that weight causes and the pushing torque that HM Hydraulic Motor provides balance each other, should from two of a HM Hydraulic Motor moment dynamic test: pressure and discharge capacity are analyzed, the obvious program for be fixed displacement motor, therefore tool is not general.Meanwhile, even if be fixed displacement motor, when elevator moment balance, make elevator reach minimum speed if do not increase flow timely, also easily occur the phenomenons such as elevator is shaken, creep.
3rd, HM Hydraulic Motor theoretical pressure value is determined by outside calculating.There is various loss in hydraulic efficiency pressure system itself, different operation pressures, rotating speed, temperature all have impact to it, even if therefore computing formula considers these influence factors, but are still difficult to reflect actual conditions completely, this can cause theoretical pressure value to be inaccurate, and then produces deviation.And the control structure of charging pressure setting value does not form closed loop, also just cannot revise, easily damage motor, exist expand further charging pressure deviation possibility.
4th, the realization of the program needs additionally to add pressure compensation device.Therefore need to redesign on hydraulic structure, need to give extra installing space, this just improves productive costs and maintenance difficulty accordingly, owing to there is hardware unit, therefore also just adds trouble point.And when compensating device carries out work, it can carry out Output pressure always, himself also there is leakage and loss, naturally also can cause energy dissipation.
Finally, the program have ignored the impact of engine speed on hydraulic control circuit.For general hoisting crane, engine speed is directly proportional to Hydraulic Pump rotating speed, when the discharge capacity of Hydraulic Pump or HM Hydraulic Motor is constant, larger rotating speed can make Hydraulic Pump or HM Hydraulic Motor by more flow, the impact of HM Hydraulic Motor is easily produced when zero load or underloading, therefore the program is not from the control program considering elevator comprehensively, only unilaterally carried out compensatory control from the pressure of HM Hydraulic Motor.
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail.
Fig. 1 is the schematic diagram of a hoisting crane method of controlling operation of the present invention embodiment.Preferably, the present embodiment can be performed by hoisting crane motion control system.This programme based on normal hydraulic control circuit, i.e. the hydraulic circuit of Hydraulic Pump, electric control handle, HM Hydraulic Motor, pressure sensor, rotary encoder and correspondence.In general Hydraulic Pump and HM Hydraulic Motor can not change its discharge capacity simultaneously, and for hoisting crane, wanting to obtain larger dynamic rate needs hydraulic motor displacement to be in maximum rating, therefore this programme is considered with this general run of thins of controllable capacity pump-variable-dis-placement motor, during controllable capacity pump displacement variation, the discharge capacity of HM Hydraulic Motor keeps maximum constant; After Hydraulic Pump max.cap., hydraulic motor displacement changes again.
Here the received current scope of the linear corresponding Hydraulic Pump of hypothesis electric control handle opening angle is I
minto I
max, HM Hydraulic Motor max.cap. is V
max.Wherein, engine idle unloaded at hoisting crane, electric control handle has just entered the received current I of control area and Hydraulic Pump
0for lower limit I
min, the stabilized speed of systematic memory now elevator is N
0and elevator rotating speed is from 0 to N
0time t used
0(being generally less than 200 milliseconds), and the pressure P remembering drg turn-off transient HM Hydraulic Motor when electric control handle leaves control area
0, hydraulic motor displacement is now V
0.
Fig. 1 is the schematic diagram of a hoisting crane method of controlling operation of the present invention embodiment.Preferably, the present embodiment can be performed by hoisting crane motion control system.Fig. 1 said method comprising the steps of:
Step 101, after HM Hydraulic Motor starts, pressure sensor sends to moment comparator the HM Hydraulic Motor force value measured in real time with very first time gap periods, and rotary encoder sends the elevator rotating speed of the hoisting mechanism measured in real time with very first time gap periods to rotary speed comparator.
Step 102, when electric control handle enters control area, moment comparator judges whether current HM Hydraulic Motor output torque T is greater than memory output torque T
0, wherein T is the HM Hydraulic Motor pressure value P and HM Hydraulic Motor max.cap. V that are currently received
maxproduct, T
0it is the output torque of HM Hydraulic Motor drg turn-off transient when electric control handle leaves control area.
Step 103, if T is less than T
0, then gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x, and electric current is increased ratio of slope I
xsend to current control unit, wherein electric current increases ratio of slope I
xwith T
0reduce with the reduction of T difference.
Step 104, current control unit utilizes electric current to increase ratio of slope I
xwith initial current value I
0produce the control electric current I progressively increased
1, and the control electric current I that will produce
1be supplied to Hydraulic Pump, so that Hydraulic Pump is according to the input flow rate of the control electric current adjustment HM Hydraulic Motor received, to adjust HM Hydraulic Motor force value and HM Hydraulic Motor output torque T, wherein I
0it is the input current value of the Hydraulic Pump that electric control handle is remembered when just having entered control area.
Step 105, when T equals T
0time, drg is opened, and indicates rotary speed comparator to start timing.
Step 106, rotary speed comparator opens schedule time t at drg
0after, judge whether elevator rotating speed N is greater than N
0, wherein N
0it is the stabilized speed of the hoisting mechanism that electric control handle is remembered when just having entered control area.
Step 107, if N is more than or equal to N
0, then current control unit is by I
1as the lower current limit of Hydraulic Pump received current, I
maxas upper current limit, to control the elevator action of hoisting mechanism.
Preferably, in step 107, can be comprised with the process of the elevator action controlling hoisting mechanism by the received current of hydraulic control pump: Hydraulic Pump adjusts the input flow rate of HM Hydraulic Motor, to adjust delivery pressure value and the HM Hydraulic Motor output torque T of HM Hydraulic Motor according to the control electric current received; Hoisting mechanism is according to the output torque adjustment elevator rotating speed of HM Hydraulic Motor.
Based on the hoisting crane method of controlling operation that the above embodiment of the present invention provides, control elevator by the output torque of HM Hydraulic Motor and the minimum speed of corresponding elevator, by moment and flows match, can realize elevator more stable, control accurately and rapidly; By compensating the leakage of whole hydraulic control circuit, masking the leakage contribution of other hydraulic parts, making the speed of response of whole system faster; Carry out inside by actual measurement to compare and control, do not exist after external theory calculates and carry out pressure compensation and the deviation that causes; The present invention simultaneously uses closed loop control to complete elevator action control, steadily reliably, avoids producing and impacts and oscillatory occurences.
Preferably, in step 104, current control unit utilizes electric current to increase ratio of slope I
xwith initial current value I
0produce the control electric current I progressively increased
1, and the control electric current I that will produce
1the step being supplied to Hydraulic Pump can comprise: current control unit utilizes formula I
1=I
x+ I
0obtain current control electric current I
1; By current control electric current I
1be supplied to Hydraulic Pump; After the second time gap, by current control electric current I
1as I
0, perform and utilize formula I
1=I
x+ I
0obtain current control electric current I
1step, wherein the second time gap is less than very first time interval.
Preferably, in step 103, gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x, and electric current is increased ratio of slope I
xthe step of current control unit is sent to comprise: gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x; Utilize formula I
x'=I
x× N
min/ N
1calculating current increases ratio of slope I
xcorrection I
x', wherein N
1for the rotating speed of present engine, N
minfor engine idle; By described correction I
x' send to current control unit.
Fig. 2 is the schematic diagram of another embodiment of hoisting crane method of controlling operation of the present invention.Preferably, the present embodiment can be performed by hoisting crane motion control system.Fig. 2 said method comprising the steps of:
Step 201, after HM Hydraulic Motor starts, pressure sensor sends to moment comparator the HM Hydraulic Motor force value measured in real time with very first time gap periods, and rotary encoder sends the elevator rotating speed of the hoisting mechanism measured in real time with very first time gap periods to rotary speed comparator.
Wherein, very first time interval is the measuring intervals of TIME of pressure and elevator rotating speed.
Preferably, the measuring intervals of TIME of pressure survey time gap and elevator rotating speed can be different.
Step 202, when electric control handle enters control area, moment comparator judges whether current HM Hydraulic Motor output torque T is more than or equal to memory output torque T
0; If T is more than or equal to T
0, then step 203 is performed; Otherwise, if T is less than T
0, then step 204 is performed.
Wherein T is the HM Hydraulic Motor pressure value P and HM Hydraulic Motor max.cap. V that are currently received
maxproduct, T
0the output torque of HM Hydraulic Motor drg turn-off transient when electric control handle leaves control area, T
0can by calculating electric control handle and leaving control area time drg turn-off transient HM Hydraulic Motor pressure P
0hydraulic motor displacement V now
0product obtain.
Preferably, when HM Hydraulic Motor once starts, no matter how, as long as electric control handle enters control area, moment comparator will judge whether current HM Hydraulic Motor output torque T is more than or equal to memory output torque T to the opening angle of electric control handle
0.
Step 203, current control unit will initially control current value I
0as control floor level of electric current I
minbe supplied to Hydraulic Pump, I
maxas upper current limit, to control the elevator action of hoisting mechanism, no longer perform other steps of the present embodiment afterwards.
Step 204, gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x, and electric current is increased ratio of slope I
xsend to current control unit, wherein electric current increases ratio of slope I
xwith T
0reduce with the reduction of T difference.
Step 205, current control unit utilizes electric current to increase ratio of slope I
xwith initial current value I
0produce the control electric current I progressively increased
1, and the control electric current I that will produce
1be supplied to Hydraulic Pump, so that Hydraulic Pump is according to the input flow rate of the control electric current adjustment HM Hydraulic Motor received, to adjust HM Hydraulic Motor force value and HM Hydraulic Motor output torque T, wherein I
0it is the input current value of the Hydraulic Pump that electric control handle is remembered when just having entered control area.Thus, motor displacement remains unchanged, and hydraulic pump control electric current can at I
0basis on constantly increase.
Step 206, when T equals T
0time, drg is opened, and indicates rotary speed comparator to start timing.
Step 207, rotary speed comparator opens schedule time t at drg
0after, judge whether elevator rotating speed N is more than or equal to N
0; If N is more than or equal to N
0, then step 208 is performed; Otherwise, if N is less than N
0, then step 209 is performed.
Wherein N
0it is the stabilized speed of the hoisting mechanism that electric control handle is remembered when just having entered control area.
Step 208, current control unit is by I
1as the lower current limit of Hydraulic Pump received current, I
maxas upper current limit, to control the elevator action of hoisting mechanism, no longer perform other steps of the present embodiment afterwards.
Step 209, gradient determining unit utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y, electric current is increased ratio of slope I
ysend to current control unit, wherein electric current increases ratio of slope I
ywith N
0reduce with the reduction of N difference.
Step 210, current control unit utilizes electric current to increase ratio of slope I
ywith control current value I
1produce the control electric current I progressively increased
2, and the control electric current I that will produce
2be supplied to Hydraulic Pump, by I
2as the lower current limit of Hydraulic Pump received current, upper current limit maintains I
maxconstant, to realize the elevator action controlling hoisting mechanism.
Preferably, in step 203, step 208 and step 210, can be comprised with the process of the elevator action controlling hoisting mechanism by the received current of hydraulic control pump: Hydraulic Pump adjusts the input flow rate of HM Hydraulic Motor, to adjust delivery pressure value and the HM Hydraulic Motor output torque T of HM Hydraulic Motor according to the control electric current received; Hoisting mechanism is according to the output torque adjustment elevator rotating speed of HM Hydraulic Motor.
Preferably, in step 203, step 208 and step 210, the received current scope of the HM Hydraulic Motor of elevator action is respectively (I
0, I
max), (I
1, I
max) and (I
2, I
max), the opening angle scope of corresponding electric control handle is constant, as shown in Figure 3.For situation in step 210, if electric control handle changes angle comparatively greatly, so the received current of Hydraulic Pump then can at I
2basis on be progressively increased to corresponding current value according to electric control handle opening angle.
Preferably, described method can also comprise: after electric control handle leaves control area, brake delay schedule time t
1rear closedown, current control unit will initially control current value I simultaneously
0as control lower current limit I
minbe supplied to Hydraulic Pump, wherein schedule time t
1after electric control handle leaves control area, the time needed for the vanishing of current elevator rotating speed.
Preferably, in step 205, current control unit utilizes electric current to increase ratio of slope I
xwith initial current value I
0produce the control electric current I progressively increased
1, and the control electric current I that will produce
1the step being supplied to Hydraulic Pump can comprise: current control unit utilizes formula I
1=I
x+ I
0obtain current control electric current I
1; By current control electric current I
1be supplied to Hydraulic Pump; After the second time gap, by current control electric current I
1as I
0, perform and utilize formula I
1=I
x+ I
0obtain current control electric current I
1step, wherein the second time gap is less than very first time interval, and the second time gap utilizes electric current to increase ratio of slope I
xcalculate and control electric current I
1time gap.
Preferably, in step 210, current control unit utilizes electric current to increase ratio of slope I
ywith control current value I
1produce the control electric current I progressively increased
2, and the control electric current I that will produce
2the step being supplied to Hydraulic Pump can comprise: current control unit utilizes formula I
2=I
y+ I
1obtain current control electric current I
2; By current control electric current I
2be supplied to Hydraulic Pump; After the 3rd time gap, by current control electric current I
2as I
1, perform and utilize formula I
2=I
y+ I
1obtain current control electric current I
2step, wherein the 3rd time gap is less than very first time interval, and the 3rd time gap utilizes electric current to increase ratio of slope I
ycalculate and control electric current I
2time gap.
Preferably, in described method, very first time interval, the second time gap and the 3rd time gap all can between 10-50ms.In a preferred embodiment, the very first time is spaced apart 20ms, and the second time gap is 10ms, and the 3rd time gap is 15ms.
Preferably, step 204 can comprise: gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x; Utilize formula I
x'=I
x× N
min/ N
1calculating current increases ratio of slope I
xcorrection I
x', wherein N
1for the rotating speed of present engine, N
minfor engine idle; By described correction I
x' send to current control unit.
Preferably, step 209 can comprise: gradient determining unit utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y; Utilize formula I
y'=I
y× N
min/ N
1calculating current increases ratio of slope I
ycorrection I
y'; By described correction I
y' send to current control unit.
Wherein, I
k(can be I
x, I
y) correction I
k' (can be I
x', I
y') computing formula I
k'=I
k× N
min/ N pushes over out by the following method:
Be I at received current
0to I
2during scope, according to the flow rate calculation formula q=v × n of Hydraulic Pump, wherein q is the delivery rate of Hydraulic Pump, and v is hydraulic pressure capacity of pump, and n is the rotating speed of Hydraulic Pump.
Consider that engine speed and Hydraulic Pump rotation speed relation meet formula n=N
1× k, wherein N
1for the rotating speed of driving engine, k is the revolution ratio of engine speed and Hydraulic Pump rotating speed.
Q=v × N can be obtained
1× k, namely when hydraulic pressure capacity of pump is constant, if engine speed changes, so the flow of Hydraulic Pump also can change; Consider that pressure in hydraulic control circuit and Hydraulic Pump flow have direct relation, in order to eliminate the impact of engine speed, therefore with engine idle N
minas benchmark, following change is carried out to hydraulic pressure capacity of pump:
q=(v×N
min/N
1)×N
1×k
Namely at original electric current ratio of slope I
kon basis, according to formula I
k'=I
k× N
min/ N
1revise.
The hoisting crane method of controlling operation provided by above-described embodiment, eliminates the impact of engine speed on rolling control.Different engine speeds, have different electric current gradient adjustment, impel flow and the pressure Proper Match of hydraulic control circuit, avoid just occurring because of the too much flow of the large generation of engine speed after electric control handle just enters range of control, thus cause the pressure at HM Hydraulic Motor place excessive, make elevator produce the phenomenon of impacting.
Fig. 4 is the schematic diagram of hoisting crane motion control system of the present invention.Hoisting crane motion control system shown in Fig. 4 comprises the pressure sensor 402 be arranged on the pressure measurement interface of HM Hydraulic Motor 401, the rotary encoder 404 be connected with hoisting mechanism 403, detecting unit 405, moment comparator 406, gradient determining unit 407, current control unit 408, Hydraulic Pump 409, drg 410, rotary speed comparator 411, wherein:
Pressure sensor 402, for after HM Hydraulic Motor 401 starts, sends to moment comparator 406 the HM Hydraulic Motor force value measured in real time with very first time gap periods.
Rotary encoder 404, for after HM Hydraulic Motor 401 starts, sends the elevator rotating speed of the hoisting mechanism 403 measured in real time with very first time gap periods to rotary speed comparator 411.
Detecting unit 405, for detecting handle, whether electric control handle enters control area.
Moment comparator 406, for when detecting unit 405 detects that electric control handle enters control area, judges whether current HM Hydraulic Motor 401 output torque T is greater than memory output torque T
0, wherein T is HM Hydraulic Motor 401 pressure value P and HM Hydraulic Motor 401 max.cap. V that are currently received
maxproduct, T
0it is the output torque of HM Hydraulic Motor 401 drg 410 turn-off transient when electric control handle leaves control area.
Gradient determining unit 407, for the judged result according to moment comparator 406, is less than T at T
0time, utilize T
0ratio of slope I is increased with the difference determination electric current of T
x, and electric current is increased ratio of slope I
xsend to current control unit 408, wherein electric current increases ratio of slope I
xwith T
0reduce with the reduction of T difference.
Current control unit 408, increases ratio of slope I for utilizing electric current
xwith initial current value I
0produce the control electric current I progressively increased
1, and the control electric current I that will produce
1be supplied to Hydraulic Pump 409, to improve HM Hydraulic Motor 401 force value and HM Hydraulic Motor 401 output torque T, wherein I
0it is the input current value of the Hydraulic Pump that electric control handle is remembered when just having entered control area; And according to the judged result of rotary speed comparator, be more than or equal to N at N
0time, by I
1as the lower current limit of Hydraulic Pump received current, I
maxas upper current limit, to control the elevator action of hoisting mechanism.
Hydraulic Pump 409, for the input flow rate according to the control electric current adjustment HM Hydraulic Motor received, to adjust HM Hydraulic Motor force value and HM Hydraulic Motor output torque T.
Drg 410, for the control electric current I will produced at current control unit 408
1after being supplied to the operation of Hydraulic Pump 409, according to the judged result of moment comparator 406, equal T at T
0time, perform open operation, and indicate rotary speed comparator to start timing.
Rotary speed comparator 411, for opening schedule time t at drg 410
0after, judge whether elevator rotating speed N is greater than N
0, wherein N
0it is the stabilized speed of the hoisting mechanism 403 that electric control handle is remembered when just having entered control area.Preferably, described rotary speed comparator comprises time meter.
Based on the hoisting crane motion control system that the above embodiment of the present invention provides, control elevator by the output torque of HM Hydraulic Motor and the minimum speed of corresponding elevator, by moment and flows match, can realize elevator more stable, control accurately and rapidly; By compensating the leakage of whole hydraulic control circuit, masking the leakage contribution of other hydraulic parts, making the speed of response of whole system faster; Carry out inside by actual measurement to compare and control, do not exist after external theory calculates and carry out pressure compensation and the deviation that causes; The present invention simultaneously uses closed loop control to complete elevator action control, steadily reliably, avoids producing and impacts and oscillatory occurences.
Preferably, detecting unit 405 in hoisting crane motion control system provided by the invention, moment comparator 406, gradient determining unit 407, current control unit 408 and rotary speed comparator 411 all can be realized by controller, described controller comprises PID(Proportion Integration Differentiation, proportional-integral-differential) control module.
Thus, enforcement of the present invention does not need extra hardware unit.For automatically controlled hoisting crane, the instrumentation of pressure, discharge capacity, tach signal is all indispensable, and this is the pacing factor that car load needs to carry out fault detection and state display.Therefore only utilize existing resource just can realize good rolling control, this is all very favorable in integral vehicle cost, trouble diagnosing, assembling and setting, system energy etc.
Present invention employs closed loop feedback control structure simultaneously, and use PID controller to adjust the size controlling electric current further, thus effectively control correlated variables, prevent toning or deviation, ensure that the phenomenons such as impact, reversion do not appear in elevator action.
Preferably, gradient determining unit 407 can also be used for, according to the judged result of rotary speed comparator 411, being less than N at N
0time, utilize N
0ratio of slope I is increased with the difference determination electric current of N
y, electric current is increased ratio of slope I
ysend to current control unit 408, wherein electric current increases ratio of slope I
ywith N
0reduce with the reduction of N difference.
Preferably, current control unit 408 can also be used for utilizing electric current to increase ratio of slope I
ywith control current value I
1produce the control electric current I progressively increased
2, and the control electric current I that will produce
2be supplied to Hydraulic Pump 409, by I
2as the lower current limit of Hydraulic Pump 409 received current, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism 403.
Preferably, current control unit 408 can also be used for, when detecting unit 405 detects that electric control handle enters control area, according to the judged result of moment comparator 406, being more than or equal to T at T
0time, will initially control current value I
0as control floor level of electric current I
minbe supplied to Hydraulic Pump 409, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism 403.
In above-described embodiment, the process being controlled the elevator action of hoisting mechanism 403 by the received current of hydraulic control pump can be comprised: Hydraulic Pump is according to the input flow rate of the control electric current adjustment HM Hydraulic Motor received, to adjust delivery pressure value and the HM Hydraulic Motor output torque T of HM Hydraulic Motor, so that hoisting mechanism is according to the output torque adjustment elevator rotating speed of HM Hydraulic Motor.
Preferably, drg 410 can also be used for when detecting unit 405 detects that electric control handle leaves control area, delay scheduled time t
1rear closedown.
Preferably, current control unit 408 can also be used for, when detecting unit 405 detects that electric control handle leaves control area, initially controlling current value I
0as control lower current limit I
minbe supplied to Hydraulic Pump 409.
Preferably, current control unit 408 specifically utilizes formula I
1=I
x+ I
0obtain current control electric current I
1; By current control electric current I
1be supplied to Hydraulic Pump 409; After the second time gap, by current control electric current I
1as I
0, perform and utilize formula I
1=I
x+ I
0obtain current control electric current I
1operation, wherein the second time gap is less than very first time interval.
Preferably, current control unit 408 specifically utilizes formula I
2=I
y+ I
1obtain current control electric current I
2; By current control electric current I
2be supplied to Hydraulic Pump 409; After the 3rd time gap, by current control electric current I
2as I
1, perform and utilize formula I
2=I
y+ I
1obtain current control electric current I
2operation, wherein the 3rd time gap is less than very first time interval.
Preferably, the second time gap is less than very first time interval, and the 3rd time gap is less than very first time interval.Wherein, very first time interval is the measuring intervals of TIME of pressure and elevator rotating speed; Second time gap utilizes electric current to increase ratio of slope I
xcalculate and control electric current I
1time gap; 3rd time gap utilizes electric current to increase ratio of slope I
ycalculate and control electric current I
2time gap.
Wherein, because pressure sensor, rotary encoder and control electric current are all that controller carries out data acquisition and output, therefore shorten under the prerequisite that the performance period that program loop, incoming signal and output signal are corresponding will allow at hardware as far as possible, just all the more significantly can improve control accuracy and obtain good control effects.
Preferably, in described system, very first time interval, the second time gap and the 3rd time gap all can between 10-50ms.In a preferred embodiment, the very first time is spaced apart 20ms, and the second time gap is 10ms, and the 3rd time gap is 15ms.
Preferably, gradient determining unit 407 specifically utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x; Utilize formula I
x'=I
x× N
min/ N
1calculating current increases ratio of slope I
xcorrection I
x', wherein N
1for the rotating speed of present engine, N
minfor the idling of driving engine; By described correction I
x' send to current control unit 408.
Preferably, gradient determining unit 407 specifically utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y; Utilize formula I
y'=I
y× N
min/ N
1calculating current increases ratio of slope I
ycorrection I
y'; By described correction I
y' send to current control unit 408.
The hoisting crane motion control system provided by above-described embodiment, eliminates the impact of engine speed on rolling control.Different engine speeds, have different electric current gradient adjustment, impel flow and the pressure Proper Match of hydraulic control circuit, avoid just occurring because of the too much flow of the large generation of engine speed after electric control handle just enters range of control, thus cause the pressure at HM Hydraulic Motor place excessive, make elevator produce the phenomenon of impacting.
Fig. 5 is the schematic diagram of another embodiment of hoisting crane motion control system of the present invention.Compared with embodiment illustrated in fig. 4, in the embodiment shown in fig. 5, hoisting crane motion control system can also comprise display unit 501, wherein:
Display unit 501, for showing the pressure P of drg turn-off transient HM Hydraulic Motor when electric control handle leaves control area
0, hydraulic motor displacement is V
0, output torque T
0, when hoisting crane zero load, engine idle, electric control handle have just entered control area, the stabilized speed of elevator is N
0, the HM Hydraulic Motor pressure value P be currently received, HM Hydraulic Motor max.cap. V
max, the elevator rotating speed N of the hoisting mechanism be currently received, and the current control current value of Hydraulic Pump.
Preferably, display unit 501 can also be used for HM Hydraulic Motor 401 pressure value P be currently received close to or be greater than the pressure P of the drg turn-off transient HM Hydraulic Motor when last time, electric control handle left control area
0time, carry out pointing out or reporting to the police, thus make hoisting crane operator know current state.
By implementing the present invention, following beneficial effect can be obtained:
1, the present invention compensates the leakage of whole hydraulic control circuit.Because HM Hydraulic Motor is in the final stage of control loop, and whole flows is all supplied by Hydraulic Pump, therefore with the pressure of HM Hydraulic Motor for benchmark carrys out the current value of hydraulic control pump, lower current limit is followed operation pressure and is changed, that the leakage of whole control loop is compensated, nature will mask the leakage contribution of other hydraulic parts, makes the speed of response of whole system faster.
2, the present invention controls elevator by the output torque of HM Hydraulic Motor and the minimum speed of corresponding elevator.Controlling elevator by output torque is the actual forced status feeding back elevator the most accurately, fundamentally balances its load moment, and then avoids winch impact and downslide.Elevator minimum speed is then the lower velocity limit that it normally works, and after control system meets this condition, elevator will avoid because shake when being in moment balance and creeping phenomenon.Both combine, i.e. moment and flows match, can realize elevator more stable, control accurately and rapidly.
3, control signal of the present invention is all that actual measurement is carried out inside and compared and control, does not exist and carries out pressure compensation after external theory calculates and the deviation that causes.Owing to being control from moment, rotating speed, therefore can ignore the oil temperature of system, in the factor such as to let out, avoid the impact that external environment and external theory calculate.Meanwhile, system have employed closed loop feedback control structure, and uses PID to adjust the size controlling electric current further, thus effectively controls correlated variables, prevents toning or deviation, ensures that the phenomenons such as impact, reversion do not appear in elevator action.
4, enforcement of the present invention does not need extra hardware unit.For automatically controlled hoisting crane, the instrumentation of pressure, discharge capacity, tach signal is all indispensable, and this is the pacing factor that car load needs to carry out fault detection and state display.Therefore only utilize existing resource just can realize good rolling control, this is all very favorable in integral vehicle cost, trouble diagnosing, assembling and setting, system energy etc.
5, this invention removes the impact of engine speed on rolling control.Different engine speeds, have different electric current gradient adjustment, impel flow and the pressure Proper Match of hydraulic control circuit, avoid just occurring because of the too much flow of the large generation of engine speed after electric control handle just enters range of control, thus cause the pressure at HM Hydraulic Motor place excessive, make elevator produce the phenomenon of impacting.
So far, hoisting crane method of controlling operation of the present invention and system has been described in detail.In order to avoid covering design of the present invention, details more known in the field are not described.Those skilled in the art, according to description above, can understand how to implement technical scheme disclosed herein completely.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory (ROM), disk or CD etc.
Claims (12)
1. a hoisting crane method of controlling operation, is characterized in that, comprising:
After HM Hydraulic Motor starts, pressure sensor sends to moment comparator the HM Hydraulic Motor force value measured in real time with very first time gap periods, and rotary encoder sends the elevator rotating speed of the hoisting mechanism measured in real time with very first time gap periods to rotary speed comparator;
When electric control handle enters control area, moment comparator judges whether current HM Hydraulic Motor output torque T is greater than memory output torque T
0, wherein T is the HM Hydraulic Motor pressure value P and HM Hydraulic Motor max.cap. V that are currently received
maxproduct, T
0it is the output torque of HM Hydraulic Motor drg turn-off transient when electric control handle leaves control area;
If T is less than T
0, then gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x, and electric current is increased ratio of slope I
xsend to current control unit, wherein electric current increases ratio of slope I
xwith T
0reduce with the reduction of T difference;
Current control unit utilizes electric current to increase ratio of slope I
xwith initial current value I
0, produce the control electric current I progressively increased
1, and the control electric current I that will produce
1be supplied to Hydraulic Pump, so that Hydraulic Pump is according to the input flow rate of the control electric current adjustment HM Hydraulic Motor received, to adjust HM Hydraulic Motor force value and HM Hydraulic Motor output torque T, wherein I
0it is the input current value of the Hydraulic Pump that electric control handle is remembered when just having entered control area;
When T equals T
0time, drg is opened, and indicates rotary speed comparator to start timing;
Rotary speed comparator opens schedule time t at drg
0after, judge whether elevator rotating speed N is greater than N
0, wherein N
0it is the stabilized speed of the hoisting mechanism that electric control handle is remembered when just having entered control area;
If N is more than or equal to N
0, then current control unit is by I
1as the lower current limit of Hydraulic Pump received current, I
maxas upper current limit, to control the elevator action of hoisting mechanism.
2. method according to claim 1, is characterized in that, also comprises:
If N is less than N
0, then gradient determining unit utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y, electric current is increased ratio of slope I
ysend to current control unit, wherein electric current increases ratio of slope I
ywith N
0reduce with the reduction of N difference;
Current control unit utilizes electric current to increase ratio of slope I
ywith control current value I
1, produce the control electric current I progressively increased
2, and the control electric current I that will produce
2be supplied to Hydraulic Pump, by I
2as the lower current limit of Hydraulic Pump received current, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism.
3. method according to claim 1 and 2, is characterized in that, also comprises:
When electric control handle enters control area, if moment comparator judges that T is more than or equal to T
0, then current control unit will initially control current value I
0as control floor level of electric current I
minbe supplied to Hydraulic Pump, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism.
4. method according to claim 1 and 2, is characterized in that, also comprises:
After electric control handle leaves control area, brake delay schedule time t
1rear closedown, current control unit will initially control current value I simultaneously
0as control lower current limit I
minbe supplied to Hydraulic Pump.
5. method according to claim 2, is characterized in that,
Current control unit utilizes electric current to increase ratio of slope I
xwith initial current value I
0, produce the control electric current I progressively increased
1, and the control electric current I that will produce
1the step being supplied to Hydraulic Pump comprises:
Current control unit utilizes formula I
1=I
x+ I
0obtain current control electric current I
1;
By current control electric current I
1be supplied to Hydraulic Pump;
After the second time gap, by current control electric current I
1as I
0, perform and utilize formula I
1=I
x+ I
0obtain current control electric current I
1step, wherein the second time gap is less than very first time interval;
Current control unit utilizes electric current to increase ratio of slope I
ywith control current value I
1, produce the control electric current I progressively increased
2, and the control electric current I that will produce
2the step being supplied to Hydraulic Pump comprises:
Current control unit utilizes formula I
2=I
y+ I
1obtain current control electric current I
2;
By current control electric current I
2be supplied to Hydraulic Pump;
After the 3rd time gap, by current control electric current I
2as I
1, perform and utilize formula I
2=I
y+ I
1obtain current control electric current I
2step, wherein the 3rd time gap is less than very first time interval.
6. method according to claim 2, is characterized in that,
Gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x, electric current is increased ratio of slope I
xthe step of current control unit is sent to comprise:
Gradient determining unit utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x;
Utilize formula I
x'=I
x× N
min/ N
1calculating current increases ratio of slope I
xcorrection I
x', wherein N
1for the rotating speed of present engine, N
minfor engine idle;
By described correction I
x' send to current control unit;
Gradient determining unit utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y, electric current is increased ratio of slope I
ythe step of current control unit is sent to comprise:
Gradient determining unit utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y;
Utilize formula I
y'=I
y× N
min/ N
1calculating current increases ratio of slope I
ycorrection I
y';
By described correction I
y' send to current control unit.
7. a hoisting crane motion control system, it is characterized in that, comprise the pressure sensor be arranged on the pressure measurement interface of HM Hydraulic Motor, the rotary encoder be connected with hoisting mechanism, detecting unit, moment comparator, gradient determining unit, current control unit, Hydraulic Pump, drg and rotary speed comparator, wherein:
Pressure sensor, for after HM Hydraulic Motor starts, sends to moment comparator the HM Hydraulic Motor force value measured in real time with very first time gap periods;
Rotary encoder, for after HM Hydraulic Motor starts, sends the elevator rotating speed of the hoisting mechanism measured in real time with very first time gap periods to rotary speed comparator;
Detecting unit, for detecting handle, whether electric control handle enters control area;
Moment comparator, for when detecting unit detects that electric control handle enters control area, judges whether current HM Hydraulic Motor output torque T is greater than memory output torque T
0, wherein T is the HM Hydraulic Motor pressure value P and HM Hydraulic Motor max.cap. V that are currently received
maxproduct, T
0it is the output torque of HM Hydraulic Motor drg turn-off transient when electric control handle leaves control area;
Gradient determining unit, for the judged result according to moment comparator, is less than T at T
0time, utilize T
0ratio of slope I is increased with the difference determination electric current of T
x, and electric current is increased ratio of slope I
xsend to current control unit, wherein electric current increases ratio of slope I
xwith T
0reduce with the reduction of T difference;
Current control unit, increases ratio of slope I for utilizing electric current
xwith initial current value I
0, produce the control electric current I progressively increased
1, and the control electric current I that will produce
1be supplied to Hydraulic Pump, wherein I
0it is the input current value of the Hydraulic Pump that electric control handle is remembered when just having entered control area; And according to the judged result of rotary speed comparator, be more than or equal to N at N
0time, by I
1as the lower current limit of Hydraulic Pump received current, I
maxas upper current limit, to control the elevator action of hoisting mechanism;
Hydraulic Pump, for the input flow rate according to the control electric current adjustment HM Hydraulic Motor received, to adjust HM Hydraulic Motor force value and HM Hydraulic Motor output torque T;
Drg, for the control electric current I will produced at current control unit
1after being supplied to the operation of Hydraulic Pump, according to the judged result of moment comparator, equal T at T
0time, perform open operation, and indicate rotary speed comparator to start timing;
Rotary speed comparator, for opening schedule time t at drg
0after, judge whether elevator rotating speed N is greater than N
0, wherein N
0it is the stabilized speed of the hoisting mechanism that electric control handle is remembered when just having entered control area.
8. system according to claim 7, is characterized in that,
Gradient determining unit also for the judged result according to rotary speed comparator, is less than N at N
0time, utilize N
0ratio of slope I is increased with the difference determination electric current of N
y, electric current is increased ratio of slope I
ysend to current control unit, wherein electric current increases ratio of slope I
ywith N
0reduce with the reduction of N difference;
Current control unit is also for utilizing electric current to increase ratio of slope I
ywith control current value I
1, produce the control electric current I progressively increased
2, and the control electric current I that will produce
2be supplied to Hydraulic Pump, by I
2as the lower current limit of Hydraulic Pump received current, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism.
9. the system according to claim 7 or 8, is characterized in that,
Current control unit also for when detecting unit detects that electric control handle enters control area, according to the judged result of moment comparator, is more than or equal to T at T
0time, will initially control current value I
0as control floor level of electric current I
minbe supplied to Hydraulic Pump, upper current limit maintains I
maxconstant, to control the elevator action of hoisting mechanism.
10. the system according to claim 7 or 8, is characterized in that,
Drg also for when detecting unit detects that electric control handle leaves control area, delay scheduled time t
1rear closedown;
Current control unit, also for when detecting unit detects that electric control handle leaves control area, will initially control current value I
0as control lower current limit I
minbe supplied to Hydraulic Pump.
11. systems according to claim 8, is characterized in that,
Current control unit specifically utilizes formula I
1=I
x+ I
0obtain current control electric current I
1; By current control electric current I
1be supplied to Hydraulic Pump; After the second time gap, by current control electric current I
1as I
0, perform and utilize formula I
1=I
x+ I
0obtain current control electric current I
1operation, wherein the second time gap is less than very first time interval;
Current control unit specifically utilizes formula I
2=I
y+ I
1obtain current control electric current I
2; By current control electric current I
2be supplied to Hydraulic Pump; After the 3rd time gap, by current control electric current I
2as I
1, perform and utilize formula I
2=I
y+ I
1obtain current control electric current I
2operation, wherein the 3rd time gap is less than very first time interval.
12. systems according to claim 8, is characterized in that,
Gradient determining unit specifically utilizes T
0ratio of slope I is increased with the difference determination electric current of T
x; Utilize formula I
x'=I
x× N
min/ N
1calculating current increases ratio of slope I
xcorrection I
x', wherein N
1for the rotating speed of present engine, N
minfor engine idle; By described correction I
x' send to current control unit;
Gradient determining unit specifically utilizes N
0ratio of slope I is increased with the difference determination electric current of N
y; Utilize formula I
y'=I
y× N
min/ N
1calculating current increases ratio of slope I
ycorrection I
y'; By described correction I
y' send to current control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410033759.XA CN103738853B (en) | 2014-01-24 | 2014-01-24 | Hoisting crane method of controlling operation and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN107169254B (en) * | 2017-07-21 | 2020-04-28 | 济南大学 | Method for evaluating performance and predicting residual life of rotary system of automobile crane |
| CN111017839A (en) * | 2020-01-02 | 2020-04-17 | 湖南星邦智能装备股份有限公司 | Driving control method, controller, control system and overhead working truck |
| CN113772567B (en) * | 2021-09-24 | 2022-10-18 | 燕山大学 | Control system and method for solving rotation starting impact of crane |
| CN113800415B (en) * | 2021-09-24 | 2023-03-24 | 徐工集团工程机械股份有限公司建设机械分公司 | Self-adaptive control method of hoisting system of crane |
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| CN101561832A (en) * | 2009-05-21 | 2009-10-21 | 南京工业大学 | Measuring method of towercrane crane jib structural distortion and stress |
| CN202245781U (en) * | 2011-09-29 | 2012-05-30 | 天津山河装备开发有限公司 | Control system of crane with truss arm |
| CN203159068U (en) * | 2013-03-28 | 2013-08-28 | 辽宁抚挖重工机械股份有限公司 | Main hook hoisting device of crawler crane in working condition of tower |
| CN103171973B (en) * | 2013-03-28 | 2015-01-07 | 辽宁抚挖重工机械股份有限公司 | Main hook hoisting method under tower type work condition of crawler crane |
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