CN103879913A - Method, equipment and system for controlling rotary mechanism of tower crane - Google Patents
Method, equipment and system for controlling rotary mechanism of tower crane Download PDFInfo
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- CN103879913A CN103879913A CN201410081003.2A CN201410081003A CN103879913A CN 103879913 A CN103879913 A CN 103879913A CN 201410081003 A CN201410081003 A CN 201410081003A CN 103879913 A CN103879913 A CN 103879913A
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Abstract
The invention discloses a method, equipment and a system for controlling a rotary mechanism of a tower crane. The method comprises the following steps: receiving first speed information and first steering information which are sent by a linkage platform and are used for controlling the rotation of motor equipment; receiving current second speed information and second steering information, sent by a motor state feedback device, of the motor equipment; sending first eddy value adjustment information to eddy control equipment and sending steering adjustment information to the motor equipment when determining that the first steering information is different from the second steering information; sending second eddy value adjustment information to the eddy control equipment when receiving the current first steering information, sent by the motor state feedback device, of the motor equipment. According to the method, the motor equipment can rotate and reach the first speed information required by rotation; the eddy self-control is realized through a frequency changer, so that the reverse rotation process of the motor equipment is quick and stable; the impact on the gear change of the motor equipment is reduced by an eddy brake force, so that the speed change process of the motor equipment is stable.
Description
Technical field
The present invention relates to vehicle for construction technical field, relate in particular to a kind of method, apparatus and system that the swing type mechanism of tower crane is controlled.
Background technology
As shown in Figure 1, be the current schematic diagram of tower type crane slewing gear control system.So-called swing mechanism control system comprises: joint action table, PLC(Programmable Logic Controller, programmable logic controller (PLC)), vortex controller, frequency converter, vortex device and motor device.Here so-called revolution refers to the adjustment of controlling the forward and reverse rotating speed of motor device, and then controls the revolution of tower Mechanism of crane.
The principle of work of the rotary control system of tower crane is at present:
The first step, joint action table send the first job gear signal of current motor device.
PLC is receiving after the first job gear signal of current motor device, the first job gear signal receiving is sent to frequency converter, the frequency that frequency converter output is corresponding with this first job gear signal, control motor reaches the rotating speed of first job gear requirement; And according to the corresponding relation between gear signal and eddy current control signal, determine the eddy current control signal corresponding to first job gear signal of current motor device, and definite eddy current control signal is sent to vortex controller.
Second step, joint action table send second work gear signal;
PLC is receiving after second gear signal, after carrying out according to the mode of the first step, within the time of former and later two work gear change, according to the variation between the first job gear signal of motor device and second work gear signal, determine the variation of eddy current control voltage, and the variation of definite eddy current control voltage is sent to frequency converter.
Frequency converter is to the change information of motor device output eddy current control voltage, adjust the swirl number by vortex controller controlled vortex flow device input, make motor device realize the variation to swirl number in second work gear signal adjustment process by first job gear signal.
In the rotary control system of current tower crane, the mode of PLC controlled vortex flow, the eddy current control signal that each gear is corresponding is fixed the eddy current of vortex device output, but eddy current is subject to the impact of environmental activity, once operating environment changes, to revolution stationarity, effect reduces the eddy current of vortex device output; In addition, adjust motor device work gear change by PLC controlled vortex flow and by frequency converter frequency conversion at present, easily occur that in motor device turning course, shake is large, stationarity is poor, swing type mechanism is suffered damage, and can not realize quick reverse-starting braking operation.
Summary of the invention
The embodiment of the present invention provides a kind of method, apparatus and system that the swing type mechanism of tower crane is controlled, shake larger for the swing type mechanism turning course that solves current tower crane existence, reverse-starting braking operation fast, and the poor problem of the stationary performance of tower crane work.
The method that the swing type mechanism of tower crane is controlled, comprising:
Frequency converter receives the rotating First Speed information of control motor device and the first direction information that joint action table sends, and receives current second speed information and the second direction information of described motor device that motor status positioner sends;
Described frequency converter at definite described the first direction information from described the second direction information when different, send the first swirl number adjustment information to eddy current control convenience, and send and turn to adjustment information to described motor device, wherein, the swirl number that described the first swirl number adjustment information is used to indicate described eddy current control convenience output makes the velocity of rotation of described motor device be reduced to zero by described second speed information, describedly turn to adjustment information to be used to indicate described motor device to be reduced in velocity of rotation at 1 o'clock by described second speed information, described the second direction information is adjusted into the first direction information, and
Described frequency converter is in the time receiving current the first direction information of described motor device that described motor status positioner sends, send the second swirl number adjustment information to described eddy current control convenience, wherein, the swirl number that described the second swirl number adjustment information is used to indicate the output of described eddy current control convenience makes the velocity of rotation of described motor device reach described First Speed information.
Described frequency converter sends the first swirl number adjustment information to eddy current control convenience, comprising:
Described frequency converter is according to described the first direction information and described the second direction information that receive, determines that described joint action table indicates the rotation direction of described motor device to change;
The dutycycle of the pwm signal of described frequency converter adjustment output, increases the voltage of described turbine control convenience; And
Send the first swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reduced to zero by described second speed information.
Described frequency converter sends the second swirl number adjustment information to described eddy current control convenience, comprising:
Described the first direction information that described frequency converter sends according to the described motor status positioner receiving, determines that described joint action table indicates the rotation direction of described motor device to change;
The dutycycle of the pwm signal of described frequency converter adjustment output, reduces the voltage of described turbine control convenience; And
Send the second swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reached to described First Speed information.
The equipment that the swing type mechanism of tower crane is controlled, comprising:
Receiver module, the rotating First Speed information of control motor device and the first direction information that send for receiving joint action table, and receive current second speed information and the second direction information of described motor device that motor status positioner sends;
Adjusting module, for at definite described the first direction information from described the second direction information when different, send the first swirl number adjustment information to eddy current control convenience, and send and turn to adjustment information to described motor device, wherein, the swirl number that described the first swirl number adjustment information is used to indicate described eddy current control convenience output makes the velocity of rotation of described motor device be reduced to zero by described second speed information, describedly turn to adjustment information to be used to indicate described motor device to be reduced in velocity of rotation at 1 o'clock by described second speed information, described the second direction information is adjusted into the first direction information,
Control module, for in the time receiving current the first direction information of described motor device that described motor status positioner sends, send the second swirl number adjustment information to described eddy current control convenience, wherein, the swirl number that described the second swirl number adjustment information is used to indicate the output of described eddy current control convenience makes the velocity of rotation of described motor device reach described First Speed information.
Described adjusting module, specifically for according to described the first direction information and described the second direction information that receive, determines that described joint action table indicates the rotation direction of described motor device to change;
Adjust the dutycycle of the pwm signal of output, the voltage of described turbine control convenience is increased; And
Send the first swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reduced to zero by described second speed information.
Described control module, specifically for described the first direction information sending according to the described motor status positioner receiving, determines that described joint action table indicates the rotation direction of described motor device to change;
The dutycycle of adjusting the pwm signal of output, reduces the voltage of described turbine control convenience; And
Send the second swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reached to described First Speed information.
The system that the swing type mechanism of tower crane is controlled, comprises equipment described above, joint action table, motor status positioner, eddy current control convenience and motor device.
A kind of tower crane, has comprised system described above.
Beneficial effect of the present invention is as follows:
The rotating First Speed information of control motor device and the first direction information that the embodiment of the present invention sends by receiving joint action table, and current second speed information and second direction information of described motor device of reception motor status positioner transmission, at definite described the first direction information from described the second direction information when different, the swirl number that is used to indicate described eddy current control convenience output to the transmission of eddy current control convenience makes the velocity of rotation of described motor device be reduced to the first swirl number adjustment information of zero by described second speed information, and send and be used to indicate described motor device and be reduced to the adjustment information that turns to that described the second direction information is adjusted into the first direction information at 1 o'clock in velocity of rotation by described second speed information to described motor device, and in the time receiving current the first direction information of described motor device that described motor status positioner sends, the swirl number that is used to indicate described eddy current control convenience output to described eddy current control convenience transmission makes the velocity of rotation of described motor device reach the second swirl number adjustment information of described First Speed information, motor device realized turn round and reached the required speed of turning round, like this, in the time that needs tower crane is realized motor device revolution, realize eddy current from controlling by frequency conversion, quick smoothly realize reverse-starting braking operation, and the impact that eddy current brake power is subject to motor device gear change is alleviated, realize the steady speed change of motor device.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the revolving structure of current tower crane;
The schematic flow sheet of a kind of method that the revolving structure of tower crane is controlled that Fig. 2 provides for the embodiment of the present invention one;
Fig. 3 is frequency converter swirl number and performance diagram of the each gear speed of motor deceleration time when vortex controller is controlled;
Fig. 4 is the performance diagram of frequency converter swirl number and the each gear speed of motor pick-up time when vortex controller is controlled;
The structural representation of a kind of system that the swing type mechanism of tower crane is controlled that Fig. 5 provides for the embodiment of the present invention two;
The structural representation of a kind of system that the swing type mechanism of tower crane is controlled that Fig. 6 provides for the embodiment of the present invention three.
The specific embodiment
In order to realize object of the present invention, the embodiment of the present invention provides a kind of method that the swing type mechanism of tower crane is controlled, equipment and system, the rotating First Speed information of control motor device and the first direction information that send by receiving joint action table, and current second speed information and second direction information of described motor device of reception motor status positioner transmission, at definite described the first direction information from described the second direction information when different, the swirl number that is used to indicate described eddy current control convenience output to the transmission of eddy current control convenience makes the velocity of rotation of described motor device be reduced to the first swirl number adjustment information of zero by described second speed information, and send and be used to indicate described motor device and be reduced to the adjustment information that turns to that described the second direction information is adjusted into the first direction information at 1 o'clock in velocity of rotation by described second speed information to described motor device, and in the time receiving current the first direction information of described motor device that described motor status positioner sends, the swirl number that is used to indicate described eddy current control convenience output to described eddy current control convenience transmission makes the velocity of rotation of described motor device reach the second swirl number adjustment information of described First Speed information, motor device realized turn round and reached the required speed of turning round, like this, in the time that needs tower crane is realized motor device revolution, realize eddy current from controlling by frequency conversion, quick smoothly realize reverse-starting braking operation, and the impact that eddy current brake power is subject to motor device gear change is alleviated, realize the steady speed change of motor device.
Below in conjunction with Figure of description, each embodiment of the present invention is described in detail.
Embodiment mono-:
The schematic flow sheet of a kind of method that the revolving structure of tower crane is controlled providing for the embodiment of the present invention one as shown in Figure 2.Described method can be as described below.
Step 101: frequency converter receives the rotating First Speed information of control motor device and the first direction information that joint action table sends, and receive current second speed information and the second direction information of described motor device that motor status positioner sends.
In step 101, when joint action table is in the time preparing the rotation direction of motor device to adjust, send the order of a throw-over catch bit rate to frequency converter, control the rotating velocity information of motor device (being called First Speed information in the embodiment of the present invention) and a direction information (being called the first direction information in the embodiment of the present invention).
It should be noted that, direction information refers to the rotation direction of motor device, supposes that clockwise direction is considered as the forward direction of motor device, and anticlockwise direction is considered as the reverse directions of motor device so.
The direction information be here exactly indication motor equipment be forward work or reversion work, and at building engineering field, realize motor device and be converted into reversion work by forward work, and the work speed of motor device in the time of reversion work meets the requirements of work speed, by this process implementation tower machine swing type mechanism break-in control, this process is called tower machine revolution reverse-starting braking operation.
In embodiments of the present invention, the positioner that has increased the current state of kinematic motion of motor device is motor status positioner (can realize by a kind of compiler the feedback of the state of kinematic motion information of motor device), for state of kinematic motion information current motor device is fed back to frequency converter, wherein, the state of kinematic motion packets of information of motor device has contained current velocity of rotation information (being called second speed information in the embodiment of the present invention) and the current rotation direction information (being called the second direction information in the embodiment of the present invention) of motor device of motor device.
Step 102: frequency converter judges that whether described the first direction information receiving is identical with described the second direction information, if different, redirect execution step 103; If identical, work on according to work on hand mode.
In step 102, frequency converter compares described the first direction information receiving and described the second direction information.
When the first direction information is motor device reversion work, when the second direction information is the work of electrode equipment forward, illustrate that the first direction information is different with the second direction information; When the first direction information is the work of motor device forward, when the second direction information is the work of electrode equipment forward, illustrate that the first direction information is identical with the second direction information.
Or, when the first direction information is motor device reversion work, when the second direction information is electrode equipment reversion work, illustrate that the first direction information is identical with the second direction information; When the first direction information is motor device reversion work, when the second direction information is the work of electrode equipment forward, illustrate that the first direction information is different with the second direction information.
Step 103: described frequency converter sends the first swirl number adjustment information to eddy current control convenience, and send and turn to adjustment information to described motor device.
Wherein, the swirl number that described the first swirl number adjustment information is used to indicate described eddy current control convenience output makes the velocity of rotation of described motor device be reduced to zero by described second speed information, describedly turn to adjustment information to be used to indicate described motor device to be reduced in velocity of rotation at 1 o'clock by described second speed information, described the second direction information is adjusted into the first direction information.
In step 103, because frequency converter when different, determined and need to be adjusted the current state of kinematic motion of motor device from described the second direction information at definite described the first direction information, realize in two steps:
The first step: send the first swirl number adjustment information to eddy current control convenience.
The swirl number that described the first swirl number adjustment information is used to indicate described eddy current control convenience output makes the velocity of rotation of described motor device be reduced to zero by described second speed information.
By adjusting the swirl number of eddy current control convenience input, increase the resistance of the current state of kinematic motion of motor device, braking motor equipment moving speed to zero, turns to and prepares for realizing motor device.
Particularly, first, described frequency converter is according to described the first direction information and described the second direction information that receive, determines that described joint action table indicates the rotation direction of described motor device to change.
Secondly, the dutycycle of the pwm signal of described frequency converter adjustment output, the voltage of described turbine control convenience is increased, and send the first swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reduced to zero by described second speed information.
Particularly, increase the high level output time of pwm signal, the voltage of described turbine control convenience is increased.
Frequency converter is by high frequency output port output pwm signal, now the dutycycle of the pwm signal of output raises, it is the ratio increase that in pwm signal, high level pulse output time accounts for the whole output time cycle, the voltage of controlling turbine control convenience is increased, further make the swirl number of turbine control convenience output increase, even make within a short period of time swirl number be increased to maxim, the resistance that motor device is subject to so also increases thereupon, realizes the braking to motor device.
Fig. 3 is frequency converter swirl number and performance diagram of the each gear speed of motor deceleration time when vortex controller is controlled.
The change curve of what wherein, curve b represented is when at present vortex controller is controlled swirl number; The change curve of swirl number when embodiment of the present invention that what curve a represented is is controlled vortex controller, is used for realizing that the velocity of rotation of described motor device is reduced to zero by described second speed information; What curve c represented is the gear curve of motor device.
As can be seen from Figure 3, the slope of the slope ratio curve b of curve a is large, and the quick change that the dutycycle that the pwm signal of exporting by adjustment is described can realize eddy current control convenience output swirl number is large, more can adapt to real world applications environment.
Second step: described frequency converter sends and turns to adjustment information to described motor device.
Describedly turn to adjustment information to be used to indicate described motor device to be reduced in velocity of rotation at 1 o'clock by described second speed information, described the second direction information is adjusted into the first direction information.
That is to say, frequency converter is in the time that notice eddy current control convenience increases the swirl number of output, notice motor device is reduced in velocity of rotation at 1 o'clock by described second speed information, adjust rotation direction, like this by frequency converter synchro control motor device and eddy current control convenience, make the swirl number of eddy current control convenience output produce larger resistance, accelerate motor device and be reduced to zero by current rotating speed, and the rotation direction of synchronous change motor device, make the state of kinematic motion of motor device realize smooth change.
Step 104: frequency converter receives the first current direction information of described motor device that described motor status positioner sends.
In step 104, frequency converter, after motor device transmission turns to adjustment information, continues the current direction information of the motor device that receives described motor status positioner feedback.
Step 105: described frequency converter, in the time receiving current the first direction information of described motor device that described motor status positioner sends, sends the second swirl number adjustment information to described eddy current control convenience.
Wherein, the swirl number that described the second swirl number adjustment information is used to indicate the output of described eddy current control convenience makes the velocity of rotation of described motor device reach described First Speed information.
In step 105, frequency converter receives the current direction information of the motor device of described motor status positioner feedback, and compare with rotating the first direction information of control motor device that joint action table sends, when frequency converter is in the time receiving current the first direction information of described motor device that described motor status positioner sends, determine that motor device turns to, motor device is realized by the former conversion turning to turning to joint action table control, now, send the second swirl number adjustment information to described eddy current control convenience.
The swirl number that described the second swirl number adjustment information is used to indicate described eddy current control convenience output makes the velocity of rotation of described motor device reach described First Speed information.
Particularly, first, described the first direction information that described frequency converter sends according to the described motor status positioner receiving, determines that described joint action table indicates the rotation direction of described motor device to change.
Secondly, the dutycycle of the pwm signal of described frequency converter adjustment output, the voltage of described turbine control convenience is reduced, and send the second swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reached to described First Speed information.
By adjusting the swirl number of eddy current control convenience input, reduce the resistance of the current state of kinematic motion of motor device, braking motor equipment moving speed is increased to First Speed information by zero, for realizing motor device reverse-starting braking operation.
Particularly, the dutycycle of the pwm signal of described frequency converter adjustment output, reduces the voltage of described turbine control convenience, reduces the high level output time of pwm signal, and the voltage of described turbine control convenience is reduced.
Frequency converter is by high frequency output port output pwm signal, now the dutycycle of the pwm signal of output reduces, be that in pwm signal, high level pulse output time accounts for the ratio in whole output time cycle and reduces, make to control the lower voltage of turbine control convenience, further make the swirl number of turbine control convenience output reduce, even make within a short period of time swirl number be decreased to swirl number corresponding to First Speed information, the resistance that motor device is subject to so also reduces thereupon, realizes the braking to motor device.
Fig. 4 is the performance diagram of frequency converter swirl number and the each gear speed of motor pick-up time when vortex controller is controlled.
The change curve of what wherein, curve e represented is when at present vortex controller is controlled swirl number; The change curve of swirl number when embodiment of the present invention that what curve d represented is is controlled vortex controller, is used for realizing that the velocity of rotation of described motor device is increased to maxim by zero; What curve c represented is the gear curve of motor device.
As can be seen from Figure 4, the slope of the slope ratio curve e of curve d is large, illustrates that the dutycycle of the pwm signal of exporting by adjustment can realize diminishing fast of eddy current control convenience output swirl number, more can adapt to real world applications environment.
By the scheme of the embodiment of the present invention one, receive the rotating First Speed information of control motor device and the first direction information that joint action table sends, and current second speed information and second direction information of described motor device of reception motor status positioner transmission, at definite described the first direction information from described the second direction information when different, the swirl number that is used to indicate described eddy current control convenience output to the transmission of eddy current control convenience makes the velocity of rotation of described motor device be reduced to the first swirl number adjustment information of zero by described second speed information, and send and be used to indicate described motor device and be reduced to the adjustment information that turns to that described the second direction information is adjusted into the first direction information at 1 o'clock in velocity of rotation by described second speed information to described motor device, and in the time receiving current the first direction information of described motor device that described motor status positioner sends, the swirl number that is used to indicate described eddy current control convenience output to described eddy current control convenience transmission makes the velocity of rotation of described motor device reach the second swirl number adjustment information of described First Speed information, motor device realized turn round and reached the required speed of turning round, like this, in the time that needs tower crane is realized motor device revolution, realize eddy current from controlling by frequency conversion, quick smoothly realize reverse-starting braking operation, and the impact that eddy current brake power is subject to motor device gear change is alleviated, realize the steady speed change of motor device.
Embodiment bis-:
The structural representation of a kind of system that the swing type mechanism of tower crane is controlled providing for the embodiment of the present invention two as shown in Figure 5.The embodiment of the present invention two is to belong to the invention under same inventive concept with the embodiment of the present invention one, and described equipment comprises: receiver module 11, adjusting module 12 and control module 13, wherein:
Adjusting module 12, for at definite described the first direction information from described the second direction information when different, send the first swirl number adjustment information to eddy current control convenience, and send and turn to adjustment information to described motor device, wherein, the swirl number that described the first swirl number adjustment information is used to indicate described eddy current control convenience output makes the velocity of rotation of described motor device be reduced to zero by described second speed information, describedly turn to adjustment information to be used to indicate described motor device to be reduced in velocity of rotation at 1 o'clock by described second speed information, described the second direction information is adjusted into the first direction information, and
Particularly, described adjusting module 12, specifically for according to described the first direction information and described the second direction information that receive, determines that described joint action table indicates the rotation direction of described motor device to change;
Adjust the dutycycle of the pwm signal of output, the voltage of described turbine control convenience is increased; And
Send the first swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reduced to zero by described second speed information.
Described control module 13, specifically for described the first direction information sending according to the described motor status positioner receiving, determines that described joint action table indicates the rotation direction of described motor device to change;
The dutycycle of adjusting the pwm signal of output, reduces the voltage of described turbine control convenience; And
Send the second swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reached to described First Speed information.
It should be noted that, the equipment described in the embodiment of the present invention can be realized by frequency converter, also can pass through hard-wired physical entity unit, can also be the logic unit of realizing by software, does not do further restriction here.
Embodiment tri-:
The structural representation of a kind of system that the swing type mechanism of tower crane is controlled providing for the embodiment of the present invention three as shown in Figure 6.The embodiment of the present invention three is the inventions under same inventive concept with the embodiment of the present invention one and the embodiment of the present invention two, and described system comprises control convenience 21, joint action table 22, motor status positioner 23, eddy current control convenience 24 and motor device 25.Particularly:
Control convenience 21, for receiving the rotating First Speed information of control motor device 25 and the first direction information that joint action table 22 sends, and receive current second speed information and the second direction information of described motor device 25 that motor status positioner 23 sends;
Control convenience 21, for at definite described the first direction information from described the second direction information when different, send the first swirl number adjustment information to eddy current control convenience 24, and send and turn to adjustment information to described motor device 25, wherein, the swirl number that described the first swirl number adjustment information is used to indicate described eddy current control convenience output makes the velocity of rotation of described motor device be reduced to zero by described second speed information, describedly turn to adjustment information to be used to indicate described motor device to be reduced in velocity of rotation at 1 o'clock by described second speed information, described the second direction information is adjusted into the first direction information, and
Control convenience 21, for in the time receiving current the first direction information of the described motor device that sends of described motor status positioner 23, send the second swirl number adjustment information to described eddy current control convenience 24, wherein, the swirl number that described the second swirl number adjustment information is used to indicate the output of described eddy current control convenience makes the velocity of rotation of described motor device reach described First Speed information.
Control convenience 21, specifically for according to described the first direction information and described the second direction information that receive, determines that described joint action table indicates the rotation direction of described motor device 25 to change;
Adjust the dutycycle of the pwm signal of output, the voltage of described turbine control convenience is increased; And
Send the first swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reduced to zero by described second speed information.
Control convenience 21, specifically for described the first direction information sending according to the described motor status positioner receiving, determines that described joint action table indicates the rotation direction of described motor device to change;
The dutycycle of adjusting the pwm signal of output, reduces the voltage of described turbine control convenience; And
Send the second swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reached to described First Speed information.
It should be noted that, eddy current control convenience has comprised vortex controller and vortex device.
Embodiment tetra-:
The embodiment of the present invention four provides a kind of tower crane, has comprised the system described in the embodiment of the present invention three in this tower crane.
It will be understood by those skilled in the art that embodiments of the invention can be provided as method, device (equipment) or computer program.Therefore, the present invention can adopt complete hardware implementation example, completely implement software example or the form in conjunction with the embodiment of software and hardware aspect.And the present invention can adopt the form at one or more upper computer programs of implementing of computer-usable storage medium (including but not limited to disc storage, CD-ROM, optical memory etc.) that wherein include computer usable program code.
The present invention is with reference to describing according to diagram of circuit and/or the block scheme of the method for the embodiment of the present invention, device (equipment) and computer program.Should understand can be by the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and diagram of circuit and/or block scheme and/or the combination of square frame.Can provide these computer program instructions to the treater of general computer, single-purpose computer, Embedded Processor or other programmable data processing device to produce a machine, the instruction that makes to carry out by the treater of computing machine or other programmable data processing device produces the device for realizing the function of specifying at flow process of diagram of circuit or multiple flow process and/or square frame of block scheme or multiple square frame.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, the instruction that makes to be stored in this computer-readable memory produces the manufacture that comprises command device, and this command device is realized the function of specifying in flow process of diagram of circuit or multiple flow process and/or square frame of block scheme or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make to carry out sequence of operations step to produce computer implemented processing on computing machine or other programmable devices, thereby the instruction of carrying out is provided for realizing the step of the function of specifying in flow process of diagram of circuit or multiple flow process and/or square frame of block scheme or multiple square frame on computing machine or other programmable devices.
Although described the preferred embodiments of the present invention, once those skilled in the art obtain the basic creative concept of cicada, can make other change and modification to these embodiment.So claims are intended to be interpreted as comprising preferred embodiment and fall into all changes and the modification of the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (8)
1. a method of the swing type mechanism of tower crane being controlled, is characterized in that, comprising:
Frequency converter receives the rotating First Speed information of control motor device and the first direction information that joint action table sends, and receives current second speed information and the second direction information of described motor device that motor status positioner sends;
Described frequency converter at definite described the first direction information from described the second direction information when different, send the first swirl number adjustment information to eddy current control convenience, and send and turn to adjustment information to described motor device, wherein, the swirl number that described the first swirl number adjustment information is used to indicate described eddy current control convenience output makes the velocity of rotation of described motor device be reduced to zero by described second speed information, describedly turn to adjustment information to be used to indicate described motor device to be reduced in velocity of rotation at 1 o'clock by described second speed information, described the second direction information is adjusted into the first direction information, and
Described frequency converter is in the time receiving current the first direction information of described motor device that described motor status positioner sends, send the second swirl number adjustment information to described eddy current control convenience, wherein, the swirl number that described the second swirl number adjustment information is used to indicate the output of described eddy current control convenience makes the velocity of rotation of described motor device reach described First Speed information.
2. the method for claim 1, is characterized in that, described frequency converter sends the first swirl number adjustment information to eddy current control convenience, comprising:
Described frequency converter is according to described the first direction information and described the second direction information that receive, determines that described joint action table indicates the rotation direction of described motor device to change;
The dutycycle of the pwm signal of described frequency converter adjustment output, increases the voltage of described turbine control convenience; And
Send the first swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reduced to zero by described second speed information.
3. method as claimed in claim 1 or 2, is characterized in that, described frequency converter sends the second swirl number adjustment information to described eddy current control convenience, comprising:
Described the first direction information that described frequency converter sends according to the described motor status positioner receiving, determines that described joint action table indicates the rotation direction of described motor device to change;
The dutycycle of the pwm signal of described frequency converter adjustment output, reduces the voltage of described turbine control convenience; And
Send the second swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reached to described First Speed information.
4. an equipment of the swing type mechanism of tower crane being controlled, is characterized in that, comprising:
Receiver module, the rotating First Speed information of control motor device and the first direction information that send for receiving joint action table, and receive current second speed information and the second direction information of described motor device that motor status positioner sends;
Adjusting module, for at definite described the first direction information from described the second direction information when different, send the first swirl number adjustment information to eddy current control convenience, and send and turn to adjustment information to described motor device, wherein, the swirl number that described the first swirl number adjustment information is used to indicate described eddy current control convenience output makes the velocity of rotation of described motor device be reduced to zero by described second speed information, describedly turn to adjustment information to be used to indicate described motor device to be reduced in velocity of rotation at 1 o'clock by described second speed information, described the second direction information is adjusted into the first direction information, and
Control module, for in the time receiving current the first direction information of described motor device that described motor status positioner sends, send the second swirl number adjustment information to described eddy current control convenience, wherein, the swirl number that described the second swirl number adjustment information is used to indicate the output of described eddy current control convenience makes the velocity of rotation of described motor device reach described First Speed information.
5. equipment as claimed in claim 4, is characterized in that,
Described adjusting module, specifically for according to described the first direction information and described the second direction information that receive, determines that described joint action table indicates the rotation direction of described motor device to change;
Adjust the dutycycle of the pwm signal of output, the voltage of described turbine control convenience is increased; And
Send the first swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reduced to zero by described second speed information.
6. the equipment as described in claim 4 or 5, is characterized in that,
Described control module, specifically for described the first direction information sending according to the described motor status positioner receiving, determines that described joint action table indicates the rotation direction of described motor device to change;
The dutycycle of adjusting the pwm signal of output, reduces the voltage of described turbine control convenience; And
Send the second swirl number adjustment information to described eddy current control convenience, make the swirl number of described eddy current control convenience output that the velocity of rotation of described motor device is reached to described First Speed information.
7. a system of the swing type mechanism of tower crane being controlled, is characterized in that, comprises equipment, joint action table, motor status positioner, eddy current control convenience and motor device as described in as arbitrary in claim 4～6.
8. a tower crane, is characterized in that, has comprised system as claimed in claim 7.
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| CN201410081003.2A CN103879913B (en) | 2014-03-06 | 2014-03-06 | To the method, apparatus and system that the swing type mechanism of tower crane controls |
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| CN201410081003.2A CN103879913B (en) | 2014-03-06 | 2014-03-06 | To the method, apparatus and system that the swing type mechanism of tower crane controls |
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Application publication date: 20140625 Assignee: ZOOMLION HEAVY INDUSTRY SCIENCE&TECHNOLOGY DEVELOPMENT Co.,Ltd. WEINAN BRANCH Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042749 Denomination of invention: Method, equipment, and system for controlling the slewing mechanism of tower cranes Granted publication date: 20160302 License type: Common License Record date: 20231008 Application publication date: 20140625 Assignee: Zoomlion Construction Crane Co.,Ltd. Assignor: ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023980042704 Denomination of invention: Method, equipment, and system for controlling the slewing mechanism of tower cranes Granted publication date: 20160302 License type: Common License Record date: 20231008 |