CN103991791A - Positive and negative vehicle control equipment, method, system and tower crane - Google Patents
Positive and negative vehicle control equipment, method, system and tower crane Download PDFInfo
- Publication number
- CN103991791A CN103991791A CN201410222090.9A CN201410222090A CN103991791A CN 103991791 A CN103991791 A CN 103991791A CN 201410222090 A CN201410222090 A CN 201410222090A CN 103991791 A CN103991791 A CN 103991791A
- Authority
- CN
- China
- Prior art keywords
- motor speed
- gear
- swing type
- type mechanism
- target gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses positive and negative vehicle control equipment, method, system and a tower crane. The equipment comprises a receiving device and a control device, wherein the receiving device is used for receiving motor rotation speeds of a target gear and a revolving mechanism; the control device is used for judging gear polarities according to the motor rotation speeds of the target gear and the revolving mechanism, when the gear polarities are opposite, the motor rotation speed of the revolving mechanism is controlled to be changed into the motor rotation speed which corresponds to that of the target gear according to a preset rule I, and when the gear polarities are the same, the motor rotation speed of the revolving mechanism is controlled to be changed into the motor rotation speed which corresponds to that of the target gear according to a preset rule II. By using the positive and negative vehicle control equipment, method, system and the tower crane, a fixed operation mode of operating personnel can be omitted, so that the revolving mechanism is automatically controlled to perform positive and negative vehicle operation only by directly pushing an operating handle to the target gear by the operating personnel, and therefore, the degree of freedom of the operation of the revolving mechanism is increased, and the requirement on the experience of the operating personnel is lowered.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of positive and negative car control convenience, method, system and tower crane.
Background technology
At present, use the construction machinery and equipment of forward gear and reverse gear, tower crane for example, operating personal is carrying out positive and negative car while controlling, need operating personal according to personal experience successively manual switchover gear, after swing type mechanism is static, carry out successively more oppositely accelerating operation.Just car is controlled and is referred to operating handle gear change and change in polarity does not occur, and motor steering does not change; Anti-car is controlled and is referred to operating handle gear change generation change in polarity, and motor steering changes.Rely on the experience of operating personal to carry out positive and negative car control, inefficiency, and different operating personnel are when carrying out same operation, and the performance difference of controlling realization is larger.
In fact, many construction machinery and equipments have been configured frequency converter, by frequency converter, realize forward fourth gear and reverse fourth gear multistage speed mode, coordinate current vortex to carry out mechanism controls simultaneously, by the actual use experience of operating personal, by high-low position gear, sequentially carry out gearshift continuously and control swing type mechanism, thereby realize positive and negative car control operation.In order to improve operating efficiency, be necessary to utilize Design of Inverter to go out more efficient positive and negative car control program.
Summary of the invention
The object of this invention is to provide a kind of positive and negative car control convenience, method, system and tower crane, the automation of controlling to realize positive and negative car.
To achieve these goals, the invention provides a kind of positive and negative car control convenience, this equipment comprises: receiving device, for the motor speed of receiving target gear and swing type mechanism; Control setup, for judging gear polarity according to the motor speed of described target gear and swing type mechanism, the motor speed of controlling described swing type mechanism when gear polarity is contrary switches to the motor speed corresponding with described target gear according to pre-defined rule one, and the motor speed of controlling described swing type mechanism when gear polarity is identical switches to the motor speed corresponding with described target gear according to pre-defined rule two.
Correspondingly, the invention provides a kind of positive and negative car control method, the method comprises: the motor speed of receiving target gear and swing type mechanism; According to the motor speed judgement gear polarity of described target gear and swing type mechanism, the motor speed of controlling described swing type mechanism when gear polarity is contrary switches to the motor speed corresponding with described target gear according to pre-defined rule one, and the motor speed of controlling described swing type mechanism when gear polarity is identical switches to the motor speed corresponding with described target gear according to pre-defined rule two.
Correspondingly, the invention provides a kind of positive and negative vehicle control, this system comprises described equipment; This system also comprises: gear detection device, for detection of target gear, and sends described target gear to described receiving device; Described control setup comprises frequency converter and positive and negative vehicle controller; Described frequency converter, for being sent to described receiving device by the motor speed of swing type mechanism; Described positive and negative vehicle controller, for exporting the difference of the motor speed of motor speed that described target gear is corresponding and described swing type mechanism to described frequency converter according to the motor speed of described target gear and described swing type mechanism; Described frequency converter, also reaches for control the motor speed of described swing type mechanism according to the motor magnetic flow of the motor speed of described difference, described swing type mechanism and described swing type mechanism the motor speed that target gear is corresponding.
Correspondingly, a kind of tower crane, this tower crane comprises described system.
The present invention can remove the fixing operating mode of operating personal from, make operating personal only need directly operating handle gear to be dialed to target gear, just can realize automatic control swing type mechanism and carry out positive and negative car operation, therefore the degree of freedom that has improved swing type mechanism operation, has reduced the requirement to operating personal experience.
Other features and advantages of the present invention partly in detail are described the specific embodiment subsequently.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for specification sheets, is used from explanation the present invention, but is not construed as limiting the invention with the specific embodiment one below.In the accompanying drawings:
Fig. 1 is positive and negative car control convenience schematic diagram provided by the invention;
Fig. 2 is positive and negative car control method schematic diagram provided by the invention;
Fig. 3 is positive and negative vehicle control schematic diagram provided by the invention.
Description of reference numerals
100 receiving device 200 control setups
The positive and negative vehicle controller of 301 gear detection device 302
303 speed controller 304 vector controllers
305 motor 306 rotating speed flux observers
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, the specific embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
The degree of automation of controlling in order to improve positive and negative car, reduces the experience needs to operating personal, and improves operating efficiency, the invention provides a kind of positive and negative car control convenience, as shown in Figure 1, this equipment comprises: receiving device 100, for receiving target gear and motor speed; Control setup 200, for judging gear polarity according to the motor speed of described target gear and swing type mechanism, the motor speed of controlling described swing type mechanism when gear polarity is contrary switches to the motor speed corresponding with described target gear according to pre-defined rule one, and the motor speed of controlling described swing type mechanism when gear polarity is identical switches to the motor speed corresponding with described target gear according to pre-defined rule two.Construction machinery and equipment is for the ease of revolution, and its gear can be divided into forward gear, zero span and reverse gear, and each gear can corresponding specific motor speed.The present invention be take the construction machinery and equipment of 9 gears and is described as example, and this 9 each gear is respectively four forward gear from low to high: D
1, D
2, D
3, D
4; Four reverse gear F from low to high
1, F
2, F
3, F
4, and zero span N.9 gears can carry out interval division to speed by 8 motor speed nodes, and each interval corresponding corresponding gear is as shown in table 1.
Table 1 speed and gear mapping table
Above-mentioned velocity node V
1-V
8can obtain by experience, also can obtain from construction machinery and equipment manufacturer, the velocity node of the construction machinery and equipment of different manufacturers may be different.Control setup can be realized by frequency converter and positive and negative vehicle controller, and positive and negative vehicle controller can be by obtaining motor speed and calculating the gear (abbreviation actual-gear) of current reality according to the relation between default motor speed and handle gear.There is forward gear and reverse gear in gear, the conversion of gear can be pushed corresponding gear (be called for short target gear) by Manual operation handle by operating personal and be realized, and whether the polarity of gear is identical is by obtaining target gear and obtaining the actual-gear that motor speed calculates gained and judge.Wherein, polarity is identical refers to that actual-gear and target shift are all forward gear or reverse gear; Polarity refers to that the one in actual-gear and target gear is forward gear and another one is reverse gear on the contrary.The present invention can be so that in transforming gear process, and operating personal only need push gear target gear, and control program provided by the invention just can be controlled or anti-car is controlled motor speed is adjusted to the motor speed that target gear is corresponding by positive car.
For example, in the situation that control setup 200 (positive and negative vehicle controller) judgement actual-gear is different from target gear polarity, need to carry out anti-car control according to pre-defined rule one, the motor speed of controlling swing type mechanism is decelerated to the motor speed corresponding with zero-span, and then accelerates to motor corresponding to described target gear and turn.Particularly, pre-defined rule one accuses that the motor speed of swing type mechanism processed is first decelerated to the motor speed corresponding with zero-span according to predetermined speed change curve, and then accelerates to motor corresponding to described target gear and turn.In addition, when pre-defined rule one is also included in and controls motor speed and be decelerated to the motor speed corresponding with zero-span, postpone specified time, then the motor speed of controlling described swing type mechanism is elevated to the rotating speed corresponding with described target gear.When carrying out anti-car operation, the predetermined speed change curve that for example can generate according to the corresponding relation in table 1 carries out anti-car control.Actual-gear take below as F
3, target gear is D
3describe.In order to carry out anti-car control, the difference between motor speed corresponding to the motor speed that actual-gear that frequency converter can be exported according to the positive and negative vehicle controller receiving is corresponding and target gear and motor speed corresponding to actual-gear order about motor speed and first drop to F
2corresponding rotating speed, and then drop to F
1corresponding rotating speed, finally drops to zero.At motor speed, drop to after zero, the harm causing for fear of motor inertia, for example can postpone, after certain hour (50-200ms), then order about motor speed by D
1be increased to D
3.
In the situation that control setup 200 judges that actual-gear is identical with target gear polarity, need to carry out positive car control according to pre-defined rule two, the motor speed of controlling swing type mechanism continues to slow down or accelerate to the motor speed that target gear is corresponding.Particularly, when gear corresponding to pre-defined rule two fingers motor speed identical in gear polarity and swing type mechanism is greater than target gear, the motor speed of controlling swing type mechanism is directly decelerated to according to preset deceleration curve the motor speed that target gear is corresponding; And gear corresponding to the motor speed of and swing type mechanism identical in gear polarity be while being less than target gear, the motor speed of controlling swing type mechanism directly accelerates to according to predetermined acceleration chart the motor speed that target gear is corresponding.As mentioned above, need positive car operational scenarios can be divided into two kinds of situations, a kind of is that target gear is greater than actual-gear, and in another kind of situation, target gear is less than actual-gear.In the situation that target gear is greater than actual-gear, frequency converter can utilize predetermined acceleration chart to order about motor speed and be increased to one grade by one grade target gear by actual-gear.In the situation that target gear is less than actual-gear, frequency converter can utilize predetermined retardation curve control frequency converter to order about motor speed and be reduced to one grade by one grade target gear by actual-gear.Acceleration chart and retardation curve can be represented by the corresponding relation between gear and motor speed.Preferably, the above-mentioned predetermined speed change curve using in anti-car is controlled can comprise predetermined acceleration chart and predetermined retardation curve, or described predetermined acceleration chart and predetermined retardation curve can synthesize the predetermined speed change curve that anti-car uses in controlling.
Correspondingly, the invention provides a kind of positive and negative car control method, the method comprises: the motor speed of receiving target gear and swing type mechanism; The motor speed of controlling described swing type mechanism when gear polarity is contrary switches to the motor speed corresponding with described target gear according to pre-defined rule one, and the motor speed of controlling described swing type mechanism when gear polarity is identical switches to the motor speed corresponding with described target gear according to pre-defined rule two.Pre-defined rule one accuses that the motor speed of swing type mechanism processed is first decelerated to the motor speed corresponding with zero-span according to predetermined speed change curve, and then accelerates to motor corresponding to described target gear and turn.In addition, when pre-defined rule one is also included in and controls motor speed and be decelerated to the motor speed corresponding with zero-span, postpone specified time, then the motor speed of controlling described swing type mechanism is elevated to the rotating speed corresponding with described target gear.When gear corresponding to pre-defined rule two fingers motor speed identical in gear polarity and swing type mechanism is greater than target gear, the motor speed of controlling swing type mechanism is directly decelerated to according to preset deceleration curve the motor speed that target gear is corresponding; And gear corresponding to the motor speed of and swing type mechanism identical in gear polarity be while being less than target gear, the motor speed of controlling swing type mechanism directly accelerates to according to predetermined acceleration chart the motor speed that target gear is corresponding.Fig. 2 shows the schematic diagram of positive and negative car control method.As can be seen from the figure,, after operating handle action, just can obtain motor speed from frequency converter.As an alternative, frequency converter can be in real time rotating speed to be offered to for example positive and negative vehicle controller.In order to judge polarity, also need to obtain target gear, target gear can obtain by the gear detection device of sensor and so on.After obtaining motor speed, the corresponding relation of positive and negative vehicle controller shown in can utilization table is converted to actual-gear by rotating speed.By the polarity of comparison object gear and actual-gear, can judge that whether the polarity of the two is identical.If identical, also need to continue the magnitude relationship between the current gear of judgement and actual-gear, if current gear is less than target gear, according to actual-gear to target gear acceleration chart carry out by shelves accelerate, until reach target gear, then wait for operating handle action; If current gear is greater than target gear, according to actual-gear to target gear retardation curve carry out by shelves slow down, until reach target gear, then wait for operating handle action.If actual-gear is different from target gear polarity, need to be divided into two parts and process, be divided into accelerating part and deceleration part.In the actual-gear situation different from target gear polarity, first need to according to actual-gear to the retardation curve of N gear carry out by shelves slow down, until reach N shelves.Alternatively, after arriving N gear, can whether again move by decision operation handle, if operating handle moves again, re-start positive and negative car operating process.If operating handle is action again not, can wait for time delay, after time delay finishes, carry out N gear to the accelerator of target gear, according to N gear to the acceleration chart of target gear carry out by shelves accelerate, until reach target shift, then wait for operating handle action.By above-mentioned control flow, can realize the positive and negative car of construction machinery and equipment and control.
Correspondingly, the invention provides a kind of positive and negative vehicle control, this system can comprise above-mentioned receiving device 100 and control setup 200, and this system also comprises gear detection device 301.Described control setup 200 can be realized by positive and negative vehicle controller 302 and frequency converter.Frequency converter, can be sent to the motor speed of swing type mechanism described receiving device 100, positive and negative vehicle controller 302 can be according to target gear and motor speed the difference to the motor speed of motor speed corresponding to frequency converter export target gear and swing type mechanism; The motor speed that frequency converter can be controlled described swing type mechanism according to the motor magnetic flow of the motor speed of described difference, described swing type mechanism and described swing type mechanism reaches the motor speed that target gear is corresponding.Fig. 3 has provided the schematic diagram of positive and negative vehicle control provided by the invention.It should be noted that, receiving device 100 can be electric interfaces.Frequency converter can comprise speed controller 303, vector controller 304 and rotating speed flux observer 306.Difference between can output motor rotating speed corresponding with the target gear motor speed of positive and negative vehicle controller 302 is to speed controller 303, speed controller 303 can be according to this difference and electric current corresponding to motor speed export target gear, vector controller 304 according to this electric current and, the motor speed of the output of rotating speed flux observer 306 and motor magnetic flow controls motor speed and reaches the rotating speed that target gear is corresponding.It should be noted that, the signal that rotating speed flux observer 306 provides can be motor magnetic flow and motor speed or electric angle.There is linear relationship in motor speed and electric angle, motor speed=electric angle * 2 π.Vector controller 304 can generate PWM waveform and control motor speed, thereby makes motor speed reach the motor speed that target gear is corresponding.Vector controller, in generating the process of PWM waveform, can consider that positive car is controlled or anti-car is controlled the velocity curve that needs use.The concrete scheme generating about PWM waveform can utilize the concrete control program of vector controller in prior art to realize, and belongs to prior art, repeats no more herein.Above-mentioned control is closed loop control, finally can stably gear be adjusted to target gear.
Correspondingly, the invention provides a kind of tower crane, this tower crane comprises said system.
It should be noted that, the operating handle in the present invention can be both the operating handle of tower type crane slewing gear, can be also the operating handle of engage a gear formula.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition each the concrete technical characterictic described in the above-mentioned specific embodiment, in reconcilable situation, can combine by any suitable mode.For fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible array modes.
In addition, between various embodiment of the present invention, also can carry out combination in any, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (13)
1. a positive and negative car control convenience, is characterized in that, this equipment comprises:
Receiving device, for the motor speed of receiving target gear and swing type mechanism;
Control setup, for judging gear polarity according to the motor speed of described target gear and swing type mechanism, the motor speed of controlling described swing type mechanism when gear polarity is contrary switches to the motor speed corresponding with described target gear according to pre-defined rule one, and the motor speed of controlling described swing type mechanism when gear polarity is identical switches to the motor speed corresponding with described target gear according to pre-defined rule two.
2. equipment according to claim 1, it is characterized in that, described pre-defined rule one accuses that the motor speed of the described swing type mechanism of system is first decelerated to the motor speed corresponding with zero-span according to predetermined speed change curve, and then accelerates to motor speed corresponding to described target gear.
3. equipment according to claim 2, it is characterized in that, when gear corresponding to described pre-defined rule two fingers motor speed identical in gear polarity and described swing type mechanism is greater than described target gear, the motor speed of controlling described swing type mechanism is directly decelerated to motor speed corresponding to described target gear according to preset deceleration curve; And gear corresponding to the motor speed of and described swing type mechanism identical in gear polarity be while being less than described target gear, the motor speed of controlling described swing type mechanism directly accelerates to motor speed corresponding to described target gear according to predetermined acceleration chart.
4. according to the equipment described in claim 2 or 3, it is characterized in that, the motor speed of swing type mechanism and the corresponding relation of gear described in when described predetermined speed change curve has characterized the operation of anti-car, when described predetermined acceleration chart or described preset deceleration curve have characterized positive car and have operated described in the motor speed of swing type mechanism and the corresponding relation of gear.
5. according to the equipment described in claim 2 or 3, it is characterized in that, when described pre-defined rule one is also included in and controls described motor speed and be decelerated to the motor speed corresponding with zero-span, postpone specified time, then the motor speed of controlling described swing type mechanism is elevated to the rotating speed corresponding with described target gear.
6. a positive and negative car control method, is characterized in that, the method comprises:
The motor speed of receiving target gear and swing type mechanism;
According to the motor speed judgement gear polarity of described target gear and swing type mechanism, the motor speed of controlling described swing type mechanism when gear polarity is contrary switches to the motor speed corresponding with described target gear according to pre-defined rule one, and the motor speed of controlling described swing type mechanism when gear polarity is identical switches to the motor speed corresponding with described target gear according to pre-defined rule two.
7. method according to claim 6, it is characterized in that, described pre-defined rule one accuses that the motor speed of the described swing type mechanism of system is first decelerated to the motor speed corresponding with zero-span according to predetermined speed change curve, and then accelerates to motor speed corresponding to described target gear.
8. method according to claim 7, it is characterized in that, when gear corresponding to described pre-defined rule two fingers motor speed identical in gear polarity and described swing type mechanism is greater than described target gear, the motor speed of controlling described swing type mechanism is directly decelerated to motor speed corresponding to described target gear according to preset deceleration curve; And gear corresponding to the motor speed of and described swing type mechanism identical in gear polarity be while being less than described target gear, the motor speed of controlling described swing type mechanism directly accelerates to motor speed corresponding to described target gear according to predetermined acceleration chart.
9. according to the method described in claim 7 or 8, it is characterized in that, the motor speed of swing type mechanism and the corresponding relation of gear described in when described predetermined speed change curve has characterized the operation of anti-car, when described predetermined acceleration chart or described preset deceleration curve have characterized positive car and have operated described in the motor speed of swing type mechanism and the corresponding relation of gear.
10. according to the method described in claim 7 or 8, it is characterized in that, when described pre-defined rule one is also included in and controls described motor speed and be decelerated to the motor speed corresponding with zero-span, postpone specified time, then the motor speed of controlling described swing type mechanism is elevated to the rotating speed corresponding with described target gear.
11. 1 kinds of positive and negative vehicle controls, is characterized in that, this system comprises according to the equipment described in claim 1-6 any one; This system also comprises:
Gear detection device, for detection of target gear, and sends described target gear to described receiving device;
Described control setup comprises frequency converter and positive and negative vehicle controller;
Described frequency converter, for being sent to described receiving device by the motor speed of swing type mechanism;
Described positive and negative vehicle controller, for exporting the difference of the motor speed of motor speed that described target gear is corresponding and described swing type mechanism to described frequency converter according to the motor speed of described target gear and described swing type mechanism;
Described frequency converter, also reaches for control the motor speed of described swing type mechanism according to the motor magnetic flow of the motor speed of described difference, described swing type mechanism and described swing type mechanism the motor speed that target gear is corresponding.
12. systems according to claim 11, is characterized in that, described frequency converter comprises speed controller, vector controller and rotating speed flux observer;
Described rotating speed flux observer, for measuring the motor speed of described swing type mechanism and the motor magnetic flow of described swing type mechanism;
Described speed controller, for exporting electric current corresponding to described target gear according to the motor speed of described difference and described swing type mechanism;
Described vector controller, reaches motor speed corresponding to described target gear for control the motor speed of described swing type mechanism according to the motor magnetic flow of the motor speed of described electric current, described swing type mechanism and described swing type mechanism.
13. 1 kinds of tower cranes, is characterized in that, this tower crane comprises according to the system described in claim 11 or 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410222090.9A CN103991791B (en) | 2014-05-23 | 2014-05-23 | Positive and negative car control convenience, method, system and tower crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410222090.9A CN103991791B (en) | 2014-05-23 | 2014-05-23 | Positive and negative car control convenience, method, system and tower crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103991791A true CN103991791A (en) | 2014-08-20 |
| CN103991791B CN103991791B (en) | 2015-10-28 |
Family
ID=51306178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410222090.9A Active CN103991791B (en) | 2014-05-23 | 2014-05-23 | Positive and negative car control convenience, method, system and tower crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103991791B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201952119U (en) * | 2011-01-10 | 2011-08-31 | 广东永通起重机械实业有限公司 | Random gear variable frequency speed regulation control system |
| JP2012111561A (en) * | 2010-11-19 | 2012-06-14 | Ube Machinery Corporation Ltd | Crane run-out angle detection method and system and crane run-out stop control method and system |
| CN102780449A (en) * | 2012-07-23 | 2012-11-14 | 中联重科股份有限公司 | Equipment, system and method for controlling slewing speed regulation of tower crane, and tower crane |
| CN103253598A (en) * | 2013-05-28 | 2013-08-21 | 中联重科股份有限公司 | Device, system and method for controlling rotary cantilever crane of tower crane and tower crane |
| CN103552930A (en) * | 2013-11-08 | 2014-02-05 | 河南江河重工集团有限公司 | Crane |
-
2014
- 2014-05-23 CN CN201410222090.9A patent/CN103991791B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012111561A (en) * | 2010-11-19 | 2012-06-14 | Ube Machinery Corporation Ltd | Crane run-out angle detection method and system and crane run-out stop control method and system |
| CN201952119U (en) * | 2011-01-10 | 2011-08-31 | 广东永通起重机械实业有限公司 | Random gear variable frequency speed regulation control system |
| CN102780449A (en) * | 2012-07-23 | 2012-11-14 | 中联重科股份有限公司 | Equipment, system and method for controlling slewing speed regulation of tower crane, and tower crane |
| CN103253598A (en) * | 2013-05-28 | 2013-08-21 | 中联重科股份有限公司 | Device, system and method for controlling rotary cantilever crane of tower crane and tower crane |
| CN103552930A (en) * | 2013-11-08 | 2014-02-05 | 河南江河重工集团有限公司 | Crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103991791B (en) | 2015-10-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101699763B (en) | Rotary inertia identification method for permanent magnet synchronous motor AC servo system | |
| CN103466452B (en) | Crane operation control method and system | |
| CN101933220B (en) | Motor, apparatus for controlling motor, and method for starting motor | |
| CN102780449B (en) | Tower machine revolution speed regulating control equipment, system, method and tower machine | |
| US9487104B2 (en) | Method and apparatus for controlling an electrically-powered torque machine of a powertrain system | |
| JP2011501292A (en) | Jerk limited trajectory planning system and method for path planner | |
| CN102684600A (en) | Motor control apparatus and method for controlling motor | |
| JP2016093031A (en) | Motor controller generating command limited by motor torque | |
| CN101093975A (en) | Speed control device for electric motor | |
| CN102530730B (en) | Control system of swing mechanism and tower crane | |
| US10040439B2 (en) | Method to coordinate propulsion torque actuators through torque limits | |
| JP2017060312A (en) | Inverter control device | |
| WO2016125438A1 (en) | Vehicle-mounted electric motor control device | |
| CN103991791B (en) | Positive and negative car control convenience, method, system and tower crane | |
| CN103925358B (en) | Electric automobile self shifter control method and its device | |
| CN104061256A (en) | Automatic clutch actuator for HEV (Hybrid Electrical Vehicle) and control method of automatic clutch actuator | |
| US20150025729A1 (en) | Drive system for vehicle | |
| CN102826462A (en) | Tower crane lifting speed control system, method and tower crane | |
| JP2009143361A (en) | Drive unit for hybrid vehicle | |
| CN111153326B (en) | Crown block swing prevention and positioning control system and acceleration and deceleration curve calculation method thereof | |
| CN102854024A (en) | Stepless adjustable inertia simulation control device for simulating operation conditions of locomotive | |
| CN102495548B (en) | Device controlling arm support end movement, system thereof, method thereof and engineering machinery device | |
| EP2790077A1 (en) | Multiplexed motor controller | |
| CN105450131B (en) | A kind of flexible control method of servo-driver | |
| KR20130088595A (en) | Generation method of motion profile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 415106 Dingcheng City, Changde Province, the town of irrigation district ZOOMLION Creek Industrial Park Patentee after: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. Address before: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No. Patentee before: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. |
|
| CP02 | Change in the address of a patent holder |
Address after: 410013 Yuelu District, Hunan, silver basin Road, No. 361, No. Patentee after: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. Address before: 415106 Dingcheng City, Changde Province, the town of irrigation district ZOOMLION Creek Industrial Park Patentee before: Zoomlion Heavy Industry Science & Technology Development Co., Ltd. |
|
| CP02 | Change in the address of a patent holder |