CN104401878B - A kind of multiaxis composite flooding tower machine control method - Google Patents
A kind of multiaxis composite flooding tower machine control method Download PDFInfo
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- CN104401878B CN104401878B CN201410587794.6A CN201410587794A CN104401878B CN 104401878 B CN104401878 B CN 104401878B CN 201410587794 A CN201410587794 A CN 201410587794A CN 104401878 B CN104401878 B CN 104401878B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/88—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Spinning Or Twisting Of Yarns (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a kind of multiaxis composite flooding tower machine control method, data acquisition unit (1) gathers tower machine system electrical sensor (5) signal.Location and attitude algorithm unit (2) calculate tower machine real time position and attitude information, and be sent to upper computer by security monitoring and radio communication unit (3), receive group's tower anti-collision warning instruction that upper computer sends simultaneously, the safe spacing information of security monitoring and radio communication unit (3) simultaneous monitoring system parameter, forms safe overload alarm signal.If there is not safe overload alarm signal and the instruction of group's tower anti-collision warning, then inversion algorithm solving unit (4) is according to the target velocity of tower machine actuating unit motor (6), vector control algorithm is completed in conjunction with the real-time speed of tower machine actuating unit motor (6) and current information, tower machine actuating unit motor (6) is driven to complete multi-axial Simultaneous action, realize tower crane lifting, luffing, revolution and walking operation, the advantage that tool controlling functions of the present invention is abundant.
Description
Technical field
The present invention relates to a kind of tower machine control method, particularly a kind of multiaxis composite flooding tower machine control method.
Background technology
Tower machine generally has lifting mechanism, luffing mechanism, swing type mechanism and traveling gear, at present, most of tower machine adopts PLC as core controller, PLC controls frequency converter corresponding to each mechanism, and by transducer drive corresponding mechanism motor to complete the hoisting of tower machine, luffing, revolution and walking operation.Along with the raising that people require aspects such as the safety of tower machine, ease for operation and reliability, the drawback of the tower machine system using PLC as core controller also becomes clear day by day.
Be mainly reflected in three aspects: one is that PLC arithmetic capability is limited, be difficult to the demand realizing crashproof, anti-sway complex control algorithm; Two is that in tower machine system, lifting mechanism, luffing mechanism, swing type mechanism and traveling gear all need independently transducer drive, and namely each kinematic axis needs a platform independent transducer drive, causes system cost higher; Three is that system has the parts such as PLC, frequency converter and auxiliary cut-out switch, and system discrete parts is many, and wiring is complicated, causes system bulk comparatively large and is unfavorable for large-scale standardized production.
Summary of the invention
The object of the invention is to provide a kind of multiaxis composite flooding tower machine control method, solves PLC tower machine control system arithmetic capability little, the problem that system discrete parts is many.
A kind of concrete steps of multiaxis composite flooding tower machine system control method are:
The first step: build tower machine control system
Tower machine control system, comprising: data acquisition unit, location and attitude algorithm unit, security monitoring and radio communication unit, inversion algorithm solving unit, tower machine system electrical sensor and tower machine actuating unit motor.The data-interface of data acquisition unit is connected by signal cable with the data-interface of location and attitude algorithm unit, the data-interface of data acquisition unit is connected by signal cable with the data-interface of security monitoring and radio communication unit, the data-interface of data acquisition unit is connected by signal cable with the data-interface of inversion algorithm solving unit, the data-interface of data acquisition unit is connected by signal cable with the data-interface of tower machine system electrical sensor, the data-interface of location and attitude algorithm unit is connected by signal cable with the data-interface of security monitoring and radio communication unit, the data-interface of security monitoring and radio communication unit is connected by signal cable with the data-interface of inversion algorithm solving unit, the power take-off of inversion algorithm solving unit is connected by power cable with the power input of tower machine actuating unit motor.
Second step data acquisition unit acquires tower machine system electrical sensor signal
Data acquisition unit acquires tower machine system electrical sensor signal, and be converted into digital signal, tower machine system electrical sensor comprises: department's control platform signal transducer, safe spacing sensor, handling weight sensor, air velocity transducer, lifting mechanism motor speed sensor, luffing mechanism motor speed sensor, swing type mechanism motor speed sensor, traveling gear motor speed sensor, lifting mechanism motor current sensor, luffing mechanism motor current sensor, swing type mechanism motor current sensor, traveling gear motor current sensor and tower machine alignment sensor.
3rd step location and attitude algorithm unit obtain position and the attitude information of tower machine
Location and attitude algorithm unit utilize tower machine position signal, lifting mechanism motor velocity signal, luffing mechanism motor velocity signal, swing type mechanism motor velocity signal, the traveling gear motor velocity signal obtained in data acquisition unit to calculate real time position and the attitude information of tower machine movable parts.
4th step security monitoring and radio communication unit monitoring tower machine safe in operation state
The tower machine system electrical sensor signal data that data acquisition unit acquires obtains by security monitoring and radio communication unit compares with preset limit value, corresponding safe overload alarm signal is produced after exceeding preset limit value, security monitoring and radio communication unit receive group's tower anti-collision warning instruction that upper computer sends, and tower machine real time position and attitude information are wirelessly transmitted to upper computer by GPRS simultaneously.
The drive singal of the 5th step inversion algorithm solving unit generating tower machine actuating unit motor
First inversion algorithm solving unit reads safe overload alarm signal and the instruction of group's tower anti-collision warning in security monitoring and radio communication unit, as there is safe overload alarm signal and the instruction of group's tower anti-collision warning, inversion algorithm solving unit quits work, if there is not safe overload alarm signal and the instruction of group's tower anti-collision warning, the then lifting mechanism that obtains according to data acquisition unit of inversion algorithm solving unit, luffing mechanism, the given speed of swing type mechanism and traveling gear, simultaneously complete speed current double closed-loop vector control algorithm according to the speed of tower machine actuating unit motor and current signal to resolve, the power drive signal of generating tower machine actuating unit motor, tower machine is completed hoist, luffing, revolution and walking operation.
Multiaxis composite flooding tower machine control process is completed through above step.
This control method is using digital signal processor (DSP) as the kernel control chip of each unit, batch data collection can be realized, tower machine location and attitude algorithm, security monitoring and wireless telecommunications, and complete on single device Lift Mechanism in Power Hoist, luffing mechanism, swing type mechanism and traveling gear four axle synchronously drive work.Control system architecture is compact, be convenient to install with fixing, and software control feature richness, is convenient to expanding of system function and upgrading.
Accompanying drawing explanation
The system connection diagram of a kind of multiaxis composite flooding of Fig. 1 tower machine control method
1. data acquisition unit 2. is located and attitude algorithm unit 3. security monitoring and radio communication unit 4. inversion algorithm solving unit 5. tower machine system electrical sensor 6. tower machine actuating unit motor.
Detailed description of the invention
A kind of concrete steps of multiaxis composite flooding tower machine control method are:
The first step: build tower machine control system
Tower machine control system, comprising: data acquisition unit 1, location and attitude algorithm unit 2, security monitoring and radio communication unit 3, inversion algorithm solving unit 4, tower machine system electrical sensor 5, tower machine actuating unit motor 6.The data-interface of data acquisition unit 1 is connected by signal cable with the data-interface of location and attitude algorithm unit 2, the data-interface of data acquisition unit 1 is connected by signal cable with the data-interface of security monitoring and radio communication unit 3, the data-interface of data acquisition unit 1 is connected by signal cable with the data-interface of inversion algorithm solving unit 4, the data-interface of data acquisition unit 1 is connected by signal cable with the data-interface of tower machine system electrical sensor 5, the data-interface of location and attitude algorithm unit 2 is connected by signal cable with the data-interface of security monitoring and radio communication unit 3, the data-interface of security monitoring and radio communication unit 3 is connected by signal cable with the data-interface of inversion algorithm solving unit 4, the power take-off of inversion algorithm solving unit 4 is connected by power cable with the power input of tower machine actuating unit motor 6.
Second step data acquisition unit 1 gathers tower machine system electrical sensor 5 signal
Data acquisition unit 1 gathers tower machine system electrical sensor 5 signal, and is converted into digital signal.Tower machine system electrical sensor 5 comprises: department's control platform signal transducer, safe spacing sensor, handling weight sensor, air velocity transducer, lifting mechanism motor speed sensor, luffing mechanism motor speed sensor, swing type mechanism motor speed sensor, traveling gear motor speed sensor, lifting mechanism motor current sensor, luffing mechanism motor current sensor, swing type mechanism motor current sensor, traveling gear motor current sensor and tower machine alignment sensor.
3rd step location and attitude algorithm unit 2 obtain position and the attitude information of tower machine
Location and attitude algorithm unit 2 utilize the tower machine position signal of acquisition in data acquisition unit 1, lifting mechanism motor velocity signal, luffing mechanism motor velocity signal, swing type mechanism motor velocity signal, traveling gear motor velocity signal to calculate tower machine movable parts real time position and attitude information.
4th step security monitoring and radio communication unit 3 monitor tower machine safe in operation state
The tower machine system electrical sensor signal data that data acquisition unit 1 is gathered acquisition by security monitoring and radio communication unit 3 compares with preset limit value, corresponding overload alarm signal is produced after exceeding preset limit value, security monitoring and radio communication unit 3 receive group's tower anti-collision warning instruction that upper computer sends, and tower machine real time position and attitude information are wirelessly transmitted to upper computer by GPRS simultaneously.
The drive singal of the 5th step inversion algorithm solving unit 4 generating tower machine actuating unit motor 6
First inversion algorithm solving unit 4 reads safe overload alarm signal and the instruction of group's tower anti-collision warning in security monitoring and radio communication unit 3, as there is safe overload alarm signal and the instruction of group's tower anti-collision warning, inversion algorithm solving unit 4 quits work, if there is not safe overload alarm signal and the instruction of group's tower anti-collision warning, the lifting mechanism that inversion algorithm solving unit 4 obtains according to data acquisition unit 1, luffing mechanism, the given speed of swing type mechanism and traveling gear, simultaneously complete speed current double closed-loop vector control algorithm according to the speed of tower machine actuating unit motor 6 and current signal to resolve, the power drive signal of generating tower machine actuating unit motor 6, tower machine is completed hoist, luffing, revolution and walking operation.
Multiaxis composite flooding tower machine control process is completed through above step.
Claims (1)
1. a multiaxis composite flooding tower machine system control method, is characterized in that concrete steps are:
The first step: build tower machine control system
Tower machine control system, comprising: data acquisition unit (1), location and attitude algorithm unit (2), security monitoring and radio communication unit (3), inversion algorithm solving unit (4), tower machine system electrical sensor (5) and tower machine actuating unit motor (6); the data-interface of data acquisition unit (1) is connected by signal cable with the data-interface of location and attitude algorithm unit (2), the data-interface of data acquisition unit (1) is connected by signal cable with the data-interface of security monitoring and radio communication unit (3), the data-interface of data acquisition unit (1) is connected by signal cable with the data-interface of inversion algorithm solving unit (4), the data-interface of data acquisition unit (1) is connected by signal cable with the data-interface of tower machine system electrical sensor (5), the data-interface of location and attitude algorithm unit (2) is connected by signal cable with the data-interface of security monitoring and radio communication unit (3), the data-interface of security monitoring and radio communication unit (3) is connected by signal cable with the data-interface of inversion algorithm solving unit (4), the power take-off of inversion algorithm solving unit (4) is connected by power cable with the power input of tower machine actuating unit motor (6),
Second step data acquisition unit (1) gathers tower machine system electrical sensor (5) signal
Data acquisition unit (1) gathers tower machine system electrical sensor (5) signal, and be converted into digital signal, tower machine system electrical sensor (5) comprising: department's control platform signal transducer, safe spacing sensor, handling weight sensor, air velocity transducer, lifting mechanism motor speed sensor, luffing mechanism motor speed sensor, swing type mechanism motor speed sensor, traveling gear motor speed sensor, lifting mechanism motor current sensor, luffing mechanism motor current sensor, swing type mechanism motor current sensor, traveling gear motor current sensor and tower machine alignment sensor,
3rd step location and attitude algorithm unit (2) obtain position and the attitude information of tower machine
Location and attitude algorithm unit (2) utilize the tower machine position signal of acquisition in data acquisition unit (1), lifting mechanism motor velocity signal, luffing mechanism motor velocity signal, swing type mechanism motor velocity signal, traveling gear motor velocity signal to calculate real time position and the attitude information of tower machine movable parts;
4th step security monitoring and radio communication unit (3) monitoring tower machine safe in operation state
Tower machine system electrical sensor (5) digital signal that data acquisition unit (1) collection obtains compares with preset limit value by security monitoring and radio communication unit (3), corresponding safe overload alarm signal is produced after exceeding preset limit value, security monitoring and radio communication unit (3) receive group's tower anti-collision warning instruction that upper computer sends, and tower machine real time position and attitude information are wirelessly transmitted to upper computer by GPRS simultaneously;
The drive singal of the 5th step inversion algorithm solving unit (4) generating tower machine actuating unit motor (6)
Inversion algorithm solving unit (4) first reads safe overload alarm signal and the instruction of group's tower anti-collision warning in security monitoring and radio communication unit (3), if there is safe overload alarm signal and the instruction of group's tower anti-collision warning, inversion algorithm solving unit (4) quits work, if there is not safe overload alarm signal and the instruction of group's tower anti-collision warning, the then lifting mechanism that obtains according to data acquisition unit (1) of inversion algorithm solving unit (4), luffing mechanism, the given speed of swing type mechanism and traveling gear, simultaneously complete speed current double closed-loop vector control algorithm according to the speed of tower machine actuating unit motor (6) and current signal to resolve, the power drive signal of generating tower machine actuating unit motor (6), tower machine is completed hoist, luffing, revolution and walking operation,
Multiaxis composite flooding tower machine system control process is completed through above step.
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| CN201410587794.6A CN104401878B (en) | 2014-10-29 | 2014-10-29 | A kind of multiaxis composite flooding tower machine control method |
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| CN201410587794.6A CN104401878B (en) | 2014-10-29 | 2014-10-29 | A kind of multiaxis composite flooding tower machine control method |
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| CN104401878B true CN104401878B (en) | 2016-02-24 |
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| CN112010181A (en) * | 2020-09-30 | 2020-12-01 | 程霖锋 | Tower crane integrated frequency converter control system |
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| JP3669242B2 (en) * | 2000-03-03 | 2005-07-06 | 株式会社大林組 | Cable crane control system |
| CN201176369Y (en) * | 2008-04-02 | 2009-01-07 | 中铁建工集团有限公司 | Anticollision monitoring system working in groups of towers |
| CN201560061U (en) * | 2009-09-09 | 2010-08-25 | 湖北华声机电有限公司 | Novel automatic speed control device of crane |
| CN201882833U (en) * | 2010-11-30 | 2011-06-29 | 武汉市特种设备监督检验所 | Safety control system for tower crane cluster operation |
| CN202296934U (en) * | 2011-10-31 | 2012-07-04 | 南通永峰建筑安装工程有限公司 | Operation monitoring device for tower crane |
| CN103043534B (en) * | 2012-12-24 | 2014-12-10 | 西安理工大学 | Tower crane hoisting and speed control method |
| CN103264970B (en) * | 2013-06-04 | 2014-12-03 | 西安丰树电子科技发展有限公司 | Self-learning-based rotation control method for dangerous condition of tower crane |
| CN103359633B (en) * | 2013-07-23 | 2015-08-12 | 中联重科股份有限公司 | Tower crane and lifting control method, equipment and system thereof |
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