CN105110191B - Double-machine cooperative lifting control method and system - Google Patents
Double-machine cooperative lifting control method and system Download PDFInfo
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- CN105110191B CN105110191B CN201510447987.6A CN201510447987A CN105110191B CN 105110191 B CN105110191 B CN 105110191B CN 201510447987 A CN201510447987 A CN 201510447987A CN 105110191 B CN105110191 B CN 105110191B
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Abstract
The invention relates to the technical field of cooperative control, in particular to a double-machine cooperative lifting control method and a system. The double-machine cooperative lifting control method comprises the following steps: a first crane is controlled to act according to preset working conditions; cooperative control signals are generated according to the preset working conditions and acquired position information of the first crane; and a second crane is controlled to act according to the cooperative control signals. After the double-machine cooperative lifting control method is performed, the main crane is only required to operate in the whole process, and the auxiliary crane automatically follows to act in real time, so that intelligence of the whole process is realized.
Description
Technical field
The present invention relates to Collaborative Control technical field, the control method and system of more particularly to a kind of double computer cooperation lifting.
Background technology
As Large-scale Hoisting is increasing, operating environment is increasingly sophisticated, and the Lifting Capacity of a crane is difficult to meet and wants
Ask, many occasions needs two or multiple stage crane carry out common operational, wherein the demand of two crane common operationals is more next
It is bigger.
At present two-shipper operating type is essentially manual coordination work, and manual coordination comand way relies primarily on the sight of commander
Survey and coordinate the experience with operator to carry out lifting operation, the judgement made has subjectivity and one-sidedness, it is impossible to fully ensure
The safety of lifting operation is carried out, and operating efficiency is very low, significantly increases hoisting cost.
Therefore, two crane intelligents of R and D cooperate with hoisting technology, are technical barriers urgently to be resolved hurrily,
The content of the invention
In view of this, the present invention is intended to provide the control method and system of a kind of lifting of double computer cooperation so that two liftings
The automatic work compound of function, improves crane work compound security, reliability and operating efficiency and reduces job costs.
Specifically, the control method of the double computer cooperation lifting is comprised the following steps：Step A：According to default operating conditions
First crane action；Step B：Given birth to according to the positional information of the default operating mode and first crane for collecting
Into Collaborative Control signal；Step C：Second crane action is controlled according to the Collaborative Control signal.
Further, when the default operating mode is synchronously to rise and fall operating mode, the Collaborative Control signal is the first
The height under hook of heavy-duty machine；Step C includes：According to the height under hook of first crane, second crane is controlled
Suspension hook rise and fall height it is consistent with the height under hook of first crane.
Further, to rotate during operating mode, the positional information of first crane includes the default operating mode：First
The height under hook of crane；Step A includes：The first is calculated according to rotation operating mode and the revolution angle on target of setting
The target amplitude of the suspension hook of heavy-duty machine, and luffing action is carried out according to target amplitude control first crane；And according to
The height under hook real-time adjustment of the first crane of the first crane arm angular transducer sensing is so that first lifting
The height under hook of machine keeps constant in the rotation operating mode.
Further, when the default operating mode is translation operating mode：Step A includes：According to translation operating mode, institute is controlled
The first crane amplitude variation and/or revolution are stated, and it is highly constant in translation operating mode to control the suspension hook of first crane；Institute
Stating step B includes：According to the amplitude information of first crane and/or the angle of revolution information of the first crane determine
The vector that the suspension hook of the first crane is moved in space, and the Collaborative Control letter generated according to the vector of space movement
Number, the Collaborative Control signal includes the first object amplitude of second crane and/or target angle of revolution；The step
C includes：Second crane amplitude variation and/or revolution are controlled according to the Collaborative Control signal, so that second crane
It is identical in the vector that space is moved with the suspension hook of first crane and real-time to the height under hook of second crane
It is adjusted so that the height under hook of second crane is highly constant in translation operating mode.
Further, when the default operating mode is upset operating mode：
Step A includes：According to translation operating mode, first crane is controlled to first crane and described the
The centre of gyration line revolution of two cranes, and returning back to the suspension hook and second crane of first crane
Level interval d of suspension hook1For preset pitch when, the suspension hook for controlling first crane is hooked up, and meets first lifting
The height under hook h of machine1With the height under hook h of second crane2Difference h meetWherein, l
To lift the length of object；The level interval is angle of revolution and the amplitude according to first crane and the second crane
It is determined that horizontal direction coordinate system in spacing；Step B includes：Tied according to the sensing of first angle of revolution encoder
Fruit generates the synchronous revolving control signal, and the synchronous revolving control signal is the Collaborative Control signal；The step C bag
Include：Second crane is controlled with first crane simultaneously to the first according to the synchronous revolving control signal
Heavy-duty machine is turned round with the centre of gyration line of second crane, and by the sensing result of the second elevator rotary encoder
Determine the height under hook of second crane, the height under hook real-time adjustment to second crane is so that described second
The height under hook of crane is highly constant in upset operating mode.
Further, the control method of described double computer cooperation lifting also includes：In first crane and second
Heavy-duty machine returns back to the suspension hook of first crane when being preset pitch with level interval d1 of the suspension hook of second crane,
And the suspension hook of first crane is hooked up after the completion of operation, the suspension hook of control first crane is hooked up, and according to described
The sensing result of the first elevator rotary encoder calculates the real-time height h1 of the suspension hook of first crane, and controls described the
Two crane height h2It is constant, and with level interval d of the suspension hook of first crane and the suspension hook of second crane1
MeetFor the second target amplitude that constraints calculates second crane；And according to described
Two target amplitudes control second crane and perform luffing action.
Further, also included before step A：According to the space of default each operating mode and first crane
The positional information of the first crane of the corresponding relation of position and the first position sensing unit senses, determines described first
The corresponding default operating mode of positional information of crane.
Specifically, the control system of double computer cooperation lifting include successively the first position sensing unit of signal connection, the
One control unit, first data transmission unit, the second data transmission unit and second control unit；First control is single
Unit is used for the positional information of the first crane for receiving first position sensing unit senses, and according to default operating conditions first
Crane action, and Collaborative Control signal is generated according to the positional information of the default operating mode and first crane, with
And the Collaborative Control signal is passed through into first data transmission unit and the second data transmission unit by the Collaborative Control signal
Send to the second control unit；Second control unit is used for motor-driven according to the Collaborative Control signal the second lifting of control
Make.
Further, the first position sensing unit includes that the first elevator rotary encoder, the first crane arm angle are passed
Sensor and the first angle of revolution encoder, the first elevator rotary encoder, the first crane arm angular transducer and institute
State the first angle of revolution encoder to be connected with the first control unit signal respectively.
Further, the control system of described double computer cooperation lifting also includes：Second elevator rotary encoder, second
Weighing arm angular transducer and the second angle of revolution encoder, the second elevator rotary encoder, the second crane arm angle
Sensor and second angle of revolution encoder are connected respectively with the second control unit signal.
In whole system control process, the first control unit of the main crane of correspondence control is directly according in advance for the present invention
The operating mode specified, operates to main crane, and automatic according to the real-time position information (action executing situation) of main crane
Collaborative Control signal is generated, so that the second control unit of the auxiliary crane of correspondence control realizes the servo antrol to auxiliary crane,
That is, operator only needs to operate main crane (specifying operating mode etc. to main crane), auxiliary lifting function in whole process
It is enough to follow action, whole process to realize intellectuality automatically in real time.
Description of the drawings
The accompanying drawing for constituting the part of the present invention is used for providing a further understanding of the present invention, the schematic reality of the present invention
Apply example and its illustrate, for explaining the present invention, not constituting inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of the control method of double computer cooperation lifting provided in an embodiment of the present invention；
Fig. 2 be the lifting of double computer cooperation shown in Fig. 1 control method in two suspension hooks position view in the horizontal direction；
Fig. 3 be the lifting of double computer cooperation shown in Fig. 1 control method in two suspension hooks position view in vertical direction；
Fig. 4 is a kind of structured flowchart of the control system of double computer cooperation lifting provided in an embodiment of the present invention；
Fig. 5 is a kind of another structured flowchart of the control system of double computer cooperation lifting provided in an embodiment of the present invention.
Specific embodiment
It should be pointed out that to the description of concrete structure and description order be only the explanation to specific embodiment in this part, no
Should be regarded as having any restriction effect to protection scope of the present invention.Additionally, embodiment in the case of not conflicting, in this part
And the feature in embodiment can be mutually combined.
Fig. 1, Fig. 2 and Fig. 3 are please also refer to, the controlling party for below lifting accompanying drawing to the double computer cooperation of the embodiment of the present invention
Method elaborates.
As shown in figure 1, the control method of the double computer cooperation lifting of the embodiment may include steps of：
S11：First control unit receives the first crane (lifting based on hereinafter referred to as of first position sensing unit senses
Machine) positional information；
S12：First control unit is according to the main crane action of default operating conditions；
S13：First control unit generates Collaborative Control signal according to the positional information of default operating mode and main crane；
S14：First control unit is by Collaborative Control signal by first data transmission unit and the second data transmission unit
Send to the second control unit, first data transmission unit and the communication connection of the second data transmission unit；
S15：Second control unit controls the second crane (crane supplemented by hereinafter referred to as) action according to Collaborative Control signal.
In above-mentioned whole system control process, the first control unit of the main crane of correspondence control is directly according to predesignated
Operating mode, main crane is operated, and according to real-time position information (the action executing shape of default operating mode and main crane
Condition) automatically generate Collaborative Control signal so that the second control unit of the correspondence auxiliary crane of control realize to auxiliary crane with
Dynamic control, that is to say, that operator's whole process only needs to operate main crane (specifying operating mode etc. to main crane), auxiliary lifting
Machine follows in real time action, whole process to realize intellectuality automatically.
During concrete operations, position sensing, certain position sensing operation can be carried out in course of action in main crane
Can be independently of the action of main crane, i.e.,：Execution sequence between S11 and S12 can be arranged as required to, herein S11 and
The index order of S12 is not defined to the execution order of the two.
As separate unit crane hanging component has revolution, luffing and plays the actions such as off the hook, general two crane liftings
Typical condition has four kinds, respectively：Synchronously rise and fall, translate, rotating and turn over, the process of lifting is substantially the group of these four operating modes
Close.Simultaneously to ensure without oblique pull, the space coordinates of two crane horizontal directions and vertical direction, horizontal direction are set up respectively
Coordinate by each crane angle of revolution and crane arm luffing amplitude determine (it is concrete as shown in Fig. 2 wherein A and B respectively based on
The centre of gyration of heavy-duty machine and auxiliary crane, OaAnd ObShown position corresponds to respectively the suspension hook that represents main crane and auxiliary crane
Suspension hook position in the horizontal direction, d1Represent horizontal direction between the suspension hook of main crane and the suspension hook of auxiliary crane between
Away from Ra1Represent the suspension hook of main crane in OaAmplitude during shown position, Ra2Represent the suspension hook of main crane in PaShown position
When amplitude, Rb1Represent the suspension hook of auxiliary crane in ObAmplitude during shown position, Rb2Represent the suspension hook of auxiliary crane in ObInstitute
Show the distance between centre of gyration of amplitude during position, the main cranes of d and auxiliary crane, supplemented by crane suspension hook by ObInstitute
Show that position returns back to PbCorresponding angle of revolution during shown position), vertical direction coordinate is determined by the height under hook of each crane
(as shown in Figure 3 concrete), above-mentioned four kinds of operating modes can be controlled with vertical direction from horizontal direction respectively.In conjunction with four kinds of works
Condition explains in detail above-mentioned steps S11-S15, specific as follows：
1) synchronous operating mode of rising and falling：The operating mode is that the height under hook of main crane and auxiliary crane changes, main crane
And auxiliary crane angle of revolution and crane arm amplitude it is constant, i.e., concrete operations when, operate first main crane rise off the hook, while
By main crane hook height h1Auxiliary crane is fed back to, as auxiliary crane hook height h2Target reference, control lead
The height under hook of heavy-duty machine is consistent with the height under hook of auxiliary crane, you can ensure that two cranes synchronously rise and fall.
The Collaborative Control thinking of operating mode of rising and falling corresponding to above-mentioned synchronization：When operating mode is synchronously to rise and fall operating mode, first position
Sensing unit at least includes the first elevator rotary encoder；
S12 includes：First control unit controls main crane and plays off the hook；
S13 includes：The main crane that first control unit is generated according to the sensing result of the first elevator rotary encoder
Height under hook, the height under hook of crane based on Collaborative Control signal；
S15 includes：Second control unit controls rise and fall height and the height under hook of main crane of the suspension hook of auxiliary crane
Unanimously；In order to be better carried out S15, it is preferable that can also in real time sense auxiliary crane by the second elevator rotary encoder
The height that rises and falls of suspension hook, according to the sensing result real-time adjustment of the second elevator rotary encoder guaranteeing the suspension hook of auxiliary crane
The height that rises and falls is consistent with the height under hook of main crane.
2) operating mode is rotated：In order that it is easy to operate, during rotation operating mode, set auxiliary crane and do not do any action, keep not
It is dynamic, only operate main crane rotation to realize rotation；Whole rotary course, controls the height under hook h of main crane1It is constant, water
Spacing d square between the suspension hook of crane main upwards and the suspension hook of auxiliary crane1(when changing without placement state, typically attach most importance to
Length l) is constant for thing, equivalent to main crane suspension hook with the suspension hook of auxiliary crane as the center of circle, spacing d1Circumference is carried out for radius
Motion；Target amplitude R of the suspension hook of main crane can be calculated according to the revolution angle on target of main craneb2, carry out main lifting
The amplitude of machine is controlled, simultaneously because the height under hook that can cause main crane in the amplitude changing process of main crane changes,
Therefore in rotation operating mode, in addition it is also necessary to according to the real-time sensing result real-time adjustment of the first elevator rotary encoder controlling main lifting
The height under hook h of machine1It is constant, and then realize the suspension hook rotation of the collaboration without beat.
Corresponding to the Collaborative Control thinking of above-mentioned rotation operating mode：When operating mode is to rotate operating mode, first position sensing unit
Also include the first crane arm angular transducer and the first angle of revolution encoder；
S12 also includes：First control unit calculates the target of the suspension hook of main crane according to the revolution angle on target of setting
Amplitude, and luffing action is carried out according to target amplitude control crane, and according to the master of the first crane arm angular transducer sensing
The height under hook real-time adjustment of crane is so that the height under hook of winner's crane keeps constant when operating mode is rotated.
3) operating mode is translated：The operating mode can correspond to position O (the i.e. O shown in Fig. 2aAnd ObShown position) move to position P
(PaAnd PbShown position), operate main crane revolution and luffing (certainly according to the situation of actual translation can also be revolution and
Any one of luffing action), the highly constant of major-minor crane hook is controlled in whole translation operating mode, with major-minor crane
Suspension hook is in identical target amplitude R that auxiliary crane is calculated for constraints of the vector that space is movedb2(it is properly termed as first object width
Degree) and angle of revolution θ, to be controlled to controlling auxiliary crane, realize without oblique pull and the constant collaboration of weight placement state is flat
Move.
Corresponding to the Collaborative Control thinking of above-mentioned translation operating mode：When operating mode is to translate operating mode,
S12 includes：First control unit controls main crane amplitude variation and/or revolution, and the suspension hook of the main crane of control exists
It is highly constant in translation operating mode；
S13 includes：First control unit is according to the first crane arm angular transducer and/or the first angle of revolution encoder
Sensing result determines the vector that the suspension hook of main crane is moved in space, and the Collaborative Control generated according to the vector of space movement
Signal, Collaborative Control signal includes the first object amplitude of auxiliary crane and/or target angle of revolution；
S15 includes：Second control unit controls auxiliary crane amplitude variation and/or revolution according to Collaborative Control signal, so that auxiliary
Crane is identical in the vector that space is moved with the suspension hook of main crane, and by the second elevator rotary encoder sensing result
Determine the height under hook of auxiliary crane, the height under hook real-time adjustment to auxiliary crane is so that the height under hook of auxiliary crane exists
It is highly constant in translation operating mode.
4) operating mode is overturn：Upset operating mode such as overturns weight to plumbness by horizontality, and major-minor crane can be made to exist
Spacing in horizontal direction changes, meanwhile, the height under hook of main crane can change；Therefore correspond to the level in the present invention
On direction and vertical direction, be first the suspension hook of major-minor two machine simultaneously to centre of gyration connecting line upper rotary, at this moment two suspension centres
Level interval d1Reduce (specifically may refer to the process that the P position in Fig. 2 is turned round to AB lines), then the volume for controlling main crane
Kick up hook so that main and auxiliary crane hook difference in height meets(as shown in Figure 3), it is possible to ensure
Switching process is without oblique pull；
Corresponding to the Collaborative Control thinking of above-mentioned upset operating mode：When default operating mode is upset operating mode：
S12 includes：First control unit controls main crane and returns with the centre of gyration line of auxiliary crane to main crane
Turn, and in level interval d of the suspension hook and the suspension hook of auxiliary crane for returning back to main crane1(spacing is returning back to AB companies
It is minimum during line) for when preset pitch (can be according to actual upset demand setting), the suspension hook for controlling main crane be hooked up, and is met
The height under hook h of main crane1With the height under hook h of auxiliary crane2Difference h meetThe level
Spacing d1It is the spacing in the horizontal direction coordinate system determined according to the angle of revolution of main crane and auxiliary crane and amplitude；
S13 includes：The synchronous revolving control that first control unit is generated according to the sensing result of the first angle of revolution encoder
Signal processed, synchronous revolving control signal is Collaborative Control signal；
S15 includes：Second control unit according to synchronous revolving control signal control auxiliary crane and main crane simultaneously to
Main crane is turned round with the centre of gyration line of auxiliary crane, and determines auxiliary by the second elevator rotary encoder sensing result
The height under hook of heavy-duty machine, the height under hook real-time adjustment to auxiliary crane is so that the height under hook of auxiliary crane is in upset operating mode
In it is highly constant.
During concrete operations, it is contemplated that, turned round simultaneously by above-mentioned major-minor crane and again hook up on the suspension hook of main crane
Predetermined upset purpose may not be reached, then can cause subsidiary engine slipping tail phenomenon, now need to operate main crane to hook up, and be controlled
Auxiliary crane height h2It is constant, and level interval d of two suspension centres1MeetCalculate auxiliary as constraint
The target amplitude (to be different from the target amplitude of translation operating mode, being properly termed as the second target amplitude) of crane, controls auxiliary lifting
Machine luffing, then switching process is without oblique pull, until upset is completed.Accordingly for above-mentioned situation, the controlling party of double computer cooperation lifting
Method also includes：
In level interval d of suspension hook and the suspension hook of auxiliary crane of main crane and auxiliary crane rotation to main crane1
Suspension hook for preset pitch, and main crane is hooked up after the completion of operation, and the first control unit controls the suspension hook of main crane and hooks up,
And the real-time height h of the suspension hook according to the main crane of the sensing result of the first elevator rotary encoder calculating1, and according to auxiliary lifting
Machine height h2Constant and constraintsCalculate the second target amplitude of auxiliary crane；
First control unit sends the second target amplitude by first data transmission unit and the second data transmission unit
To the second control unit, the second control unit controls auxiliary crane and performs luffing action according to the second target amplitude.
In specific implementation process, the control method of the double computer cooperation lifting of above-described embodiment can also be using some optimizations
Scheme, for example, the first control unit sends the real-time position information of the first crane to the first display unit, in order to
The operating state of one crane is monitored；In the same manner, the second control unit by the real-time position information of the second crane send to
Second display unit, in order to monitor to the operating state of the second crane；For another example, second can be sensed by correspondence
Second elevator rotary encoder of the positional information of heavy-duty machine, the second lifting arm angle sensor and the second angle of revolution encoder
Sensing result, determines the actual implementation status of the co-operating of the second crane, if error exceedes preset range, feeds back to master
Crane, reduces the speed of main crane action, until synchronous follow.
The present embodiment selects on request different operating modes by realizing the collaborative work of these four operating modes in diverse location
(synchronous operating mode of rising and falling being selected when such as starting, it is ensured that two suspension hook synchronous ascendings), so as to complete the collaboration of whole lifting.Whole process
Main crane is all only operated, according to the condition that two position of crane hook under various operating modes need to meet, according to space geometry rule,
The respective target locations of two crane hooks are calculated, and draws the three degree of freedom of corresponding crane：Angle of revolution, amplitude and
Height under hook, then auxiliary crane is controlled, so that auxiliary crane follows in real time action, whole process to realize intelligence automatically
Change.
Fig. 4 and Fig. 5 is please also refer to, it is below that accompanying drawing is detailed to the control system that the double computer cooperation of the embodiment of the present invention is lifted
Describe in detail bright.
As shown in figure 4, the control system of the double computer cooperation lifting of the embodiment can include：Successively signal connection first
Position sensing unit, the first control unit, including the data transfer list of first data transmission unit and the second data transmission unit
Unit and the second control unit；First control unit is used for the position of the main crane for receiving first position sensing unit senses
Information, and led according to default operating mode (by first controlled output unit by signal output to corresponding performance element) control
Heavy-duty machine action, and Collaborative Control signal is generated according to the positional information of default operating mode and main crane, and by Collaborative Control
Signal is sent Collaborative Control signal to the second control unit by first data transmission unit and the second data transmission unit；The
Two control units are used for according to Collaborative Control signal (by the second controlled output unit by signal output to performing list accordingly
Unit) the auxiliary crane action of control.
In specific implementation process, the control system of the double computer cooperation lifting of above-described embodiment can also be using some optimizations
Scheme, for example, by arranging the first display unit, and is sent the real-time position information of the first crane by the first control unit
To the first display unit, in order to monitor to the operating state of the first crane；In the same manner, the second display list can also be set
Unit, is sent the real-time position information of the second crane to the second display unit, in order to second by the second control unit
The operating state of crane is monitored；Certainly, above-mentioned first display unit and the second display unit are except current for monitoring
Two crane hanging component states, can be also used for manipulator carries out operating mode selection and crane pairing selection operation；For another example, may be used
To arrange second place sensor, by the positional information of second place sensor correspondence the second crane of sensing, second is determined
The actual implementation status of the co-operating of crane, the co-operating to the second crane carries out real-time adjustment, can be with dynamic
Make error more than preset range, then feed back to main crane, reduce the speed of main crane action, until synchronous follow.
Specifically, as shown in figure 5, first position sensing unit can include what is be connected with the first control unit signal respectively
First elevator rotary encoder, the first crane arm angular transducer and the first angle of revolution encoder, correspond to respectively sensing first
The height under hook of crane, amplitude and angle of revolution information, and then realize the detection to main position of crane hook.In the same manner,
Two position sensing units can include the second elevator rotary encoder, the second lifting being connected with the second control unit signal respectively
Arm angle sensor and the second angle of revolution encoder.During concrete operations, by data transmission unit wirelessly or non-wirelessly, two are made
Platform crane sets up real-time data sharing.Wherein, first data transmission unit and the second data transmission unit are respectively the first nothing
Line transmission unit and the second wireless transmission unit, certainly, as needed, it would however also be possible to employ wire transmission.
Now by taking the double computer cooperation control system of the autocrane of certain model as an example, to obtain the space bit of two cranes
Coordinate is put, two cranes are equipped with lifting arm angle sensor, angle of revolution sensor and elevator rotary encoder；By each
From wireless data transmission unit carry out the transmission of data；Respective display unit (such as display screen) arranges two cranes each
Role, and show the working condition of two cranes；It is by the control of controller and defeated according to the rule lifted under each operating mode
Go out to perform the action of two cranes.Specifically implementation steps are：
1) preparation work is lifted：Two cranes are placed in into the position of setting, and complete to aid in lifting measure, by suspension hook
Weight is hung.
2) crane pairing：Arranged by display screen, configuration needs two cranes of collaborative work, realizes two crane numbers
According to shared, and crane based on wherein one crane is set, is A, then crane supplemented by another crane, is B.Set simultaneously
Put double computer cooperation pattern.
3) path is arranged：To ensure the security (non-overloading, collisionless) and fluency of whole operation process, carry out in advance
Path planning, manipulator is operated by the path for presetting.
4) operating mode is selected：After path planning is good, the operating mode that next need to be done is selected, synchronous operating mode of rising and falling is selected first.
5) weight is lifted：Main crane is hooked up, and auxiliary crane is synchronously followed according to the height for feeding back, procedure auto-control,
Until object height.
6) operating mode is switched：Suitable operating mode, two cranes that controller is stored under the state is selected to hang according to path planning
The locus coordinate of hook, i.e. angle of revolution, amplitude and height under hook；Operating mode switches once, and storage information updates once.
7) operational control：Path and the operating mode of selection according to setting, main crane is operated accordingly, and system is real-time
The target reference of two crane location coordinates is calculated, feedback control is carried out, the collaboration lifting for following automatically is realized.
The control system of the double computer cooperation lifting of the present embodiment is by one crane of operation, while another of programme-control
Crane is followed in real time automatically, and realization lifts middle synchronization and the collaboration lifting of operating mode such as rises and falls, translates, rotating and turn over, Jin Ershi
Show the intellectuality that lifting is cooperateed with during two cranes are entirely lifted, it is easy to operate, it is ensured that the security of double-machine lifting crane, carry
The efficiency of high double-machine lifting crane, and cost of implementation is low；Controlled respectively by horizontal and vertical directions simultaneously, make suspension hook without oblique
Draw.
Presently preferred embodiments of the present invention is the foregoing is only, not to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. the control method that a kind of double computer cooperation is lifted, it is characterised in that comprise the following steps：
Step A：According to the first crane action of default operating conditions；
Step B：Generated according to the real-time position information of the default operating mode and first crane for collecting and cooperateed with
Control signal；
Step C：The second crane action is controlled according to the Collaborative Control signal to follow automatically in real time.
2. the control method that double computer cooperation as claimed in claim 1 is lifted, it is characterised in that the default operating mode is synchronous
During operating mode of rising and falling, the Collaborative Control signal is the height under hook of first crane；
Step C includes：According to the height under hook of first crane, the suspension hook for controlling second crane rises and falls
Height is consistent with the height under hook of first crane.
3. the control method that double computer cooperation as claimed in claim 2 is lifted, it is characterised in that the default operating mode is rotation
During operating mode, the positional information of first crane includes：The height under hook of the first crane；
Step A includes：The suspension hook of first crane is calculated according to the revolution angle on target of rotation operating mode and setting
Target amplitude, and luffing action is carried out according to target amplitude control first crane；And according to first lifting
The height under hook real-time adjustment of the first crane of arm angle sensor sensing is so that the height under hook of first crane
Keep constant in the rotation operating mode.
4. the control method that double computer cooperation as claimed in claim 3 is lifted, it is characterised in that the default operating mode is translation
During operating mode：
Step A includes：According to translation operating mode, first crane amplitude variation and/or revolution, and control described first are controlled
The suspension hook of crane is highly constant in translation operating mode；
Step B includes：It is true according to the amplitude information of first crane and/or the angle of revolution information of the first crane
The vector that the suspension hook of fixed first crane is moved in space, and the collaboration generated according to the vector of space movement
Control signal, the Collaborative Control signal includes the first object amplitude of second crane and/or target angle of revolution；
Step C includes：Second crane amplitude variation and/or revolution are controlled according to the Collaborative Control signal, so that institute
State the second crane identical in the vector that space is moved with the suspension hook of first crane, and to second crane
Height under hook real-time adjustment is so that the height under hook of second crane is highly constant in translation operating mode.
5. the control method that double computer cooperation as claimed in claim 4 is lifted, it is characterised in that the default operating mode is upset
During operating mode：
Step A includes：According to translation operating mode, control first crane to first crane with described second
The centre of gyration line revolution of heavy-duty machine, and in the suspension hook of the suspension hook and second crane for returning back to first crane
Level interval d1For preset pitch when, the suspension hook for controlling first crane is hooked up, and meets first crane
Height under hook h1With the height under hook h of second crane2Difference h meetWherein, l is to hang
The length of dress object；The level interval is to be determined according to the angle of revolution and amplitude of first crane and the second crane
Horizontal direction coordinate system in spacing；
Step B includes：The synchronous revolving control letter is generated according to the sensing result of first angle of revolution encoder
Number, the synchronous revolving control signal is the Collaborative Control signal；
Step C includes：Second crane and first crane are controlled according to the synchronous revolving control signal
Turn round with the centre of gyration line of second crane to first crane simultaneously, and rotated by second elevator
The sensing result of encoder determines the height under hook of second crane, and the height under hook of second crane is adjusted in real time
It is whole so that second crane height under hook upset operating mode in it is highly constant.
6. the control method that double computer cooperation as claimed in claim 5 is lifted, it is characterised in that also include：
In the suspension hook and second crane of first crane and the second crane rotation to first crane
When level interval d1 of suspension hook is preset pitch, and the suspension hook of first crane is hooked up after the completion of operation, controls described the
The suspension hook of one crane is hooked up, and calculates first crane according to the sensing result of the first elevator rotary encoder
The real-time height h1 of suspension hook, and control the second crane height h2It is constant, and with the suspension hook of first crane and institute
State level interval d of the suspension hook of the second crane1MeetSecond lifting is calculated for constraints
Second target amplitude of machine；And the second crane execution luffing action is controlled according to second target amplitude.
7. the control method that the double computer cooperation as any one of claim 1-6 is lifted, it is characterised in that in the step
Also include before A：
Sensed according to the corresponding relation of default each operating mode and the locus of first crane and the first position
The positional information of the first crane of unit senses, determines the corresponding default operating mode of positional information of first crane.
8. the control system that a kind of double computer cooperation is lifted, it is characterised in that include：Successively the first position sensing of signal connection is single
Unit, the first control unit, first data transmission unit, the second data transmission unit and second control unit；
First control unit be used for receive first position sensing unit senses the first crane positional information, and according to
The the first crane action of default operating conditions, and believed according to the real time position of the default operating mode and first crane
Breath generates Collaborative Control signal, and by the Collaborative Control signal by first data transmission unit and the second data transfer list
Unit sends the Collaborative Control signal to the second control unit；
Second control unit is used to be followed automatically in real time according to the Collaborative Control signal the second crane action of control.
9. the control system that double computer cooperation as claimed in claim 8 is lifted, it is characterised in that the first position sensing unit
Including the first elevator rotary encoder, the first crane arm angular transducer and the first angle of revolution encoder, first elevator
Rotary encoder, the first crane arm angular transducer and first angle of revolution encoder are controlled respectively with described first
Cell signal connects.
10. the control system that double computer cooperation as claimed in claim 9 is lifted, it is characterised in that also include：Second elevator rotates
Encoder, the second lifting arm angle sensor and the second angle of revolution encoder, the second elevator rotary encoder, described
Two lifting arm angle sensors and second angle of revolution encoder are connected respectively with the second control unit signal.
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| CN106115489B (en) * | 2016-06-16 | 2017-12-19 | 西南交通大学 | A kind of double cars of railway breakdown of view-based access control model measurement hang multiple assist in synchronization control method for coordinating |
| CN107544285B (en) * | 2017-07-24 | 2020-07-10 | 清华大学 | Control method for car lifting unit |
| CN108328478B (en) * | 2018-02-07 | 2020-06-19 | 徐州重型机械有限公司 | Multi-crane cooperative lifting operation method and device and crane |
| CN109279509A (en) * | 2018-12-13 | 2019-01-29 | 徐州重型机械有限公司 | Multi-machine collaborative lifting operation methods, devices and systems, crane and storage medium |
| CN110775824A (en) * | 2019-09-19 | 2020-02-11 | 广州机施建设集团有限公司 | Synchronous hoisting method, mechanism and system of double cranes |
| CN112110343B (en) * | 2020-09-30 | 2022-03-22 | 江苏宏昌天马物流装备有限公司 | Multi-machine intelligent cooperative control method for folding arm crane based on 5G network |
| CN114084799A (en) * | 2021-11-22 | 2022-02-25 | 徐州建机工程机械有限公司 | Triple protection system and method for multi-lifting synchronous safety control of tower crane |
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