CN105366549A

CN105366549A - Method and system for parameter calculation, control, running monitoring and load monitoring of crane

Info

Publication number: CN105366549A
Application number: CN201510918905.1A
Authority: CN
Inventors: 冯春魁
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-12-11
Filing date: 2015-12-10
Publication date: 2016-03-02
Also published as: WO2016091201A1; WO2016091200A1

Abstract

The invention discloses a method and a system for the parameter calculation, control, running monitoring and load monitoring of a crane. The calculation method of crane running parameters, provided by the invention, comprises the following steps: acquiring the values of the input parameters of the crane, wherein the input parameters are parameters required for calculating the joint operation values of calculation objects of the crane, the calculation refers to the energy balance calculation of lifting running, and the calculation objects comprise any one of lifting mass parameter, source power parameter and system running parameter; and calculating the joint operation values according to the acquired input parameters. The method can increase the application range of crane running parameters.

Description

The method and system of the measuring and calculating of hoisting crane parameter, control, operation and Payload Monitoring And Control

Technical field

The present invention relates to hoisting crane technical field, in particular, relate to the method and system of a kind of measuring and calculating of hoisting crane parameter, control, operation and Payload Monitoring And Control.

Background technology

Hoisting crane is a kind of fundamental equipments in modern industry, logistics, is widely used in each harbour, warehouse, factory; Its frequency of utilization is high, because the article of lifting may weigh upper 1000 kilograms, so the safety that hoisting crane runs is one of its core demand all the time.

The Chinese patent application of application number 200910070779.3, proposes a kind of computation model 1 of Crane Load: this formula can calculate when at the uniform velocity promoting; But inapplicablely to calculate when running with variable-speed operation or zero-speed;

Comprehensive analysis prior art: the measuring method shortcoming broad applicability of existing lifting operational factor, result in the safe in operation situation being not easy to the hoisting crane more analysing in depth understanding, the control method and the system that are not easy to other carry out more deep security monitoring or efficient, Energy Saving Control on its basis.

Summary of the invention

The technical matters that the present invention solves be to provide a kind of improve adaptive hoisting crane parameter measuring and calculating, control, operation and Payload Monitoring And Control method and system.

1, the invention provides a kind of measuring method of lifting operational factor, described measuring method comprises the steps 1A1,1A2:

1A1. obtains the value of the input parameter of hoisting crane;

1A2. calculates join operation value according to the value of the input parameter of described acquisition;

The described operation energy equilibrium that hoists that is calculated as calculates, and described input parameter is that the join operation of the measuring and calculating object calculating described hoisting crane is worth required parameter, and described measuring and calculating object is any one parameter in lifting operational factor; The driving source parameter comprised in described input parameter and described measuring and calculating object is electric driving force parameter; And described in hoist run energy equilibrium calculate meet at least one condition in following 1A11,1A12,1A13:

The operation energy equilibrium that hoists described in 1A11. calculates and associates with the operating condition of described hoisting crane;

Electric driving force parameter described in 1A12. is electromagnetic torque or torque current or active current;

The operation energy equilibrium that hoists described in 1A13. calculates and meets at least one condition in following 1A131,1A132:

The parameter running energy equilibrium calculating that hoists described in 1A131. participates in comprises acceleration/accel;

Described velocity variations situation and described hoisting also are run energy equilibrium compute associations by 1A132. identification velocity variations situation.

2. the present invention also provides a kind of calculating system of lifting operational factor, and described calculating system comprises input parameter acquisition module (1), computing module (2);

Described input parameter acquisition module (1) is for the value of input parameter that obtains hoisting crane;

Described computing module (2) for: calculate described join operation value according to the value of the input parameter of described acquisition;

The described operation energy equilibrium that hoists that is calculated as calculates, and described input parameter is that the join operation of the measuring and calculating object calculating described hoisting crane is worth required parameter, and described measuring and calculating object is any one parameter in lifting operational factor; The driving source parameter comprised in described input parameter and described measuring and calculating object is electric driving force parameter; And described in hoist run energy equilibrium calculate meet at least one condition in following 3A11,3A12,3A13:

The operation energy equilibrium that hoists described in 3A11. calculates and associates with the operating condition of described hoisting crane;

Electric driving force parameter described in 3A12. is electromagnetic torque or torque current or active current;

The operation energy equilibrium that hoists described in 3A13. calculates and meets at least one condition in following 3A131,3A132:

The parameter running energy equilibrium calculating that hoists described in 3A131. participates in comprises acceleration/accel;

Described velocity variations situation and described hoisting also are run energy equilibrium compute associations by 3A132. identification velocity variations situation.

3. the present invention also provides a kind of hoisting crane being elevated the method for supervising (#1) when running, and comprises step; Obtain the join operation value of the measuring and calculating object of described hoisting crane, the energy transferring situation of hoisting crane according to the join operation value identification of the measuring and calculating object of described hoisting crane; Described measuring and calculating object be in lifting operational factor any one or multiple, described join operation value be based on hoist run energy equilibrium calculate gained.

4, further, in above-mentioned method for supervising (#1), described in the join operation value identification of the described measuring and calculating object according to described hoisting crane, the energy transferring situation of hoisting crane is specially: judge that whether the energy transferring situation of described hoisting crane is abnormal according to the join operation value of the measuring and calculating object of described hoisting crane and the reference data of described measuring and calculating object;

5. the monitored control system (#1) when the present invention also provides a kind of crane lifting to run, comprise: energy transferring situation judge module (2), for the measuring and calculating object according to described hoisting crane the identification of join operation value described in the energy transferring situation of hoisting crane; Described measuring and calculating object be in lifting operational factor any one or multiple, described join operation value be based on hoist run energy equilibrium calculate gained.

Preferably, described monitored control system (#1) comprises join operation value acquisition module (1), described join operation value acquisition module (1) for: the join operation value obtaining the measuring and calculating object of described hoisting crane, the join operation value that this gets is for being supplied to energy transferring situation judge module.

6, the present invention also provides a kind of method for supervising (#2) of Crane Load, and when described crane lifting runs, described method for supervising (#2) comprises the steps:

13A. obtains the join operation value of the lifting article quality of described hoisting crane, carries out any one or more scheme process in following 13B1,13B2; Described join operation value be based on hoist run energy equilibrium calculate gained, and described in hoist run energy equilibrium calculate in required driving source parameter be electric driving force parameter; And described in hoist run energy equilibrium calculate meet at least one condition in following 13A11,13A12:

Electric driving force parameter described in 13A11. is electromagnetic torque or torque current or active current;

The operation energy equilibrium that hoists described in 13A12. calculates and meets at least one condition in following 13A121,13A122:

The parameter running energy equilibrium calculating that hoists described in 13A121. participates in comprises acceleration/accel;

Described velocity variations situation and described hoisting also are run energy equilibrium compute associations by 13A122. identification velocity variations situation;

13B1. judges whether described join operation value is greater than the rated load weight of described hoisting crane, and to carry out in following 13B11,13B12 any one or kinds of schemes process;

13B11. as described in judged result to comprise be then start the overload treatment mechanism of setting;

13B12. exports and/or preserves the information of described judgement;

13B2. exports and/or preserves the join operation value of described lifting article quality.

7. the present invention also provides a kind of monitored control system (#2) of Crane Load, and when described crane lifting runs, described monitored control system comprises join operation value acquisition module (1); Described monitored control system also comprises overload processing module (2), output module (3), any one or the multiple module preserved in module (4);

Described join operation value acquisition module (1) is for the join operation value obtaining the lifting article quality of described hoisting crane; Described join operation value be based on hoist run energy equilibrium calculate gained, and described in hoist run energy equilibrium calculate in required driving source parameter be electric driving force parameter; And described in hoist run energy equilibrium calculate meet at least one condition in following 16A11,16A12:

Electric driving force parameter described in 16A11. is electromagnetic torque or torque current or active current;

The operation energy equilibrium that hoists described in 16A12. calculates and meets at least one condition in following 16A121,16A122:

The parameter running energy equilibrium calculating that hoists described in 16A121. participates in comprises acceleration/accel;

Described velocity variations situation and described hoisting also are run energy equilibrium compute associations by 16A122. identification velocity variations situation;

Described overload processing module (2) for: judge whether described join operation value is greater than the rated load weight of described hoisting crane, and to carry out in following 16B11,16B12 any one or kinds of schemes process;

16B11. as described in judged result to comprise be then start the overload treatment mechanism of setting;

16B12. exports and/or preserves the information of described judgement;

Described output module (3) is for the join operation value that exports described lifting article quality;

Described preservation module (4) is for the join operation value of preserving described lifting article quality.

8. the present invention also provides a kind of control method of hoisting crane, comprises the steps:

The mechanical operating parameters of this hoisting crane is preset with at least two different class, based on the class of this mechanical operating parameters of Selecting parameter of lifted load at least comprising this hoisting crane; Or; Based on the join operation value of this mechanical operating parameters of calculation of parameter of lifted load at least comprising this hoisting crane, when lifted load changes between zero to nominal payload, this mechanical operating parameters has at least two join operation values varied in size; Run to control hoisting crane according to the join operation value of this this mechanical operating parameters or class; Described mechanical operating parameters be hoisting speed, sinking speed, acceleration promote time acceleration/accel, fall-retarding time acceleration/accel in any one or more parameter.

9. the present invention also provides a kind of control system of hoisting crane, comprises control module (1);

This control module (1), for realizing: the mechanical operating parameters of this hoisting crane is preset with at least two different class, based on the class of this mechanical operating parameters of Selecting parameter of lifted load at least comprising this hoisting crane; Or; Based on the join operation value of this mechanical operating parameters of calculation of parameter of lifted load at least comprising this hoisting crane, when lifted load changes between zero to nominal payload, this mechanical operating parameters has at least two join operation values varied in size; Run to control hoisting crane according to the join operation value of this this mechanical operating parameters or class; Described mechanical operating parameters be hoisting speed, sinking speed, acceleration promote time acceleration/accel, fall-retarding time acceleration/accel in any one or more parameter.

10. the present invention's method for supervising (#3) of also providing a kind of hoisting crane operational factor to transfinite, comprise step: the join operation value obtaining the driving source parameter of described hoisting crane, judge whether the join operation value of described driving source parameter exceeds systemic presupposition value or the maximum safe limit threshold values of described driving source parameter; Described join operation value runs energy equilibrium based on hoisting to calculate gained.

The monitored control system (#3) that 39. the present invention also provide a kind of hoisting crane operational factor to transfinite, comprises driving source parameter-beyond-limit monitoring module (2);

Described driving source parameter-beyond-limit monitoring module (2) is for the join operation value obtaining the driving source parameter of described hoisting crane, judge whether the join operation value of described driving source parameter exceeds systemic presupposition value or the maximum safe limit threshold values of described driving source parameter, described join operation value runs energy equilibrium based on hoisting to calculate gained.

11, further, in described monitored control system (#3), the described system operational parameters running demand in energy equilibrium calculating that hoists comprises speed and/or acceleration/accel, and the value of described speed and/or acceleration/accel is according to instruction preset value or measured value setting.

Accompanying drawing explanation

Fig. 1 is the schematic diagram of the physical construction of a kind of crane lifting of the present invention when running;

Fig. 2 is that the hoisting crane of embodiments of the invention 6 is at the schematic flow sheet being elevated method for supervising when running.。

Detailed description of the invention

Part I content: for the noun described in technical solution of the present invention, parameter, spy does following explanation and illustrates:

1, basic explanation:

1.1, the present invention is mainly applicable to motor-driven hoisting crane; As shown in Fig. 1 of Figure of description, hoisting crane of the present invention usually has motor, speed reduction gearing, reel B5, leading sheave B2, spreader assembly B0 (corresponding spreader assembly quality is m0), plays the compositions such as heavy articles B1 (corresponding lifting article quality is m1), steel rope; From driving system classification, speed reduction gearing can be divided into again gear reduction, turbine slow down, etc.; In some Novel crane, may wheel hub motor be adopted, also unite two into one by motor and speed reduction gearing;

The present invention is understood for convenience of description, when not limiting explanation or supplemental instruction: operation of the present invention has referred to that heavy articles is vertically run with those skilled in the art; As speed/or the acceleration/accel of follow-up hoisting crane, all refer to that hoisting crane plays the speed/or acceleration/accel that heavy articles vertically runs; The lifting/of hoisting crane or landing, all refer to that hoisting crane plays the lifting or landing that heavy articles vertically runs.

1.2, the general introduction of engine installation: refer to be generally motor by the device that energy Direct driver hoisting crane vertically runs; Motor of the present invention, refer to the motor that energy Direct driver lifting mechanism vertically runs, motor main Types comprises and is not limited to: AC induction motor, ac synchronous motor, DC machine, switched reluctance machines, permanent magnetic brushless, linear electric motors, wheel hub motor etc.;

1.3, the general introduction of power control unit: the power control unit of hoisting crane is generally motor driver, refer to drive device and the connection cable thereof of motor of the present invention, comprise and be not limited to: frequency converter, servo-driver, DC motor controller, switch reluctance machine drive, permanent magnetic brushless actuator, linear motor driver, possess the integrated controller etc. of motor power-handling capability;

Apparent, driving described in the present invention, motor driver, drive motor run, drive in hoisting crane operation " driving ", not singly refer to that drive motor runs with motoring condition, dragging motor, also comprise control motor braking and run, work in braking mode.

1.4, the general introduction of power supply device: the power supply device of hoisting crane, can be described as supply unit, refer to device and connection cable thereof that driving-energy can be provided to described motor driver, motor, hoisting crane, comprise conventional AC power supplies, back-up source etc.;

1.5, power system concrete comprise the explanation of device:

1.5.1, electric power system of the present invention, comprise the collection point of category depending on concrete electric driving force parameter group signal of device; As driving source parameter signal collection point supply unit input end then electric power system comprise the supply unit of hoisting crane, motor driver and motor three devices simultaneously; As the mouth of collection point at supply unit or the input end of motor driver of driving source parameter signal, then electric power system comprises motor driver, motor two devices simultaneously; As the mouth of collection point at motor driver or the terminals of motor of driving source parameter signal, then electric power system only comprises motor;

1.5.3, engine installation of the present invention, power control unit, power supply device, three mainly functionally classifies; Say from device configuration, any in three both or three can be combined into any one system ensemble following: the two-in-one system ensemble of power control unit and engine installation, the two-in-one system ensemble of power supply device and power control unit, the three-in-one integrated system of power supply device and power control unit and engine installation; Specification sheets of the present invention and right also comprise that above-mentioned any one is two-in-one, three-in-one integrated system.

1.6, acquisition data of the present invention, acquiring way is explained as follows:

1.6.1, the acquisition of parameter value, comprise and be not limited only to as under type:

1.6.1.1, actual measurement: by the directly measured parameter value such as physical apparatus, hardware sensor, acquired results is called measured value; As measured the hoisting crane speed of gained with speed measuring Instrument, as acceleration pick-up measures the acceleration/accel of gained, as the current of electric of current sensor measurement gained;

First survey data, and then derivative, the combination carrying out being correlated with according to these data again calculate, acquired results is still called the measured value of these data;

1.6.1.2, join operation: as the data of the measuring method measuring and calculating gained with a kind of lifting operational factor provided by the invention, acquired results belongs to join operation value; As calculated the join operation value of lifted load by electric driving force parameter and system operational parameters;

1.6.1.3, read: read external device (as motor driver) input parameter value, read already present parameter value etc.; This already present parameter value can comprise measured value, join operation value, artificial input value, system default value, historic records value etc.;

1.6.2, reading parameter value of the present invention, comprise read local parameter value, by communication modes (as CAN, 485,232, WIFI, bluetooth, infrared etc.) read parameter value, by various ways etc. such as Internet Transmission mode (as various wire and wireless network) long-range reading lifting operational parameter values;

2, the definition of the driving source parameter of hoisting crane; Representative or the parameter that calculates power that Direct driver hoisting crane vertically runs or torque or power can be driving source parameter; Distinguish from the parts of signal value, driving source parameter can be divided into the dynamical parameter, electric driving force parameter etc. of the dynamical parameter of traction piece, mechanical revolving part; Wherein, the dynamical parameter of traction piece mainly comprises the pulling force etc. of steel rope; Wherein the dynamical parameter of mechanical revolving part is mainly included in the driving source parameter that the mechanical part of motor rear end (motor output shaft, reel and the intermediate mechanical drive disk assembly etc. between motor output shaft and reel) obtains; The driving source parameter with electric parameter attribute that motor and motor front end (comprising supply unit, motor driver etc.) obtain is called electric driving force parameter (also can be described as motor drive parameter or electrically drive parameter) by the present invention;

2.1, the electric driving force parameter of hoisting crane

Detailed description:

2.1.1, from physical property distinguish, conventional electric parameter mainly comprises and is not limited only to as follows: electrically power, electromagnetic torque, electric current, voltage, motor speed;

2.1.2, from device, the electric parameter of motor, motor driver, supply unit can be divided into;

2.1.3, the electric parameter of motor mainly comprises and is not limited only to following parameter: electric moter voltage Uo, current of electric Io, power factor φ 1 (also can represent with φ), electric power Po (also can represent with Pm), electromagnetic torque Te, motor speed n1, rotating field rotating speed n0;

2.1.4, the electric parameter of motor driver mainly comprises and is not limited only to following parameter: output voltage U2o, outgoing current I2o, horsepower output factor φ 2, export electric power P2o, electromagnetic torque Te, input voltage U2i (also can represent with Ui), received current I2i (also can represent with Ii), input electric power P2i, actuator DC bus-bar voltage Udc, torque current iq;

Torque current iq, refers to vector control type motor driver (as frequency converter or servo-driver), through vector, current of electric has been peeled off the torque current of excitation component; Torque current iq, has more direct corresponding relation with motor torque; By the transformation ratio Ki of torque current and electromagnetic torque, Ki*iq can be used for direct calculating torque;

2.1.5, the electric parameter of supply unit mainly comprises and is not limited only to following parameter:

Common supply unit can comprise following output electric parameter: output voltage U3o (also can represent with Ub1), outgoing current I3o (also can represent with Ib1), export electric power P3o, power factor φ 3; Input voltage U3i, received current I3i, input electric power P3i;

The voltage U 4 of electrification feedback braking, the electric current I 4 of electrification feedback braking, the power factor φ 4 of braking current and brake voltage; Electric power (referred to as the electrification feedback power) P4 of electrification feedback braking (being oppositely transported to power supply); P4 available brake electric current and brake voltage calculate (as );

The voltage U 5 of resistance and/or direct current energy consumption braking, the electric current I 5 of resistance and/or direct current energy consumption braking, electric power (referred to as the dynamic braking power) P5 of resistance and/or direct current energy consumption braking; The resistance Rb1 of P5 available brake resistance, braking current, brake voltage calculate (as P5=I5*I5*Rb1, or P5=U5*U5/Rb1, or P5=U5*I5);

2.1.6, function connects the electric parameter that electric parameter that upper adjacent prime exports inputs with rear class, can phase trans-substitution when calculating; As Uo=U2o, as Io=I2o, as φ 1=φ 2, as P2o=Po, as the Te of motor and motor driver, as U2i=U3o, as I2i=I3o, as P2i=P3o, etc.

2.1.7, the special version of electromagnetic torque Te: electromagnetic torque Te of the present invention refers to the motor torque calculating gained according to the voltage of motor or electric current or magnetic field parameter, be included in the electromagnetic torque Te of motor driver internal calculation gained, be also included within motor driver outside calculates gained electromagnetic torque Te by measurement electric moter voltage and current of electric; The measurement of electromagnetic torque Te of the present invention is very easy, cost is very low and precision is high.Electromagnetic torque Te is not included in machine torque machine motor output shaft or other mechanical drive shafts or flywheel being installed mechanical stress intensity principle (as dynamic torque tester) gained; Both have significant difference in the cost performance of principle of measurement, measurement approach, measurement.

2.1.8, electric parameter of the present invention, be divided into again electric driving force parameter, electrically auxiliary parameter;

2.1.8.1, common electric driving force parameter comprises and is not limited only to following several types: electrically power, electromagnetic torque, electric current, electrical equipment unit's mould assembly parameter etc.:

2.1.8.1.1, the first: electrically power; When not having supplemental instruction or qualifications, electric power of the present invention all refers to active volt-amperes; The obtain manner of electric power is as follows:

Electric magnitude of power obtain manner 1: first obtain electric current and voltage, and then indirectly obtain magnitude of power by calculating; As (Uo, Io, φ 1), or (U2o, I2o, φ 2), or (U2i, I2i), or (U3o, I3o, φ 3), or (U3i, I3i); Calculate electric power by voltage and current, belong to known technology;

Electric magnitude of power obtain manner 2: first obtain electromagnetic torque and motor speed, and then indirectly obtain magnitude of power by calculating; As Te and n1, two parameter combination can be used for horsepower rating; P (kw) * 9550=Te*n1, then P (w)=Te*n1/9.55; P (kw) represents that this power is in units of KW, and P (w) represents that this power is in units of W.

Electric magnitude of power obtain manner 3: directly read motor driver inner parameter and obtain electric magnitude of power; As Po, Pm, P2o, P2i, P3o, P3i, P4, P5;

Electric magnitude of power obtain manner 4: measure with active power meter and obtain electric magnitude of power; As Po, Pm, P2o, P2i, P3o, P3i, P4, P5;

2.1.8.1.2, the second: electromagnetic torque; As Te, the obtain manner of electromagnetic torque Te is as follows:

Electromagnetic torque Te value obtain manner 1: directly read motor driver inner parameter and obtain Te value; As directly read the electromagnetic torque Te value in frequency converter or servo-driver;

Electromagnetic torque Te value obtain manner 2: first obtain electric magnitude of power and motor speed value, and then indirectly obtain Te value by calculating; Because power P (w)=Te*n1/9.55=U*I, so Te can be passed through Simple Calculation and calculates gained in the device can surveyed at electric power, formula is: Te=P (w) * 9.55/n1;

Electromagnetic torque Te value obtain manner 3: by measuring motor driver output voltage and outgoing current, and then indirectly obtain Te value by calculating;

2.1.8.1.3, the third: electric current; This parameter can be used for calculating torque and power; Iq, Io*cos φ 1, I2o*cos φ 2, I3o*cos φ 3 etc.; When not having supplemental instruction or qualifications, electric current of the present invention, is often referred to torque current or active current; Active current of the present invention refers to the electric current eliminating reactive component, also can be described as Watt current;

Current value obtain manner 1: directly read motor driver inner parameter and obtain current value;

Current value obtain manner 2: with the electric current of current sensor measuring element, measure power factor with power-factor indicator, and then obtain current value by calculating;

Single torque or single electric current or single power, all can become independently electric driving force parameter; Voltage coordinates with corresponding current parameters, can become electric driving force parameter; Rotating speed coordinates with corresponding torque parameter, can become electric driving force parameter;

2.1.8.1.4, the 4th kind: electrical equipment unit's mould assembly parameter, refers to the parameter calculated according to aforesaid electric driving force parameters combination, and its concrete definition mode sees below literary composition and describes;

2.1.8.2, electric auxiliary parameter, refer to the parameter that can coordinate identification motor operating condition, motor status, mainly comprise and be not limited only to following parameter: motor operating state word, electric machine control command word etc.; Because failure messages such as existing motor driver acceleration overcurrent as exportable in frequency converter, deceleration overcurrent, constant speed overcurrents, so also the running statees such as acceleration, deceleration, constant speed can be obtained by relevant electric auxiliary parameter from motor driver inside;

The obtain manner 1 of electric auxiliary parameter value: read motor driver inner parameter and obtain;

2.2, the detailed description of the dynamical parameter of the traction piece of hoisting crane:

2.1.1, the traction piece of hoisting crane is generally steel rope, and the dynamical parameter of traction piece mainly comprises the comprehensive tensile force f 1 etc. steel rope drawing spreader assembly and vertically run; This comprehensive tensile force f 1 can measure gained by pulling force sensor usually; Also tension pick-up can be set in other certain positions (as leading sheave support place), first obtain comprehensive tension force F2 by the signal of tension pick-up, then calculate comprehensive tensile force f 1 according to the angle gauge of this F2 and steel rope;

2.3, the detailed description of the dynamical parameter of the mechanical revolving part of hoisting crane:

The dynamical parameter of machinery revolving part is mainly included in the driving source parameter that the mechanical part of motor rear end (motor output shaft, reel and the intermediate mechanical drive disk assembly etc. between motor output shaft and reel) obtains; The dynamical parameter of this mechanical revolving part mainly comprises machine torque, can adopt and be installed on torque sensor measurement gained on a certain revolving part of motor rear end, so this dynamical parameter also can be described as the driving source parameter of rear end; Certainly, measure comprehensive tensile force f 1 relative to aforesaid pulling force sensor or tension pick-up, the cost surveying torque with torque sensor greatly raises; Especially compared to the measurement cost of electricity consumption aerodynamic parameter, the measurement cost of torque sensor significantly raises, so practicality reduces relatively, but relative to prior art for the security monitoring of hoisting crane, energy-efficient operation control feel simply helpless, still creative and practicality.

Further, according to the power with power system strong correlation, driving source parameter can divide again to the driving source parameter of power system strong correlation, with the weak relevant driving source parameter of power system; As a rule, the driving source parameter of signal value in motor and motor front end (comprising supply unit, motor driver etc.) can be ranged the driving source parameter with power system strong correlation; Such as electrically power, electromagnetic torque, electric current three provenance dynamical parameter and according to relevant electrical equipment unit's mould assembly parameter, all belong to the driving source parameter with power system strong correlation.

Certainly, should and the power of power system strong correlation be a relative concept;

Such as: when accelerating to promote, when at the uniform velocity promoting, device descending at constant speed time the dynamical parameter (as tensile force f 1) of traction piece and the dynamical parameter (as T1 etc.) of mechanical revolving part; Because now the character of driving source parameter is mainly used in describing power that power system needs to send, that produce for overcoming the deadweight of mass carried and acceleration/accel or torque; Now this driving source parameter all can range the driving source parameter with power system strong correlation,

Such as, in the embodiment 1 of aftermentioned method for supervising (#3), during fall-retarding traction piece dynamical parameter (as tensile force f 1) or calculate the dynamical parameter (as T1 etc.) of gained this mechanical revolving part according to F1 and R1, because now the character of driving source parameter is mainly used in describing the power or torque that produce because of the deadweight of mass carried and acceleration/accel; Now this driving source parameter all can range the weak relevant driving source parameter of power system; And as a rule, the root of this acceleration signal, the action of also namely accelerate, slowing down comes from the control of power system.

3, lifted load of the present invention, refers to parameter that is directly related with at least one in lifting article quality m1, lifting total mass m2, spreader assembly quality m0 or indirect correlation; Mass unit can represent with kilogram (KG or kg).Directly relatedly refer to above-mentioned three kinds of parameters directly as measuring and calculating object or input parameter, indirect correlation refers to the quality above-mentioned three kinds of parameters obtained after distortion, but the essence of the enforcement of its scheme is above-mentioned three kinds of parameters, as above-mentioned two quality can be equivalent to respectively its each component part and, using its each component part and as measuring and calculating object or input parameter, or using the quality of the part in a certain quality in above-mentioned three kinds of parameters as measuring and calculating object (the i.e. quality of quality=a certain quality-other parts of a part, now the quality of these other parts is known) etc.

3.1, lifting article quality m1 refers to the quality playing heavy articles not comprising spreader assembly quality, also can referred to as hoisting capacity;

3.2, lifting total mass m2 refers to the data simultaneously comprising lifting article quality m1 and spreader assembly quality m0; The calculating of lifting total mass m2: m2=m0+m1;

3.3, spreader assembly quality m0 is by producer's parameter, or platform scale weighing is accurately learnt, need not calculate; The quality of traction piece (as steel rope) can be ignored usually; Also the quality of traction piece (as steel rope) can be counted spreader assembly quality m0; Spreader assembly Quality of Steel Wire Rope that quality m0 comprises is relevant with position, can arrange the function associated with position with spreader assembly quality m0, by theory calculate or actual measurement relatively accurate learn spreader assembly Quality of Steel Wire Rope that quality m0 comprises;

4, system operational parameters of the present invention, refer in lifting operational factor except lifted load and driving source parameter parameter, to comprise in mechanical operating parameters, the intrinsic parameter of system any one or two kinds of parameters.

4.1, mechanical operating parameters of the present invention mainly comprises and is not limited only to following parameter: speed Vq, acceleration/accel aj, windage fw, the inner comprehensive angular acceleration β etc. rotating rigid body.

4.1.1, speed Vq of the present invention, what refer to hoisting crane plays the speed of heavy articles vertical lift displacement; To comprise in hoisting speed V1, sinking speed V2 any one or two parameters; The acquisition of velocity amplitude, has following various ways:

Vq value obtain manner 1: directly obtain Vq value by the speed sensor measurement being arranged at spreader assembly or rise in heavy articles; Vq unit can represent with meter per second (m/s), also can with m/min to represent;

Vq value obtain manner 2: indirectly obtain Vq value by the rotating speed n1 measuring motor: calculating formula for reference is as follows: Vq=(2 π * n1/im) * R1/60; When hoist iope slippage, the method owes accurate;

All parameters joined with velocity correlation, can be used for obtaining Vq value; As running frequency FR (rated frequency of such as frequency converter corresponds to the rated speed of rotation of motor usually), gear rotational speed, middle revolving part cireular frequency, the mediation member linear velocity of motor driver;

Vq value obtain manner 3: indirectly obtain Vq value by acceleration/accel aj; Calculating formula for reference is as follows: Vq_1=Vq_0+aj*t; T is the unit time, and Vq_0 is the Vq value of upper a period of time, and Vq_1 is the speed Vq value of current period;

4.1.2, acceleration/accel aj of the present invention (also can represent with a or acc), what refer to hoisting crane plays the acceleration/accel of heavy articles vertical lift displacement;

Understand the present invention with those skilled in the art for convenience of description, the present invention arranges: the value of acceleration/accel can just can be born; No matter crane lifting or hoisting crane landing, the direction of speed all can be set on the occasion of; When speed absolute value increase time, now for accelerate, this brief acceleration be on the occasion of; When the absolute value of speed reduces, now for slowing down, this brief acceleration is negative value; Certainly also allow that user adopts other, more complicated mode to define acceleration/accel, speed, driving source parameter positive and negative.

The acquisition of acceleration/accel aj, has following various ways:

Aj value obtain manner 1: directly measure gained by the acceleration pick-up be arranged in spreader assembly or a heavy articles; As acceleration sensor outputs signals also comprises the value of g, can merging treatment: (g+aj)

Aj value obtain manner 2: by the rotating speed n1 of motor, or speed Vq indirect inspection and obtaining; Calculating formula for reference is as follows: aj=(Vq_1-Vq_0)/t;

4.1.4, the acquisition of windage fw, have following various ways:

Fw value obtain manner 2: the association table pre-setting wind speed, lifting article volume, windage fw value, when hoisting crane runs, is tabled look-up by current wind speed, lifting article volume and draws corresponding windage fw value;

4.1.6, the inner comprehensive angular acceleration β rotating rigid body: inside comprehensively rotates rigid body, refers to that in the inner driving system of hoisting crane, all rigid mechanical turning units comprehensively convert rigid body; β parameter both obtains by tachogen, also calculates by the acceleration/accel aj of the speed Vq or hoisting crane that first obtain motor speed n1 or hoisting crane again and obtains;

4.2, the intrinsic parameter of system of the present invention: refer to the parameter brought because of hoisting crane or environment build-in attribute, the intrinsic parameter of system of the present invention also can be described as system default parameter;

4.2.1, the intrinsic parameter of common system comprises and is not limited only to as follows: rolling frictional resistance coefficient μ 1, comprehensive transmitting ratio im, the transmitting ratio im3 of rear end, the torque arm length R1 (also can represent with R) of transmission output mechanism, the transformation ratio Ki of torque current and electromagnetic torque, the transformation ratio Ko of current of electric active component and electromagnetic torque, the efficiency factor Km of machine driven system, the efficiency factor Kea of electric power system, the efficiency factor Km3 of rear end, the inner comprehensive rotor inertia L0 rotating rigid body, gravity acceleration g (also can be described as the acceleration due to gravity factor, its implication, value 9.8 is existing known technology, the physical knowledge on basis), the time range etc. preset of parameter value.

As a rule, the transmission output mechanism of hoisting crane is reel, and R1 is reel radius;

Being described in detail as follows of the intrinsic parameter of system:

4.2.2, the efficiency factor Kea of electric power system, the efficiency factor Km of machine driven system:

4.2.2.1, the efficiency factor Kea of electric power system comprises and is not limited to following parameter:

The efficiency factor Ke of motor: the conversion efficiency of electric power to motor shaft output mechanical power referring to motor; In view of Ke value when motoring condition, motor braking state may not wait; By the efficiency factor called after Ke1 of motor during motoring condition, by the efficiency factor called after Ke2 of motor during motor braking state;

Motor driver is to the efficiency factor k21 of motor: when referring to that motor operating condition is motoring condition, the horsepower input of this motor driver is to the conversion efficiency of the electric power of motor; Also the conversion efficiency of the horsepower output of power supply to the electric power of motor can be referred to;

Power supply is to the efficiency factor k31 of motor: when referring to that motor operating condition is motoring condition, the horsepower input of this power supply is to the conversion efficiency of the electric power of motor;

Motor braking power is to the efficiency factor k14 of power supply: from motor braking power to the efficiency factor feeding back to supply unit power when referring to motor braking state;

4.2.2.2, the efficiency factor Km of machine driven system, also can referred to as machine driven system efficiency: refer to the efficiency factor comprising the motor output shaft of hoisting crane, the comprehensive transmission of the parts such as reel and the intermediate transmission parts between motor output shaft and reel; Km value has comprised the efficiency factor of speed reduction gearing and reel; For the fluctuation that reply Km value is possible in friction speed interval, an one-dimensional functions can be set, Km (Vq), also namely get corresponding Km value according to different speed interval (as zero-speed, low speed, at a high speed); In view of Km value when motoring condition, motor braking state may not wait; By the efficiency factor called after Km1 of machine driven system during motoring condition, by the efficiency factor called after Km2 of machine driven system during motor braking state;

The efficiency factor Kem that Mechanical & Electrical Transmission is comprehensive, also can be described as Mechanical & Electrical Transmission combined efficiency Kem; Kem comprises the efficiency factor Ke of motor, contains the efficiency factor Km of machine driven system; Kem=Ke*Km, Kem1=Ke1*Km1, Kem2=Ke2*Km2;

4.2.2.4, associated efficiency coefficient k 31, k21, k14, Ke, Km value is substantially constant in certain speed, load zones;

The change of k31, k21, k14 value means the inner rectifier bridge of power supply or motor driver, IGBT may exist short circuit or the abnormal condition such as open circuit, parameter variation; The change of Ke value means that motor internal rotating field parameter variation or motor short circuit in winding or open circuit etc. may cause the variation of serious consequence;

The Current Voltage rotational speed and torque of hoisting crane can become, but basic k31, k21, k14, Ke value can not become; So above-mentioned k31, k21, k14, Ke value is not only as the efficiency factor of electric power system, also can be used as the important evidence of the safety case of electric power system;

The change of the efficiency factor Km value of machine driven system may represent comprising in the machine driven system of motor output shaft, reel and the intermediate transmission parts between motor output shaft and reel of hoisting crane, occurs that severe wear or distortion or gear embrittlement etc. may cause the variation of serious consequence;

The torque rotary speed of the machinery of hoisting crane can become, and even friction force also can along with the size variation of load, but basic Km value can not significantly change, or may be just major failure; So Km value not only can be used as mechanical transmission component efficiency factor, also can as the important evidence of the safety case of mechanical transmission component;

By by k31, k21, k14, Ke value is directly monitored as measuring and calculating object, or indirectly monitor k31, k21, k14, Ke value by the join operation values calculating other measuring and calculating object (as lifted load), the operation conditions of electric power system of hoisting crane can be monitored by actv.;

Also can arrange the electric power system combined efficiency COEFFICIENT K eem of a hoisting crane, this coefficient comprises the efficiency factor Km of machine driven system and the efficiency factor Kea of electric power system simultaneously; Keem value is the product of the Km value of hoisting crane and the efficiency factor value Kea of electric power system;

4.2.3, rolling frictional resistance coefficient μ 1: because crane structure feature, reel and leading sheave bear spreader assembly and play the pressure that gravity produces of heavy articles; So the rolling frictional resistance coefficient μ 1 (the friction force fr together with the revolving part that it produces) of hoisting crane is mainly the data of reel and leading sheave parts;

4.2.4, comprehensive transmitting ratio im: refer to the comprehensive transmitting ratio comprising motor output shaft, reel and the intermediate transmission parts between motor output shaft and reel; Im value has comprised the transmitting ratio of speed reduction gearing and reel; Because driving source parameter of the present invention comprises the driving source parameter of rear end, then need to arrange corresponding transmitting ratio, efficiency factor; Transmitting ratio between the parameter value point to reel of the driving source parameter of rear end is called the transmitting ratio im3 of rear end, the efficiency factor between the parameter value point to reel of the driving source parameter of rear end is called the efficiency factor Km3 of rear end;

Transmitting ratio im and im3 of hoisting crane is generally a fixed value; If im and im3 value is variable, then need by central controller to making currency when calculating;

4.2.7, the value of the intrinsic parameter of system, generally have systemic presupposition value, can be given by the central controller of hoisting crane, the correctness of the intrinsic parameter of system, is also ensured by the central controller of hoisting crane; Systemic presupposition value produces service facility by hoisting crane, professional testing agency learns; User also can self testing, checking, adjustment, setting; As carried out lifting Parameter Self-learning, in crane lifting process learning correlation parameter (especially the value of parameter under diverse location, friction speed such as μ 1, Kem)

5, the explanation of the combined parameter of driving source:

The combined parameter of driving source also ranges driving source parameter; Electric driving force parameter and other parameters combination form parameter, are called electrical equipment unit's mould assembly parameter; Electrical equipment unit's mould assembly parameter is typical driving source parameter, and its type still belongs to electric driving force parameter;

Typical electrical equipment unit mould assembly example of parameters is as follows: as ((Ke*Km) * (Po/Vq) represents a tractive force according to power of motor and then calculating; As (Te*im/R) represents a tractive force calculated according to electromagnetic torque Te, as (Te*n1/9.55/Vq) represents another propulsive effort according to motor power calculation, the computed path of this electric power is Torque and speed;

The combined parameter of driving source has infinite many expression formulas, and the present invention does not enumerate;

The obtain manner 1 of the combined parameter value of driving source: the value being obtained the driving source parameter in the combined parameter of driving source by aforementioned manner, obtained the value of other parameters in the combined parameter of driving source by aforementioned manner, and then calculated by the calculating formula of the combined parameter of driving source and obtain the value of the combined parameter of driving source;

6, the combined parameter of driving source parameter is not comprised:

6.1, mechanical combination shape parameter also ranges mechanical operating parameters;

Typical mechanical combination shape parameter example is as follows: as ((m0+m1) * (g+aj)) represent lifting total mass the comprehensive dynamic force that bears;

The obtain manner 1 of mechanical combination shape parameter value: the value being obtained the mechanical operating parameters in mechanical combination shape parameter by aforementioned manner, obtained the value of other parameters in mechanical combination shape parameter by aforementioned manner, and then calculated by the calculating formula of mechanical operating parameters and obtain the value of the combined parameter of driving source;

6.2, mass combination shape parameter also ranges lifted load; (m1+m0), (m2-m0), etc. all belong to lifted load; As (m2*g), (m1*g) although etc. parameter become the gravity that object bears, it will range lifted load in the present invention.

6.3, when the intrinsic parameter group of two or more systems synthesizes a calculating formula (as ((Ke*Km) * (im/R)) or (im/R) etc.), then this calculating formula still ranges the intrinsic parameter of system.

7, lifting operational factor: all to the influential parameter of hoisting crane running state, or allly run relevant parameter to hoisting crane, all can referred to as lifting operational factor; Driving source parameter of the present invention, lifted load, system operational parameters (comprising mechanical operating parameters wherein, the intrinsic parameter of system), form this lifting operational factor;

7.1, derivative parameter: any parameter of the present invention, derivative, distortion on its basis, become name, expand, reduce, increase deviant, carry out filtering, weighting, average, estimate that interference, compensate for disturbances, RLS algorithm process, recursive least square process etc. process parameters obtained, all be called the derivative parameter of parameter, all derivative parameters still belong to raw parameter type;

7.2, energy transferring situation association factor of the present invention, refer to judge to have the direct or indirect parameter associated with the energy transferring situation of hoisting crane, it comprises any one or more parameter in the parts condition information of described hoisting crane, location information, lifted load, driving source parameter, system operational parameters; Parts situation of the present invention mainly refers to the situation of crane power system and driving system, and the parts as hoisting crane are good, lubrication is good, wear and tear that index is high in order for little then parts; As hoisting crane serious wear then parts index is low in order; Carry condition, mainly finger load personnel or the situation of article, frequently to beat as lifting staff on board or article roll arbitrarily, then carry the good index of condition low; Location information of the present invention can obtain according to modes such as coder, limiting device measurements;

7.3, the maximum safe limit threshold values of lifting operational factor, can be divided into the maximum safe limit threshold values of fixed class maximum safe limit threshold values, activity class parameter;

7.3.1, fixed class maximum safe limit threshold values is generally according to the electric system of hoisting crane and/or mechanical system design specification and the safety value avoiding the lifting operational factor of device failure formulated: as the electric current safety value Io_ena of motor, the voltage security value Uo_ena of motor, electromagnetic torque safety value Te_ena, the Power Safe value Po_ena (being generally equal to the rating horsepower of motor) of motor during motoring condition, the safety value P4_ena of electrification feedback B.P., the safety value P5_ena of dynamic braking power, the rated load weight m1_ena of hoisting crane (also can be described as rated load or rated load, nominal load etc., unit is kilogram/kg),

7.3.2, the maximum safe limit threshold values of activity class parameter, be often referred to the License Value of the mechanical operating parameters that can regulate according to hoisting crane condition of service (if lifting article quality, energy flow are to operating mode etc.), as License Value V1_ena, the License Value V2_ena of sinking speed, acceleration lifting the License Value aj1_ena of brief acceleration, the License Value aj4_ena etc. of fall-retarding brief acceleration of hoisting speed; The various states such as the present invention will speed up lifting, lifting of slowing down, acceleration landing, fall-retarding are all called that speed is changed direction;

The safety value of lifting operational factor also can be further subdivided into moment work safety value, long continuous operation safety value etc.

8, the explanation of " crane lifting operation " of the present invention:

8.1, the present invention's agreement: " crane lifting operation " described in the present invention is equal to " hoisting crane operation " and is equal to " RUN ", all refers to that the lifting mechanism of hoisting crane is vertically elevated operation; The locking system that while running " crane lifting " is defaulted as hoisting crane has sent the order that band-type brake unclamps, and other mechanical braking sytem has sent the order that mechanical braking removes all; " when crane lifting runs " does not comprise all " the non-lift operation of hoisting crane " time periods such as shutdown, band-type brake usually; Because be not easy to when while running " hoisting crane non-lift " by gathering electric driving force parameter and calculating the operation monitoring hoisting crane.

Crane lifting of the present invention runs and comprises zero-speed operation, non-zero-speed operation two states;

It is of the present invention that non-zero-speed running package draws together variable-speed operation, non-zero travels at the uniform speed; Wherein, described variable-speed operation comprises Accelerating running, runs slowly;

8.2, " crane lifting operation " state or " the non-lift operation of hoisting crane " state, can identify with given by the central controller of hoisting crane; Also can identify, judge by acquisition motor driver running state word or motor driver control command word " forward or reverse or shutdown " state of motor.

8.3, method for supervising when a kind of crane lifting provided by the invention runs, described " when crane lifting runs " can if having time on starting point, end point;

Can set when entering " crane lifting operation " state from the state of " the non-lift operation of hoisting crane ", as the starting point of the time period of this " crane lifting operation ", mean the beginning of the time period of new " a crane lifting operation ";

Can set when entering " the non-lift operation of hoisting crane " state as band-type brake, shutdown etc. from " crane lifting operation ", as the end point of the time period of this " crane lifting operation "; The time period of being somebody's turn to do " crane lifting operation " also can be described as " operation sheet ".

The length of time period of each " crane lifting operation " (also i.e. operation sheet), changeable, from a few minutes by several seconds all likely;

Namely even if, same hoisting crane, in the time period of different " crane lifting operation " (also different operation sheetes), the lifting article quality m1 of some parameter especially hoisting crane may change.

9, the energy flow of hoisting crane is to operating mode, also can be described as the operating condition of hoisting crane;

From hoisting crane service direction, can simply be divided into crane lifting, hoisting crane landing etc.;

From motor operating condition, motoring condition, motor braking state etc. can be divided into;

Comprehensive hoisting crane service direction and motor operating condition, the energy flow of hoisting crane is divided into the various states such as the lifting of electric hoist, motor braking, electronic landing, motor braking landing to operating mode; Because hoisting crane is different from hoisting crane, there is no counterweight, so substantially there will not be motor braking to promote situation; Electronic decline, just may occur when only the very little load of article quality m1 is wherein very light; So the present invention analyze in energy flow to operating mode based on electric hoist, motor braking landing two states, do not consider electronic landing, motor braking promote state; Therefore, at some time, motoring condition, lifting state, electric hoist state three can be equal to mutually; Landing state, motor braking state, motor braking landing three can be equal to mutually.

Because main purpose of the present invention is for solving the problems such as the operating parameter measurement of hoisting crane, security monitoring, operation control, so the energy flow of hoisting crane of the present invention gets rid of stopped status to operating mode.

9.1, the energy flow of hoisting crane is to operating mode, is a very important state parameter;

The present invention is understood for convenience of description, the parameter setting method of agree as follows 9.2 and 9.3 of the present invention with those skilled in the art:

9.2, in aftermentioned embodiment of the present invention, when motor is in motoring condition, the speed Vq of motor speed n1, hoisting crane be all about decided to be on the occasion of; Each electric driving force parameter (electric power, electromagnetic torque Te, torque current iq, current of electric Io) be on the occasion of; The mechanical drive calculated according to electrical energy also on the occasion of, represent that motor is now in state electric energy conversion being become mechanical energy;

9.3, in aftermentioned embodiment of the present invention, when motor is in motor braking state, the speed Vq of motor speed n1, hoisting crane be still about decided to be on the occasion of: each electric driving force parameter (electric power, electromagnetic torque Te, torque current iq) is negative value; The mechanical drive calculated according to electrical energy is also negative value, represents that motor is now in state changes mechanical energy being become electric energy;

9.4, the energy flow of hoisting crane for reference provided by the invention is as follows to the recognition methods of operating mode:

9.4.1, the recognition methods of hoisting crane service direction is as follows: the signal that can read central controller, or the control command of motor driver or status information (rotating forward, reversion etc. as frequency converter), or (as passed through rotary encoder) measure the direction of the rotating speed of motor, all can simply obtain hoisting crane service direction;

9.4.2, the recognition methods of motor operating condition is as follows:

The recognition methods 1 of motor operating condition for reference:

First obtain electromagnetic torque Te and the motor speed n1 of motor, and then identify as follows:

When Te and n1 direction is identical, identifiable design current motor operating condition is: motoring condition;

When Te and n1 direction is contrary, identifiable design current motor operating condition is: motor braking state;

According to aforementioned agreement, then can naturally identify motor operating condition according to the positive and negative of Te.

The operation mode recognition method 2 of alternating current dynamo for reference:

When Udc is less than the peak value of U2i, current motor operating condition trends towards motoring condition;

When Udc is greater than the peak value of U2i, current motor operating condition trends towards motor braking state;

The motor operation mode recognition method 3 of AC induction motor for reference:

As n1<n0, current motor operating condition trends towards motoring condition;

As n1>n0, current motor operating condition trends towards motor braking state;

The recognition methods 4 of motor operating condition for reference: the motor driver of part model is as four-quadrant frequency converter, and also by reading its internal state word, Direct Recognition judges motor operating condition;

The recognition methods 5 of motor operating condition for reference: when driving source parameter positive and negative of non-electrical dynamical parameter type is measured (as adopted the dynamical parameter signal of torque sensor measurement mechanical revolving part), then according to the positive and negative identifiable design motor operating condition of this driving source parameter; When the value of this driving source parameter is that timing can judge that motor operating condition is motoring condition, when the value of this driving source parameter is for judging that motor operating condition is motor braking state time negative;

Critical switch area recognition methods 1 for reference:

In motor operating condition, no matter be at motoring condition, or motor braking state, all comprise more special stage: critical switch area; When motor is in the critical switch area of motoring condition, mean and be easy to enter motor braking state; When motor is in the critical switch area of motor braking state, means and be easy to enter motoring condition;

When motor operating condition is in critical switch area, the accuracy of calculating may be affected, can the calculating of Stopping parameters or monitoring; One critical conditions recognitiion gate limit value Te_gate can be set, when | during Te|<Te_gate, can judge that current motor operating condition is in critical switch area;

9.4.3, the file content of comprehensive above-mentioned 9.4.1 and 9.4.2, identifiable design goes out the energy flow of hoisting crane to operating mode;

10, network system of the present invention, comprises and is not limited to: various wired or wireless mobile 3G, 4G net, internet, Internet of Things etc.; Network system can comprise corresponding human-computer interaction interface, memory system, data processing system etc.; Relevant personnel or mechanism (as operating personal, security control personnel) is run by network system in real time or condition monitoring process hoisting crane operation conditions to hoisting crane.

Special declaration 1: in aftermentioned the provided all embodiments of the present invention, the acquisition methods of value of arbitrary lifting operational factor and the energy flow of hoisting crane are to the recognition methods of operating mode, aforesaid method all can be adopted to carry out, can certainly carry out with reference to other existing known technology; Any described in the present invention imposes a condition, condition of service, threshold values, the time, the cycle, data assignment etc., all can be adjusted depending on demand by system, running environment or user, not single, changeless value.Such as when line voltage fluctuation, the maximum safe limit threshold values of electric power needs adjustment.

The second part: concrete summary of the invention of the present invention and specific embodiment as follows:

Technical matters one:

One of the technical problem to be solved in the present invention is to provide a kind of technical scheme of measuring and calculating of new lifting operational factor; So that more analyse in depth the safe in operation situation of the hoisting crane of understanding, control method and the system of being convenient to other carry out more deep security monitoring or efficient, Energy Saving Control on its basis.

The object of the invention is to be achieved through the following technical solutions:

1. the invention provides a kind of measuring method of lifting operational factor, described measuring method comprises the steps 1A1,1A2:

1A1. obtains the value of the input parameter of hoisting crane;

1A2. calculates described join operation value according to the value of the input parameter of described acquisition.

In above-mentioned acquisition methods, when measuring and calculating object is lifted load, input parameter at least comprises driving source parameter and system operational parameters; When measuring and calculating object is driving source parameter, input parameter at least comprises lifted load and system operational parameters; When measuring and calculating object is system operational parameters, input parameter at least comprises lifted load and driving source parameter.

Apparent, as shown in arbitrary formula in formula 19-1, formula 19-4-1, formula 19-4-2, formula 19-5, the parameter on the right of this formula is input parameter, and the parameter on this formula left side is measuring and calculating object, also can be described as output parameter.

2. further, the operation energy equilibrium that hoists described in described measuring method calculates and also meets at least one condition in following 2A1,2A2:

When the parameter that 2A1. runs energy equilibrium calculating when hoisting described in participating in comprises efficiency factor, adjust described efficiency factor according to motor operating condition;

When electric driving force parameter comprises electric power in the parameter that 2A2. runs energy equilibrium calculating when hoisting described in participating in, carry out the setting of described electric power according to motor operating condition.

Further, in the parameter running energy equilibrium calculating that hoists described in participation, included acceleration/accel is for obtain according to acceleration pick-up measurement.Acceleration/accel according to the account form such as detection speed or rotation speed change gained: aj=(Vq_1-Vq_0)/t; First which obtains detection speed Vq, when hoisting crane low cruise, because Vq is much smaller than full scale, causes measured error large, and especially close to zero-speed operation be, this error is larger, substantially cannot be practical; And record acceleration/accel according to acceleration pick-up, have the advantage that response is fast and precision is high, can be good at being applicable to low cruise, especially zero-speed is run, and can significantly improve the estimation precision of lifting operational factor;

And the more important thing is: because no matter hoisting crane is promote or landing, first inevitable from zero-speed, progressively accelerate to acceleration; Such as promote freight container, the most important thing is that the liftoff before measurement of this freight container measures its weight, first judge whether it overloads/whether this abandons promoting/send alarm signal, then the planning of science activities of aimed acceleration/target pick-up time, target velocity can just be carried out, be raised to a certain degree until speed, be just applicable to adopting other mode acceleration measurements; So acceleration pick-up acceleration measurement and then run energy equilibrium with hoisting and calculate and combine, uses it for and weighs and then carry out speed planning, run for overload crane/also i.e. crane safety, improved efficiency is significant.

Further, in this measuring method, can by this measuring and calculating object join operation value be used for:

Compare to judge that whether the energy transferring situation of described hoisting crane is abnormal with the reference data of described measuring and calculating object; And/or,

When this measuring and calculating object is lifting article quality, judge whether the join operation value calculating object is greater than the nominal payload of described hoisting crane to judge whether described hoisting crane overloads; And/or,

When this measuring and calculating object be hoisting speed, sinking speed, acceleration promote time acceleration/accel, fall-retarding time acceleration/accel in one or more parameter time, according to this measuring and calculating object join operation value control described hoisting crane run; And/or,

When this measuring and calculating object is driving source parameter, according to this measuring and calculating object join operation value whether be greater than the maximum safe limit threshold values of described driving source parameter to judge whether the driving source parameter of described hoisting crane transfinites; And/or,

Preserve and/or export described join operation value, to carry out the analysis of crane operating data, to judge this hoisting crane whether et out of order or analyze the reason of fault.Further, when described measuring and calculating object is any one parameter in the intrinsic parameter of system, described join operation value is exported and/or preserves; When described measuring and calculating object is arbitrary parameter in the hoisting crane operational factor except the intrinsic parameter of system, also obtain a reference value of described measuring and calculating object, described join operation value and described a reference value are exported and/or preserve, and/or the difference of described join operation value and described a reference value is exported and/or preserves.

The intrinsic parameter of system and the power of hoisting crane or the wearing and tearing/of drive disk assembly or aging/or safety case tight association, just can analyze the operating data of hoisting crane, thus judge this hoisting crane whether et out of order or analyze the reason of fault.When being other lifting operational factors except the intrinsic parameter of system for measuring and calculating object, because a reference value of the type parameter (as speed) and join operation value be possibility fluctuation all, at this moment iff relying on its a reference value or join operation value separately, cannot realize judging this hoisting crane whether et out of order or the reason of fault is analyzed, so need to export and/or preserve a reference value and join operation value simultaneously; The difference of join operation value and a reference value is exported and/or preserves with to export and/or preserve the join operation value calculating object identical with a reference value meaning.

The useful meaning of this 2A1 technical scheme: from energy conservation principle analysis, when motor is in motoring condition, it is mechanical energy that motor absorbs electric energy conversion, and electric driving force parameter need be multiplied with the efficiency factor (as Kem1) being less than 1; When motor is in motor braking state, motor absorbs mechanical energy and is converted into electric energy, and electric driving force parameter need be less than the efficiency factor (as Kem2) of 1 divided by one; Namely be that to absorb electric energy conversion be that mechanical energy or motor absorb mechanical energy and be converted into electric energy to motor according to operating mode in other words according to operating mode to be motor be motoring condition or braking mode, carry out regulated efficiency coefficient calculation method, thus regulated efficiency coefficient, the method for calculating adjusting described efficiency factor according to motor operating condition is significant for the accuracy improving calculation of parameter;

The useful meaning of this 2A2 technical scheme: when motor is in motoring condition, it is mechanical energy that motor absorbs electric energy conversion, the power of electric system when now this electric power must select motoring condition; When motor is in motor braking state, motor absorbs mechanical energy and is converted into electric energy, the power (as electrification feedback B.P. P4 or dynamic braking power P5 etc.) of electric system when now this electric power must select motor braking state; The character of each electric power is completely different, and the size possibility difference of each electric power is huge; The type of carrying out described electric power according to motor operating condition is arranged, under different operating modes, different according to the type of electric power, arranging participates in hoisting runs the corresponding power parameter of energy equilibrium calculating, not only can improve calculation of parameter precision, the prior optimum configurations mistake that prevents causes erroneous results to cause controlling the security risks of error;

3. the present invention also provides a kind of calculating system of lifting operational factor, and described calculating system comprises input parameter acquisition module (1), computing module (2);

Described input parameter is that the join operation of the measuring and calculating object calculating described hoisting crane is worth required parameter, the described operation energy equilibrium that hoists that is calculated as calculates, and described measuring and calculating object comprises any one parameter in lifted load, driving source parameter, system operational parameters; The driving source parameter comprised in described input parameter and described measuring and calculating object is electric driving force parameter; And described in hoist run energy equilibrium calculate meet at least one condition in following 3A11,3A12,3A13:

4. further, described calculating system and described in hoist and run energy equilibrium and calculate and also meet at least one condition in following 4A1,4A2:

When the parameter that 4A1. runs energy equilibrium calculating when hoisting described in participating in comprises efficiency factor, adjust the method for calculating of described efficiency factor according to motor operating condition;

When in the parameter that 4A2. runs energy equilibrium calculating when hoisting described in participating in, electric driving force parameter comprises electric power, the type of carrying out described electric power according to motor operating condition is arranged.

The measuring method of a kind of lifting operational factor provided by the invention and the implementation of system as follows:

Join operation value of the present invention, refers to the approach of a kind of data type/or data acquisition, represents that this numerical value is not obtained by actual measurement, but calculates gained by the data of other types, especially runs energy equilibrium to hoist and calculates gained, the join operation value of speed and/or acceleration/accel is such as gone out by lifted load computation of table lookup, or gone out the join operation value of speed and/or acceleration/accel by lifted load and driving source parameter computation of table lookup, or run to hoist the join operation value that energy equilibrium calculates speed and/or acceleration/accel by lifted load and driving source parameter, the present invention is by carrying out deep study and analysis to the structure of hoisting crane and principle of work: the operation essence of hoisting crane is exactly energy transfer process, hoisting of hoisting crane runs the combination that energy equilibrium calculating essence is energy conservation principle and Newton's second law (F=m*a) and hoisting crane operation characteristic three, therefore, join operation value essence in the present invention calculated by the lifting operational factor calculated outside object, comprise computation of table lookup and hoist and run energy equilibrium calculating, if measuring and calculating is to when liking lifted load, calculation of parameter income value according at least comprising system operational parameters and/or driving source parameter is join operation value, when measuring and calculating object is driving source parameter, calculation of parameter income value according at least comprising lifted load and/or system operational parameters is join operation value, when measuring and calculating object is system operational parameters, calculation of parameter income value according at least comprising lifted load and/or driving source parameter is join operation value.Should be understood that, from the number of the input parameter of join operation value, computation of table lookup is run the difference that energy equilibrium calculates and is with hoisting: the input parameter of computation of table lookup is at least a kind of parameter, and the operation energy equilibrium calculating that hoists is at least two kinds.

In the present invention, participate in hoisting and run the parameter that energy equilibrium calculates and comprise a certain parameter and have subordinate's implication: hoist and run energy equilibrium and calculate and has input and output parameter (namely calculating the join operation value of object), those input and output parameters jointly form to participate in hoisting and run the parameter that energy equilibrium calculates.Therefore, participate in hoisting and run parameter that energy equilibrium calculates and comprise a certain parameter and refer to that this certain parameter both can be input parameter also can be output parameter.

Easy in order to describe, " hoisting and run energy equilibrium calculating " described in the present invention also can be written as " calculating of crane lifting moving equilibrium "; " hoist and run energy equilibrium calculating " of the present invention, refers to go to calculate another kind of parameter according to two kinds of parameters any in lifted load, driving source parameter, system operational parameters.This hoist run energy equilibrium calculate normally with hoisting crane run energy equilibrium for computation rule, be understandable that in following each embodiment in the present invention and formula, the formula relevant to power balance and its essence of the correlation formula of force balance also belong to the calculating that energy equilibrium is rule; Because power also can be regarded as the energy in the unit time, so power balance is also the energy equilibrium in the unit time, be multiplied by the formula two ends that power balance is correlated with the formula that the equal time is exactly energy equilibrium respectively; Power also can be regarded as the energy of unit time unit miles of relative movement, and the energy equilibrium of force balance Ye Ji unit time unit miles of relative movement, the formula of corresponding time and corresponding miles of relative movement i.e. energy equilibrium is multiplied by the correlation formula two ends of force balance.

Therefore of the present invention hoisting runs energy equilibrium except comprising hoisting crane operation characteristic and being combined with conservation of energy theorem, if desired also with Newton's law (newton's first law of motion, in Newton interpolation algorithm and newton's third law of motion any one or multiple) combine, namely lifting runs energy equilibrium and its essence is conservation of energy theorem, the combination of hoisting crane operation characteristic and Newton's law, when so-called combination refers to and carries out above-mentioned calculating, calculating is a, go to adopt lifted load by conservation of energy theorem and hoisting crane operation characteristic, driving source parameter, in system operational parameters, two kinds of parameters go to calculate another kind of parameter, or b, under meeting the prerequisite of conservation energy, go to adopt lifted load by Newton's law and hoisting crane operation characteristic, driving source parameter, in system operational parameters, two kinds of parameters go to calculate another kind of parameter, or c, pass through conservation of energy theorem, Newton's law and hoisting crane operation characteristic go to adopt lifted load, driving source parameter, in system operational parameters, two kinds of parameters go to calculate another kind of parameter.

In conjunction with following embodiment 1-10 etc., apparent known, go to calculate another kind of parameter according to two kinds of parameters any in lifted load, driving source parameter, system operational parameters in the present invention, the parameter participating in this calculating also may comprise other data further, and the operation energy equilibrium that namely hoists calculates the data be often referred to according to any two kinds of parameters at least comprised in lifted load, driving source parameter, system operational parameters and goes to calculate another kind of parameter.As when in formula 1-1, embodiment 6 etc. in embodiment 1, measuring and calculating object is article quality m1, the parameter participating in calculating also comprises the m0 in lifted load; In formula 4-13 in embodiment 4, when measuring and calculating object is the friction force fr of revolving part in system operational parameters, the parameter participating in calculating also comprises acceleration due to gravity; When to calculate object in embodiment 10 in formula 4-29-1 be the hoisting crane speed in system operational parameters, the parameter participating in calculating also comprises Kem2, g, K14 in system operational parameters, and do not enumerate here, concrete can with reference to following each embodiment.

When measuring and calculating object is lifted load, the join operation value of described lifted load calculates gained according to driving source parameter and system operational parameters, certainly participates in the required parameter of this calculating and also may comprise other data further; Also, namely when measuring and calculating object is lifted load, described join operation value can calculate gained according to the data at least comprising driving source parameter and system operational parameters.

When measuring and calculating object is driving source parameter, the join operation value of described driving source parameter calculates gained according to lifted load and system operational parameters, certainly participates in the required parameter of this calculating and also may comprise other data further; Also, namely when measuring and calculating object is driving source parameter, described join operation value can calculate gained according to the data at least comprising lifted load and system operational parameters.

When measuring and calculating object is system operational parameters, the join operation value of described system operational parameters is according to lifted load and driving source calculation of parameter gained; The required parameter of this calculating of certain participation also may comprise other data further, as other the system operational parameters except measuring and calculating object; Also, namely when measuring and calculating object is system operational parameters, described join operation value can calculate gained according to the data at least comprising lifted load and driving source parameter.

What most typical hoisting crane ran hoist runs energy equilibrium computing formula as (m1+m0) * g=(Kem1*Te) * im/R1, and what hoisting crane ran hoist runs energy equilibrium computing formula infinite shape changeable, deduction;

Of the present invention " described in hoist run energy equilibrium calculate associate with the operating condition of described hoisting crane "; Refer to a kind of character of this calculating, this result of calculation is applicable to hoisting crane landing operating mode; And non-limitingly must to calculate in " hoisting crane landing operating mode "; Such as can when crane at zero speed run, calculate the value of sinking speed and/or landing brief acceleration with the maximum safe limit threshold values of the electric driving force parameter of hoisting crane and the currency of lifted load, this value can be used as operation upper limit threshold values during hoisting crane landing usually; Such as can when crane at zero speed runs, calculate the value of driving source parameter with the currency of sinking speed and/or the landing preset instructions value of brief acceleration and lifted load, this value is generally used for judging that driving source parameter (the comprehensive pulling force as steel rope) understands no transfiniting;

The calculating of crane lifting operating mode is fairly simple, as known from prior art computation model 1: when zero-speed is run, V is zero, and this model cannot use; During relative to full speed, when low cruise V value very young pathbreaker cause measured error to increase exponentially; And in this model 1, U, I, v tetra-parameters all need to measure, and measure cost high, error is large;

The invention provides computation model 2:(m1+m0) * g=(Kem1*Te) * im/R1, only need measurement parameter Te; And modern high performance motor driver, the Measure Precision of electromagnetic torque or vector current can reach 1%, and without the need to additional measurement mechanism, directly can read motor driver internal data can obtain;

So be compared to described computation model 1, computation model 2 both can use when zero-speed, low speed, and Applicable scope is broad, and it is low to measure cost, and error is little, and design accuracy is high; Especially each lifting flow process of hoisting crane is inevitable from zero-speed, and then low speed, finally just to high speed; So technical scheme provided by the invention, for the measuring and calculating of hoisting crane operational factor, energy transferring condition monitoring, weigh, overload protection, the acceleration/accel anti-wire cable rupture that transfinites has great improvement meaning.

Of the present invention " described in hoist run energy equilibrium calculate associate with the operating condition of described hoisting crane ", comprise any one or two schemes in following hoisting crane landing operating mode association 1, hoisting crane landing operating mode association 2, and according to program distortion, the incidence relation that derives from;

Hoisting crane landing operating mode association 1: when crane lifting, the weight component that lifted load m2 and gravity acceleration g produce is energy absorbing factor; When hoisting crane lands: the weight component that lifted load m2 and gravity acceleration g produce is fault offset factor; According to this fault offset rule, when hoisting crane lands, lifted load m2 is arranged from the weight component that gravity acceleration g produces and crane lifting time different computing formula;

Such as shown in aftermentioned computing formula 4-1, formula 4-2, formula 3-2, formula 4-3, formula 4-4;

Hoisting crane landing operating mode association 2: when hoisting crane lands, identical when the computing formula of lifted load and the weight component that gravity acceleration g produces and crane lifting, but when hoisting crane lands the positive-negative polarity of handover source dynamical parameter;

As with reference to aftermentioned formula 3-1, during crane lifting, adopt computing formula 4-100:

(m1+m0) * g=(Kem1*Te) * im/R1, (formula 4-100);

Computing formula 4-101 is adopted during hoisting crane landing:

(m1+m0) * g=-(Te/Kem2) * im/R1, (formula 4-101);

Or when hoisting crane lands, do not change the form of computing formula 4-100, but substantial ((Kem1*Te) * im/R1) is switched to negative value; As when crane lifting force Te be on the occasion of, when hoisting crane lands pressure Te be negative value.

In above-mentioned hoisting crane landing operating mode association 2, when crane lifting, hoisting crane landing, the positive-negative polarity of handover source dynamical parameter is necessary step, otherwise result of calculation will be caused to make mistakes.

And in actual applications, hoisting crane landing operating mode association 1 wants effectively clear compared with heavy-duty machine landing operating mode association 2; Hoisting crane landing operating mode association 1 more meet hoisting crane run in energy flow to rule; Because with the positive and negative embodiment motor operating condition of driving source parameter, than more scientific with the positive and negative embodiment hoisting crane service direction of driving source parameter; Hoisting crane landing operating mode association 2 easily makes calculation expression complicated, chaotic.

" adjusting the method for calculating of described efficiency factor according to motor operating condition " of the present invention, in the present invention referred to as " adjusting described efficiency factor according to motor operating condition ", it refers to carry out any one or multiple processing scheme in following motor operating mode association 1, motor operating mode association 2 according to energy conservation principle, and according to the distortion of this processing scheme, derived scheme;

Motor operating mode association 1: when motor is in motoring condition, it is mechanical energy that motor absorbs electric energy conversion, and its electric driving force parameter is multiplied with the efficiency factor (as Kem1) being less than 1;

Motor operating mode association 2: when motor is in motor braking state, motor absorbs mechanical energy and is converted into electric energy, and its electric driving force parameter is less than the efficiency factor (as Kem2) of 1 divided by one;

" type of carrying out described electric power according to motor operating condition is arranged " of the present invention, in the present invention referred to as " carrying out the setting of described electric power according to motor operating condition ", it comprises any one or kinds of schemes in following motor operating mode association 3, motor operating mode association 4, and according to program distortion, the scheme that derives from;

Motor operating mode association 3: when motor is in motoring condition, it is mechanical energy that motor absorbs electric energy conversion, the power (the motoring condition power as power supply or the device such as motor driver or motor) of electric system when now this electric power is chosen as motoring condition;

Motor operating mode association 4: when motor is in motor braking state, motor absorbs mechanical energy and is converted into electric energy, the power (as electrification feedback B.P. P4 or dynamic braking power P5 etc.) of electric system when now this electric power is chosen as motor braking state;

The velocity variations situation of hoisting crane of the present invention, be divided into travel at the uniform speed, variable-speed operation; Wherein, travel at the uniform speed described in can comprise zero-speed run and/or non-zero travel at the uniform speed; Wherein, described variable-speed operation comprises Accelerating running, runs slowly;

The velocity variations situation association principle of hoisting crane is as follows: during Accelerating running, the shift force component that lifted load and acceleration/accel produce is energy absorbing factor; When running slowly, the shift force component that lifted load and acceleration/accel produce is fault offset factor; When traveling at the uniform speed, acceleration/accel is zero, and the shift force component that lifted load and acceleration/accel produce also is zero.

" parameter running energy equilibrium calculating that hoists described in participation comprises acceleration/accel " of the present invention, speed also can be claimed to become association 1, refer to that the operation energy equilibrium that hoists described in degree of will speed up participates in calculates according to above-mentioned velocity variations situation association principle;

" described velocity variations situation and described hoisting also are run energy equilibrium compute associations by identification velocity variations situation " of the present invention, also can be described as speed and become association 2, refer to the velocity variations situation first identifying hoisting crane, according to above-mentioned velocity variations situation association principle, traveling at the uniform speed, variable-speed operation time carry out respectively described in hoist and run energy equilibrium and calculate or process.

The identification of velocity variations situation, identifies by acceleration/accel aj value: when hoisting crane runs aj be 0 or be less than a certain default threshold values time, then the velocity variations situation that identifiable design is current is that non-zero travels at the uniform speed; When aj be not 0 or be greater than a certain default threshold values time, then the velocity variations situation that identifiable design is current is variable-speed operation; Wherein, acceleration/accel aj value can adopt aforementioned multiple obtain manner (as by acceleration pick-up or speed Vq or rotating speed n1 etc.); Also by motor driver acquisition of information (as existing frequency converter generally have at the uniform velocity overcurrent, accelerate the information such as overcurrent, can extraction rate changing condition by this information); Also has more easy mode, velocity variations situation is distinguished by time of run, the Accelerating running time as motor driver (as frequency converter etc.) is 2 seconds, then setting within 3 seconds is upon actuation the variable-speed operation time period, for non-zero travels at the uniform speed the time period after 3 seconds;

Because in hoisting crane runs, startup, zero-speed operation, Accelerating running must be experienced, travel at the uniform speed, run slowly, zero-speed operation, the step such as shutdown; During calculating, adopt speed to become association 1, or speed become association 2 mode, just can obtain result of calculation accurately; Its middling speed become association 1 than speed become association 2 more scientific, even if at the uniform velocity with all can obtain accurate result during speed change; Although speed becomes association 2 can obtain accurate result, cannot calculate when may appear at speed change, Applicable scope narrows; And after needing wait to cross Accelerating running interval, enter when traveling at the uniform speed, could launch measuring and calculating, so efficiency is low, Measuring Time is long.

Such as, calculate lifting total mass m2 according to the driving source parameter of hoisting crane and system operational parameters, then m2 is the join operation value directly obtained; Calculate lifting article quality m1 or spreader assembly quality m0 again according to lifting total mass m2, then m1 or m0 is the join operation value indirectly obtained;

Join operation value of the present invention, for any one parameter (as m2/ or m1/ or m0) is according to the numerical value of join operation gained, and this numerical value is relatively complete for this measuring and calculating object, and this parameter is not split or rejected the actual value of this parameter; The measuring and calculating object that a reference value of the present invention is often referred to hoisting crane and the actual value when described join operation value value close to or equal numerical value; Apparent, actual value described in the present invention, is generally natural, the real numerical value of a certain attribute of certain object;

Such as: the join operation of lifting article quality is worth available m1 and represents, a reference value can represent with m1_org;

Such as: the join operation of lifting total mass is worth available m2 and represents, a reference value can represent with m2_org;

Indicate 1 especially: understand the present invention with those skilled in the art for convenience of description: when measuring and calculating object is lifted load, join operation value or non-join operation value all can directly represent with parameter name m1 or m2; When calculate object be driving source parameter or system operational parameters time, the expression formula of join operation value may add a suffix after parameter name: _ cal; As the parameter name aj of acceleration/accel, join operation value aj_cal represents; As the parameter name V1 of hoisting speed, join operation value V1_cal represents; Comprehensive pulling force parameter as steel rope is called F1, and this join operation value F1_cal or μ 1_cal represents; All suffix are the data of (_ cal), representing that these data are calculate the join operation value of gained by running energy equilibrium to hoist, distinguishing with the data obtained with other modes (as measured value or artificial given value or system default value).

Following embodiment 1, embodiment 2, embodiment 3, embodiment 4, embodiment 5 and relevant alternative (or extension) embodiment are the detailed description of the invention of the measuring method of a kind of lifting operational factor provided by the invention:

Embodiment 1: the present embodiment comprises the steps 1A1,1A2:

The comprehensive tensile force f 1 of steel rope on the spreader assembly that 1A1. obtains hoisting crane, spreader assembly quality m0, play the value of heavy articles acceleration/accel aj, gravity acceleration g, calculate lifting article quality m1 (or calculating the value of m2 or m0) according to following formula 1-1 (this formula meets the principle of energy balance that hoisting crane runs);

When hoisting crane accelerates to promote: m1=F1/ (g+aj)-m0, (formula 1-1)

1A2. calculates the value of lifting article quality m1, exports m1 value (in spreader assembly read-out);

The alternate embodiment 1 of embodiment 1: reference example 1, can calculate the join operation value F1_cal of the comprehensive pulling force of steel rope on spreader assembly, computing formula is:

When hoisting crane accelerates to promote: F1_cal=(m1+m0) * (g+aj), (formula 1-2);

Embodiment 2: reference example 1, can calculate the join operation value aj_cal of acceleration/accel, computing formula is:

When hoisting crane accelerates to promote: aj_cal=F1/ (m1+m0)-g, (formula 1-3);

Embodiment 3: the present embodiment comprises the steps 3A1,3A2:

3A1. identifies that the energy flow of hoisting crane is to operating mode, identify the velocity variations situation of hoisting crane, driving torque T1, spreader assembly quality m0 on the reel that (as by being arranged at the modes such as torque sensor measurement on reel) obtains hoisting crane, playing the value of heavy articles acceleration/accel aj, gravity acceleration g, calculating the value of lifting article quality m1 according to following Formula Series (this formula meets the principle of energy balance that hoisting crane runs);

3A1-1. when energy flow be crane lifting to operating mode, and velocity variations situation is non-zero when traveling at the uniform speed, and the principle of energy balance computing formula 3-1 that hoisting crane runs is as follows:

(m1+m0) * g=T1/R1, (formula 3-1);

3A1-2. when energy flow be hoisting crane landing to operating mode, and velocity variations situation is non-zero when traveling at the uniform speed, and the principle of energy balance computing formula 3-2 that hoisting crane runs is as follows:

-(m1+m0) * g=T1/R1, (formula 3-2);

3A1-3., when velocity variations situation is variable-speed operation, can take any one processing mode in the process of following 3A1-3-1 or the calculating described in following 3A1-3-2:

3A1-3-1: the status information exporting " in hoisting crane speed change ";

3A1-3-2: according to the different combination to operating mode of the velocity variations situation of hoisting crane and energy flow, can to carry out in following 3A1-3-2-1,3A1-3-2-2,3A1-3-2-3,3A1-3-2-4 any one or multiple computing;

3A1-3-2-1. is when accelerating to promote, and computing formula 3-3 is as follows:

(m1+m0) * g+ (m1+m0) * aj=T1/R1, (formula 3-3);

When 3A1-3-2-2. promotes when slowing down, still use formula 3-3, acceleration/accel is negative value;

3A1-3-2-3. is when accelerating landing, and computing formula 3-5 is as follows:

-(m1+m0) * g+ (m1+m0) * aj=T1/R1, (formula 3-5);

3A1-3-2-4., when fall-retarding, still uses formula 3-5, and acceleration/accel is negative value

3A2. calculates the value of lifting article quality m1, export and/preserve the value of m1 in read-out, central controller system, network system in spreader assembly in any one or multiple systems;

The alternate embodiment 1 of embodiment 3: reference example 3, can using in formula arbitrary in embodiment 3 except lifting article quality m1 any one parameter as measuring and calculating object (as selected m0, T1 etc.), obtain the value being worth required parameter by the join operation of this formulae discovery measuring and calculating object, calculate the join operation value of this measuring and calculating object; Such as adopt the join operation value of the deformation formula measuring and calculating T1_cal of formula 3-1: T1_cal=(m1+m0) * g*R1, (formula 3-7)

The extension embodiment 1 of embodiment 3: in any one or more formula in embodiment 3 and alternate embodiment thereof, the friction associated data (as friction force fr) of mechanical revolving part can be increased;

Such as formula 3-1 is extended to following formula 3-8:

(m1+m0) * g+fr=T1/R1, (formula 3-8);

The friction associated data of described mechanical revolving part is any one or many kinds of parameters in friction force, friction coefficient, friction torque; The friction force fr of machinery revolving part mainly comprises friction drag on reel and leading sheave, its root is spreader assembly, rise heavy articles produce the friction drag of gravity and then formation; Fr ≈ (m1+m0) * g* μ 1; μ 1 is the rolling frictional resistance coefficient of reel and leading sheave; The friction force fr of revolving part is then in esse parameter, certainly because its value is low, also negligible compared to lifting total force ((m1+m0) * g); This explanation is also applicable to other embodiments of the present invention.

Embodiment 4: the present embodiment comprises the steps 4A1,4A2:

4A1. identifies that the energy flow of hoisting crane is to operating mode (electric hoist, motor braking lands), (non-zero travels at the uniform speed the velocity variations situation of identification hoisting crane, Accelerating running, run slowly), (as reading data of frequency converter) obtains the electromagnetic torque Te of motor, the efficiency factor Ke1 of motor and/or Ke2, the efficiency factor Km1 of machine driven system and/or Km2, comprehensive transmitting ratio im, spreader assembly quality m0, play heavy articles acceleration/accel aj, the value of gravity acceleration g calculates the value of lifting article quality m1 according to following Formula Series (this formula meets the principle of energy balance that hoisting crane runs),

4A1-1. when energy flow be electric hoist to operating mode, and velocity variations situation is non-zero when traveling at the uniform speed, and the principle of energy balance computing formula 4-1 that hoisting crane runs is as follows:

(m1+m0) * g=(Kem1*Te) * im/R1, (formula 4-1);

4A1-4. is when motor braking landing+non-zero travels at the uniform speed, and computing formula 4-4 is as follows:

-(m1+m0) * g=(Te/Kem2) * im/R1, (formula 4-4);

4A1-5., when velocity variations situation is variable-speed operation, can take any one processing mode in the process of following 4A1-5-1 or the calculating described in following 4A1-5-2:

4A1-5-1: the status information exporting " in hoisting crane speed change ";

4A1-5-2: according to the different combination to operating mode of the velocity variations situation of hoisting crane and energy flow, can to carry out in following 4A1-5-2-1,4A1-5-2-3,4A1-5-2-6,4A1-5-2-8 any one or multiple computing;

4A1-5-2-1. is when Accelerating running+electric hoist, and computing formula 4-5 is as follows:

(m1+m0) * g+ (m1+m0) * aj=(Kem1*Te) * im/R1, (formula 4-5);

4A1-5-2-3. when running slowly+electric hoist time, still use formula 4-5, acceleration/accel is negative value;

4A1-5-2-6. is when Accelerating running+motor braking landing, and computing formula 4-10 is as follows:

-(m1+m0) * g+ (m1+m0) * aj=(Te/Kem2) * im/R1, (formula 4-10);

4A1-5-2-8. when running slowly+motor braking landing time, use formula 4-10, acceleration/accel is negative;

4A2. above-mentioned formula 4-1 is female formula to formula 4-10, and in this series, arbitrary formula all can be simply deformed into the Direct calculation formulas of lifting article quality m1, as formula 4-1 is deformed into down:

M1=((Kem1*Te) * im/R1-(m0*g))/g, (formula 4-1 deformation formula 1)

Calculate the join operation value of lifting article quality m1, export and/preserve the join operation value of m1 in read-out, central controller system, network system in spreader assembly in any one or multiple systems;

The extension embodiment 1 of embodiment 4: in embodiment 4 and other arbitrary any one or more formula substituted in (or extension) embodiment, the friction force fr of revolving part can be increased; Such as when non-zero travel at the uniform speed+electric hoist time, formula 4-1 is extended to following formula 4-13:

(m1+m0) * g+fr=(Kem1*Te) * im/R1, (formula 4-13);

The extension embodiment 2 of embodiment 4: can in embodiment 4 and other arbitrary any one or more formula substituted in (or extend) embodiment, the inside increasing towing machine comprehensively rotates the angular acceleration β that the rotor inertia L0 of rigid body and inside comprehensively rotate rigid body; Such as when Accelerating running+electric hoist, formula 4-5 is extended to following formula 4-14;

(m1+m0) * g+ (m1+m0) * aj+L0* β=(Kem1*Te) * im/R1, (formula 4-14);

The alternate embodiment 1 of embodiment 4: embodiment 4 and other arbitrary electromagnetic torque Te substituted in (or extension) embodiment can substitute by (Io*cos φ 1*Ko) or (k21*I2o*cos φ 2*Ko) or (k31*I3o*cos φ 3*Ko) or (iq*Ki) or (P (w) * 9.55/n1) arbitrary expression formula;

The alternate embodiment 2 of embodiment 4: embodiment 4 and other arbitraryly substitute in (or extend) embodiment:

During electric hoist, expression formula ((Kem1*Te) * im/R1) available (Kem1*Po/V1) or (k21*Kem1*P2i/V1) or (k21*Kem1*P3o/V1) arbitrary expression formula substitutes;

During motor braking landing, expression formula ((Te/Kem2) * im/R1) available ((P4/ (K14*Kem2))/V2) or ((P5/Kem2)/V2) arbitrary expression formula substitute;

The alternate embodiment 3 of embodiment 4: reference example 4, can using embodiment 4 and other arbitrary any one parameter that to substitute in (or extend) embodiment in arbitrary formula except lifting article quality m1 except as measuring and calculating object (as selection Kem1, m0, Te etc.), obtain the value being worth required parameter by the join operation of this formulae discovery measuring and calculating object, calculate the join operation value of this measuring and calculating object; As shown in following example 1,2,3;

Example 1: when non-zero travel at the uniform speed+electric hoist time, adopt the deformation formula 4-15 of formula 4-1 to calculate the join operation value of Te: Te_cal=(m1+m0) * g*R1/ (Kem1*im), (formula 4-15);

Example 2: when non-zero travel at the uniform speed+electric hoist time, the deformation formula 4-16 of formula 4-1 is adopted to calculate the join operation value of Kem1: Kem1_cal=((m1+m0) * g) * R1/ (Te*im), (formula 4-16);

Example 4: when Accelerating running+electric hoist, adopts the deformation formula 4-18 of formula 4-5 to calculate the join operation value of aj:

Aj_cal=((Kem1*Te) * im/R1-(m1+m0) * g)/(m1+m0), (formula 4-18);

The extension embodiment 3 of embodiment 4: in embodiment 4 and other arbitrary any one or more formula substituted in (or extension) embodiment, windage fw can be increased; Hoisting crane speed is higher, increases windage fw and can improve accuracy in computation.

As traveled at the uniform speed when non-zero+electric hoist time, formula 4-1 is extended to following formula 4-22-1;

(m1+m0) * g+fw=(Kem1*Te) * im/R1, (formula 4-22-1);

Embodiment 5: the present embodiment comprises the steps 5A1,5A2:

5A1. identifies that the energy flow of hoisting crane is to operating mode (electric hoist, motor braking land), identify the velocity variations situation (non-zero travels at the uniform speed, Accelerating running, run slowly) of hoisting crane, obtain the electric power Po of the motor of hoisting crane or electrification feedback B.P. P4 or resistance dynamic braking power P5, the efficiency factor Ke1 of motor and/or Ke2, the efficiency factor Km1 of machine driven system and/or Km2, comprehensive transmitting ratio im, spreader assembly quality m0, play the value of heavy articles acceleration/accel a, gravity acceleration g; Any one or multiple calculating is carried out in following 5A1-1,5A1-2,5A1-3,5A1-4 to operating mode and velocity variations situation according to different energy flows:

5A1-1. when energy flow be electric hoist to operating mode, and velocity variations situation is non-zero when traveling at the uniform speed, and calculates the join operation value V1_cal of hoisting crane speed according to following formula 5-1;

V1_cal=Kem1*Po/ ((m1+m0) * g), (formula 5-1);

It is electronic landing to operating mode that 5A1-2. works as energy flow, and this situation can be ignored;

5A1-4. when hoisting crane be motor braking landing+non-zero travel at the uniform speed time, calculate the join operation value V2_cal of hoisting crane speed according to following formula 5-4-1 (or 5-4-2); ;

V2_cal=(P4/ (K14*Kem2))/(-(m1+m0) * g), (formula 5-4-1);

V2_cal=(P5/Kem2)/(-(m1+m0) * g), (formula 5-4-2);

5A2. calculates the join operation value V1_cal of speed and/or the value of V2_cal, export and/to be saved in read-out in spreader assembly, central controller system, network system in any one or multiple systems;

Learn from above-described embodiment 3,4,5 analysis, even if hoisting crane is in when simply traveling at the uniform speed state, different energy flows is under operating mode, and the account form of the join operation value of measuring and calculating object all has structural difference; In existing known technology (Chinese patent application as application number 200910070779.3), have ignored the energy flow of hoisting crane to operating mode, so this computing formula be only applicable to hoisting crane electronic/promote run, be not suitable for and run when hoisting crane landing/motor braking.

The join operation value of measuring and calculating object has multiple account form, and one is computation of table lookup; As first preset the association table of lifted load, driving source parameter, system operational parameters; When input wherein any two kinds of parameters time, computation of table lookup can go out the value of another parameter; Such as obtain the driving source parameter of hoisting crane, the value of system operational parameters; The join operation value of lifted load is gone out according to the value computation of table lookup of this driving source parameter, system operational parameters; Because the structure of different hoisting crane, machine condition, a year condition vary; The join operation value being calculated measuring and calculating object by lookup table mode has a lot of limitation; One capacity constraint and the hardware device cost carrying out form, two carry out all parameters in form all needs to preset or learn to run; Form capacity is large/and optimum configurations is more, then and more high parameter setting/learning cost is higher for hardware cost;

One calculates with model (also can be described as mathematical formulae); The aforesaid embodiment 1,2,3,4,5 of the present invention is and calculates join operation value by model; If with the energy equilibrium model that hoisting crane runs, the join operation value of measuring and calculating object is obtained by mathematical computations mode, then only need pre-set model rule/or mathematical operation rule, adjust relevant parameter value, compared to computation of table lookup, can significantly reduce join operation value procurement cost/or increase substantially join operation value obtain precision low/energy transferring abnormal monitoring judges sensitivity.

A kind of measuring method of lifting operational factor provided by the invention and the useful meaning of system:

And the present invention carries out deep study and analysis by the structure of hoisting crane and principle of work, the operation energy equilibrium that hoists that is combined into of energy conservation principle and Newton's second law (F=m*a) and hoisting crane operation characteristic three is calculated, and calculates the join operation value of measuring and calculating object (as lifting article quality m1) according to this principle;

1A11 technical scheme, can solve the problem that prior art is not easy to the parameter calculating hoisting crane landing operating mode;

1A12 technical scheme: the measuring and calculating technology of electromagnetic torque or torque current belongs to the core technology point of modern power electronic, modern electrical machine control field; Electromagnetic torque or torque current have the advantage of precision high (1%), measuring and calculating cost low (can directly read); By electromagnetic torque or torque current is creationary runs energy equilibrium and calculate and combine with hoisting, for running in zero-speed, in low cruise, realize high precision, the lifting operational factor of low cost calculates has breakthrough meaning;

1A13 technical scheme, researching and analysing of acceleration/accel, usually belongs in rocket satellite vehicles control field and knows technology, and degree of will speed up is creationary to be run energy equilibrium and calculate and combine with hoisting, for in variable-speed operation, lifting operational factor is calculated there is breakthrough meaning;

By electromagnetic torque or torque current, acceleration/accel, hoist and run the core technology point that energy equilibrium calculates three technical fields and carry out creationary combination, no matter in zero-speed or low speed or variable-speed operation, all can realize high precision, low cost, parameter measurement rapidly and efficiently, the operation for hoisting crane controls to have important breakthrough meaning; On this basis, being convenient to build can the intelligent monitor system of energy transferring exception of automatic monitoring hoisting crane, be convenient to realize low cost, high-precision motor driver weighs/overload monitoring, is convenient to the License Value calculating mechanical operating parameters, to realize more efficient more energy-conservation control; Being convenient to transfinites to the carrying out of (will perform but not yet perform) driving source parameter predicts and monitoring, and the safe operation for hoisting crane is significant.

Technical matters two:

Two of the technical problem to be solved in the present invention is to provide the monitoring technique scheme that a kind of new hoisting crane runs; So that realize the monitoring to hoisting crane safe in operation situation (comprising the running resistance of object and spreader assembly in crane rail and/or hoisting crane hoistway) before lifting operational factor does not exceed maximum safe limit threshold values.

5. the present invention also provides a kind of hoisting crane being elevated the method for supervising (#1) when running, and comprises step; Obtain the join operation value of the measuring and calculating object of described hoisting crane, the energy transferring situation of hoisting crane according to the join operation value identification of the measuring and calculating object of described hoisting crane; Described measuring and calculating object be in lifting operational factor any one or multiple, described join operation value be based on hoist run energy equilibrium calculate gained.

6. further, at described method for supervising (#1), described in the join operation value identification of the described measuring and calculating object according to described hoisting crane, the energy transferring situation of hoisting crane is specially: judge that whether the energy transferring situation of described hoisting crane is abnormal according to the join operation value of the measuring and calculating object of described hoisting crane and the reference data of described measuring and calculating object.

7. further, at described method for supervising (#1), any one or kinds of schemes process also can be carried out in following 5B1,5B2; 5B1. as described in judged result to comprise be then start the energy transferring exception handling of setting;

5B2. exports and/or preserves the information of described energy transferring situation.

The implementation of this method for supervising (#1):

This method for supervising (#1) be the invention thought of the measuring method of previously described a kind of lifting operational factor basis on a kind of continuity, whether this continuity runs for the purpose of safety to monitor hoisting crane;

The core procedure 1 of this method for supervising (#1): the join operation value obtaining the measuring and calculating object of described hoisting crane;

The present invention is by carrying out deep study and analysis to the structure of hoisting crane and principle of work, energy conservation principle and Newton's second law (F=m*a) and hoisting crane operation characteristic three be combined into the principle of energy balance that hoisting crane runs, and calculate the join operation value of measuring and calculating object (as lifting article quality m1) according to this principle;

Obtain the join operation value of described measuring and calculating object, can be realized by multiple obtain manner; As read the join operation value that other system exports; As measured the join operation value of hoisting crane by monitored control system self measurement component; Or part exports data for reading existing installation, part is self take off data etc.;

Obtain the join operation value of the measuring and calculating object of hoisting crane, specifically can carry out with reference to following aforementioned many embodiments (as embodiment 1, embodiment 2, embodiment 3, embodiment 4, embodiment 5 etc.):

The core procedure 2 of this method for supervising (#1): the reference data according to described join operation value and described measuring and calculating object judges that whether the energy transferring situation of described hoisting crane is abnormal;

Reference data of the present invention, be the reference data of measuring and calculating object, also namely for the data of energy transferring situation identification, also be energy transferring situation identification data, individual data refers to and carries out the abnormal data that judge/compare of energy transferring or numerical value for coordinating with described join operation value, this is because cannot form complete comparison/judge computing.Reference data to comprise in a reference value, permissible aberration value, the first reference value any one or several data;

A reference value described in the present invention, also namely for a reference value of energy transferring situation identification, is also energy transferring situation identification a reference value; The value of permissible aberration described in the present invention also namely for the deviate of energy transferring situation identification, referred to as energy transferring situation identification deviate;

The present invention set forth a kind of technical scheme of theme, described a reference value, it must consider practicable technological means or implementation, and its value is naturally tied in concrete Selecting time and/or value mode; According to the concrete plan of establishment of reference data described later (as the choosing of the source of data or value approach, setting means, Selecting time etc.) and related embodiment (embodiment 1-10), apparently to learn: the difference of and/or actual value set-up mode different according to measuring and calculating object, a reference value of the present invention has multiple different Selecting time scope, multiple different codomain, can be realized by multiple different technical method or scheme.

A reference value of the present invention is the numerical value being subordinated to measuring and calculating object type and/or actual value set-up mode, and being the concept of an amplitude (being also size), is interlayer data; A reference value of the present invention be generally actual value with the measuring and calculating object of hoisting crane when join operation value value close to or equal numerical value; Described herein is usual, refers to majority of case, and time most of, the amplitude range of this reference value goes for the measuring and calculating object of most of type, as driving source parameter, mechanical operating parameters; As described in Example 9, when the setting means of a reference value is according to when set with the measured value in same time range during join operation value value, this reference value (also i.e. measured value) is generally the close or equal numerical value of actual value with the measuring and calculating object of hoisting crane when join operation value value;

As described in Example 6: when a reference value setting means for obtain according to while imposing a condition (meet) the setting of join operation value time, this reference value also naturally for the join operation value of this " (a certain specific) meets when imposing a condition " close to or equal numerical value; Because of the time that " (a certain specific) meets when imposing a condition " is (for arranging reference data) that user or system are specially specified, usually can be defaulted as now hoisting crane and work in normal condition, this reference value (also i.e. this join operation value) be generally with the actual value calculating object at " (a certain specific) meets when imposing a condition " close to or equal numerical value; The setting means of this kind of a reference value is applicable to when calculating object and being the intrinsic parameter of lifted load (m1, m2) or system usually; When measuring and calculating object is lifted load, because the value of lifted load changes not quite usually in the time period of same " hoisting crane is by engine installation controlling run ", thus the numerical value of this reference value usually still may with the measuring and calculating object of hoisting crane (for energy transferring situation abnormal judge obtain) join operation value value time actual value close or equal;

As described in Example 8: when the setting means of a reference value is according to when setting according to system default value, this a reference value (also i.e. this system default value) to be generally with this measuring and calculating object at the equal or close numerical value of the actual value of system default (usually also i.e. reference standard conditions under), is generally calibration value; The setting means of this kind of a reference value is applicable to usually when measuring and calculating object is fixing lifted load (m0, the m3) of the intrinsic parameter of system or amplitude.

Energy transferring situation of the present invention extremely can be abnormal referred to as energy transferring;

Energy transferring of the present invention is abnormal to comprise in following A 1-1, A1-3 any one or multiple situation:

A1-1. the difference of described join operation value and described a reference value exceeds described permissible aberration value;

A1-3. described join operation value exceeds the first reference value of described measuring and calculating object;

Analyze from inventive principle and supporting technology scheme and effect, above-mentioned A1-1 situation substantial equivalence is in A1-3 two kinds of situations; Analyze A1-1 situation from inventive principle and effect and be also equal to A1-4 situation, just both forms of signal input are different;

Wherein, described permissible aberration value comprises any one or more data in upper limit deviate, lower limit deviate; This upper limit deviate is the upper limit deviate for the identification of energy transferring situation, is also energy transferring situation identification upper limit deviate; This lower limit deviate is the lower limit deviate for the identification of energy transferring situation, is also energy transferring situation identification lower limit deviate;

Described first reference value comprises any one or more data in the first reference value higher limit, the first reference value lower limit; Of the present invention exceed to comprise be greater than certain higher limit, be less than any one or the multiple situation such as certain lower limit;

Described A1-1 situation to comprise in following A 1-1-1, A1-1-2 any one or two kinds of situations;

A1-1-1. the difference of join operation value and a reference value is greater than upper limit deviate;

A1-1-2. the difference of join operation value and a reference value is less than lower limit deviate;

Described A1-3 situation to comprise in following A 1-3-1, A1-3-2 any one or two kinds of situations; ;

A1-3-1. described join operation value is greater than the first reference value higher limit;

A1-3-2. described join operation value is less than the first reference value lower limit;

In sum, first reference value=a reference value+permissible aberration value, permissible aberration value has at least one in upper limit deviate or lower limit deviate, what the first reference value was corresponding has the first reference value higher limit and the first reference value lower limit, first reference value higher limit be a reference value add one on the occasion of, the first reference value lower limit be a reference value add a negative value or deduct one on the occasion of.

When permissible aberration value has upper limit deviate and does not have lower limit deviate: whether being greater than the first reference value according to join operation value judges whether the energy transferring situation of hoisting crane exception occurs, when join operation value is greater than the first reference value, then illustrate that energy transferring situation occurs abnormal, otherwise no exceptions;

When permissible aberration value has lower limit deviate and does not have upper limit deviate: whether being less than the first reference value according to join operation value judges whether the energy transferring situation of hoisting crane exception occurs, when join operation value is less than in the first reference value, then illustrate that energy transferring situation occurs abnormal, otherwise no exceptions;

When permissible aberration value has upper limit deviate and lower limit deviate simultaneously: first reference value higher limit=a reference value+upper limit deviate, first reference value lower limit=a reference value+lower limit deviate, whether be less than the first reference value lower limit and join operation value according to join operation value whether to be greater than the first reference value higher limit and to judge whether the energy transferring situation of hoisting crane exception occurs, when join operation value is greater than the first reference value higher limit and join operation value is less than any one establishment of the first reference value lower limit, then illustrate that energy transferring situation occurs abnormal, otherwise no exceptions.

Should be understood that, the first reference value=a reference value × proportionality coefficient, now permissible aberration value=a reference value × proportionality coefficient-a reference value.If proportionality coefficient is 0.8-1.1, then upper limit deviate=0.1 × a reference value, lower limit deviate=-0.2 × a reference value.

As a rule, it is little of the sensitivity improving monitoring that permissible aberration value is tried one's best, but the value of certain quantity must be kept to reduce the false triggering rate of monitoring; Because permissible aberration value numerical value is little, the first reference value higher limit according to its setting can well below the maximum safe limit threshold values of measuring and calculating object; So method for supervising provided by the invention (#1) can break through existing known technology is not easy to carry out security monitoring limitation when lifting operational factor does not exceed maximum safe limit threshold values: the core procedure 3 of this method for supervising (#1): to carry out in following 5B1,5B2 any one or kinds of schemes process; The operating energy transferring of hoisting crane is abnormal likely causes severe safety accident, needs to respond process in time; If respond not in time/or start relevant safe handling measure; This monitoring will not have practical significance.

Whether abnormal the information of energy transferring situation of the present invention comprise the energy transferring situation that judges described hoisting crane judged result; As external control system demand, the value of several energy transferring situation association factors of described hoisting crane can also be comprised, any one or more data in the difference of the join operation value of described measuring and calculating object, a reference value, permissible aberration value, join operation value and a reference value, the first reference value can also be comprised;

When output of the present invention, comprise and data are outputted to human-computer interaction interface, network system, connectivity port, outside control system etc.; Particularly when method for supervising/system (#1) provided by the present invention, during control/drive system independent of hoisting crane, then more need data to be outputted to outside control/drive system, to process abnormal information in time; This human-computer interaction interface comprises telltale, voice system, indicator lamp etc.; This connectivity port can supply outside human-computer interaction interface, network system directly or communicatively reads data, and to convey, checking that crane operator can be direct or indirect is listened to, monitor data.

Preservation of the present invention, comprises and preserves into monitored control system internal storage system, network system, outside control system etc. by data; To allow, operating personal can be transferred arbitrarily, monitor data; Memory module comprises USB flash disk, hard disk etc.; Can be formed and be similar to aircraft black box function, be convenient to ex-post analysis.

Energy transferring exception handling of the present invention including, but not limited to: voice message alarm, audible and visual alarm, to perform protection act according to hoisting crane current operating condition selectivity, start energy transferring failure monitoring mechanism, warning information outputted to human-computer interaction interface, network system, connectivity port etc.; Band-type brake, braking, shutdown etc.; Machine system and manually combination in any can set various process action; Energy transferring exception handling also can referred to as safe handling mechanism.

Warning information of the present invention can be including but not limited to: the value etc. of time, position, alarm cause, alarm one or more lifting operational factor former;

Of the present invention according to hoisting crane current operating condition selectivity execution protection act, refer to that the condition of service that first inspection hoisting crane is current performs relevant action again; Can comprise and be not limited to following proposal:

Situation 1: check whether reference data arranges correctly; Correctly not arrange as reference data or setting completed, then shield relevant warning information and export, do not perform any protection act;

Situation 2: check join operation value calculate in the Selecting time of each input parameter whether within the time range preset; As beyond the time range preset as 1 millisecond time, then shield relevant warning information and export, do not perform any protection act;

Situation 3: when hoisting crane is in debugging, parameter testing process, any protection act can not be performed.

Reference data of the present invention, need consider the problem of two aspects; One is the data character (comprising the approach of data type/or data acquisition) of reference data; Two is value or the setting-up time of reference data;

The data type/of reference data of the present invention or the approach of data acquisition, can comprise measured value, instruction response, estimated value, the learning value when secondary operation, systemic presupposition value, manually input value etc.; Wherein, described systemic presupposition value can divide historic records value, system default value etc. again;

The value of lifting operational factor of the present invention, from the time, differentiation can be divided into currency, preset value; Currency refers to the actual value that lifting operational factor is current, can comprise current measured value, current join operation value, current instruction response etc.; The preset value of mechanical operating parameters comprises systemic presupposition value, artificial input value, instruction preset value etc.;

The preset value of driving source parameter comprises systemic presupposition value, artificial input value etc.;

The currency of lifted load, comprises current join operation value, current measured value (LOAD CELLS measurement gained) etc.;

The preset value of lifted load, comprises systemic presupposition value, artificial input value etc.;

Command value split instruction preset value, instruction response; Instruction preset value is the control command value of crane lifting speed and sinking speed and the nyctitropic acceleration/accel of each speed, for controlling speed and/or the acceleration/accel of hoisting crane, also namely controls the speed of hoisting crane and/or the expected value of acceleration/accel; If present speed is zero, when system sends the instruction preset value of 2m/s speed, hoisting crane needs an accelerator to arrive target velocity usually; Instruction response refers to hoisting crane actual value that can respond/perform after receiving instruction preset value; Be compared to meaning tendency and the expected value of instruction preset value, the meaning tendency of instruction response and process values; Suppose that the Accelerating running set of time of the frequency converter of hoisting crane is 4 seconds, then, send 2 seconds of the speed command of 2m/s when frequency converter is in zero-speed after, hoisting crane actual speed is about 1m/s (but not 2m/s);

Estimated value, refers to according to computing machine or network system virtual reckoning institute value, and this kind of reckoning can be simulated/emulate hoisting crane and be run;

When the learning value of secondary operation, be often referred in time operation sheet, run energy equilibrium according to hoisting of carrying out when meeting and impose a condition and calculate and the join operation value that obtains and the numerical value that sets;

Historic records value, refers to value that experienced in the lifting in elevator past runs, learning records; Join operation value as learning records is historic records initial value, and a reference value as learning records is historic records a reference value, and the actual value as learning records is historic records actual value;

System default value, also claims original value, factory-said value; Be the simplest data set-up mode, each parameter can system default value when hoisting crane dispatches from the factory;

Artificial input value, refers to that hoisting crane manipulation personnel are according to actual conditions, the on-the-spot value arranged;

Described reference data, according to the difference of measuring and calculating object, comprises multiple setting means and time:

When calculate object be amplitude may significantly change lifting article quality time, because this parameter numerical value in hoisting crane operational process is usually constant; The join operation value that the operation energy equilibrium that hoists of carrying out when more excellent mode imposes a condition for basis is satisfied calculates and obtains sets described reference data; As subsequent embodiment 6 and respectively substitute and/or extend shown in embodiment;

When calculating object and being the intrinsic parameter of system (as rolling frictional resistance coefficient, efficiency factor), such parameter is not easy to actual measurement in hoisting crane runs, but such parameter amplitude in hoisting crane normally runs is relatively stable; Set reference data as the simplest mode according to system default value, also can according to meet impose a condition time carry out hoist run energy equilibrium calculate and obtain join operation value set described reference data; The setting-up time of reference data both can at hoisting crane before time having run, also can again at the beginning of secondary operation; As subsequent embodiment 8 and respectively substitute and/or extend shown in embodiment;

When calculate object be amplitude may significantly change driving source parameter, in mechanical operating parameters during arbitrary parameter, preferably mode sets described reference data according to measured value; And the Selecting time of the Selecting time of described reference data and described join operation value (also namely synchronous) in the time range preset; As subsequent embodiment 9 and respectively substitute and/or extend shown in embodiment; Measured value, than other command value, estimated value more can the situation of true representations lifting operational factor; Also have a kind of feasibility, the historic records value according to described measuring and calculating object sets described reference data;

Usually, after reference data sets, just perform the abnormal judgement/execution of follow-up energy transferring, can system be simplified like this; Certainly also allow directly to perform the abnormal judgement of energy transferring, in follow-up energy transferring exception handling, check reference data (or a reference value) whether setting completed/or whether setting is correct, arranges then shielding when time monitoring alarm signal/and action as reference data (or a reference value) is correct.

Under normal conditions, when not limiting explanation/or supplemental instruction, the join operation value, reference data etc. of measuring and calculating object of the present invention, all refer to the amplitude (i.e. size) of parameter; Certainly, measuring and calculating object itself also can be time parameter, as booster response time, deceleration response time, parameter change rate etc.; As calculated object both speed, may also be the rate of change (also i.e. acceleration/accel) of speed, may also be the rate of change (also i.e. acceleration) of acceleration/accel.

Embodiment 6:(the present embodiment is the preferred embodiment of method for supervising provided by the present invention (#1))

This method for supervising (#1) comprises steps A, B, C;

Steps A: this step comprises steps A 1, steps A 2, steps A 3;

Steps A 1: with reference to the method for previous embodiment 4, using the lifting article quality of hoisting crane as measuring and calculating object, obtains its join operation value m1;

Steps A 2: can directly perform steps A 3 after reference data sets; When reference data does not set, following step setting reference data first must be performed: the join operation value obtaining m1 when hoisting crane being run 1.0 seconds is set as a reference value m1_org; Historic records value capping deviate m1_def_u, the lower limit deviate-m1_def_d that energy equilibrium calculates gained is run according to hoist; Also and then the higher limit m1_ref1_u of the first reference value, the lower limit m1_ref1_d of the first reference value can be set; M1_def_u and m1_def_d is equal on the occasion of, m1_def_u and m1_def_d or not etc. does not all allow; And the status information of " reference data sets " is set; The formula setting the first reference value according to a reference value and permissible aberration value is as follows: m1_ref1_u=m1_org+m1_def_u, m1_ref1_d=m1_org-m1_def_d;

Steps A 3: after reference data sets, carries out in following 4 energy transferring situation Rule of judgment any one or more: Rule of judgment 1:((m1-m1_org) >m1_def_u); Rule of judgment 2:((m1-m1_org) < (-m1_def_d)); Rule of judgment 3:(m1>m1_ref1_u); Rule of judgment 4:(m1<m1_ref1_d);

Step B:

Directly step C is performed when reference data does not set;

When reference data sets, perform following B1, B2, B3, B4 step side by side, then perform step C;

B1. if arbitrary judged result in 4 energy transferring situation Rule of judgment in steps A is yes, then energy transferring exception handling (as audio alert, light warning, startup energy transferring failure monitoring mechanism etc.) is started;

B2. the information of described energy transferring situation is exported to man-machine interface;

B3. the information of described energy transferring situation is preserved to memory system;

B4. the join operation value of described m1 is exported in man-machine interface, network system;

Step C: with 0.1 millisecond for loop cycle performs steps A and step B1 in real time; Step B2, B3, B4 with 1 second for loop cycle perform; Certainly, the concrete time in each cycle in this step, can adjust arbitrarily according to the actual conditions of each hoisting crane or user's request.

The alternate embodiment 1 of embodiment 6: in the A1 step of embodiment 6, for obtaining the join operation value of the lifting article quality m1 of hoisting crane with reference to the method for previous embodiment 4; Also the method for other any embodiment in reference example 1,2,3,5 (comprise various substitute or extend embodiment) the join operation value of the lifting article quality m1 of hoisting crane can be obtained;

The alternate embodiment 2 of embodiment 6: embodiment 6 is the join operation value going out m1 with reference to the method for previous embodiment 4 at the parameter acquiring systematic survey that monitored control system is built-in; Also the result of the join operation value m1 that external device (ED) (as hoisting crane central controller etc.) inputs can directly be read with alternative steps A1;

The alternate embodiment 4 of embodiment 6: obtain the join operation value of m1 and be set as a reference value m1_org when hoisting crane runs 1.0 seconds with zero-speed in the steps A 2 of embodiment 6; In replacement scheme, also can replace imposing a condition of reference data by following A, any one scheme of B, C, D:

When the join operation value m1 of A, lifting article quality as current in hoisting crane passenger subjective mind is accurate, manually can input " confirmation " signal;

B, (as 0.1m/s) when running to the speed of setting as hoisting crane,

C, when vertically to run the distance of setting as hoisting crane (as 10 centimetres or other distances);

D or other can meet the condition of field demand, the running frequency as frequency converter arrives 2HZ etc.;

The alternate embodiment 5 of embodiment 6: according to fuzzy algorithm (when running as automatically selected the last time reference data) preset upper limit deviate m1_def_u and lower limit deviate-m1_def_d in steps A 2.

The alternate embodiment 7 of embodiment 6: embodiment 6 steps A 1 using the lifting article quality of hoisting crane as measuring and calculating object, also can lifting total mass as measuring and calculating object, obtain its join operation value m2, m2=m1+m0;

Steps A 2 method of reference example 6 arranges a reference value m2_org, upper limit deviate m2_def_u, the lower limit deviate-m2_def_d of lifting total mass;

Steps A 3 method of reference example 6, after reference data sets, carries out in following 4 energy transferring situation Rule of judgment any one or more: Rule of judgment 1:((m2-m2_org) >m2_def_u); Rule of judgment 2:((m2-m2_org) < (-m2_def_d)); Rule of judgment 3:(m2>m2_ref1_u); Rule of judgment 4:(m2<m2_ref1_d);

The step B method of reference example 6, carries out the process after the judgement of energy transferring situation.

The extension embodiment 2 of embodiment 6: in the alternate embodiment 1 of embodiment 6 or embodiment 6, obtain the absolute value of a reference value of driving source parameter (Te or F1) in the energy transferring situation association factor of hoisting crane, when | Te| be less than pre-set threshold value 1 (as rated value 20%) or | when F1| is less than pre-set threshold value 1 (as rated value 30%), upper limit deviate m1_def_u and lower limit deviate-m1_def_d is respectively increased and is twice, to reduce rate of false alarm.

The extension embodiment 3 of embodiment 6: the critical switch area of setting motor is astable driving condition; When | during Te|<Te_gate (Te_gate can be set to rated value 3% or 5%), can judge that current motor operating condition is in critical switch area is also astable driving condition, can stop this monitoring at this moment

Embodiment 8:

This method for supervising (#1) comprises steps A, B, C;

Steps A: this step comprises steps A 1, steps A 2, steps A 3;

Steps A 1: with reference to the method for example 2 (formula 4-16) in the alternate embodiment 3 of previous embodiment 4, using the comprehensive efficiency factor of Mechanical & Electrical Transmission during motoring condition as measuring and calculating object, obtains its join operation value Kem1_cal;

Steps A 2: can directly perform steps A 3 after reference data sets; When reference data does not set, following step setting reference data first must be performed: read following systemic presupposition value: a reference value Kem1_org, upper limit deviate Kem1_def_u, lower limit deviate-Kem1_def_d; Or set the first reference value according to Kem1_org, Kem1_def_u, Kem1_def_d; The higher limit Kem1_ref1_u of the first reference value, the lower limit Kem1_ref1_d of the first reference value can calculate by following manner: Kem1_ref1_u=Kem1_org+Kem1_def_u, Kem1_ref1_d=Kem1_org-Kem1_def_d;

Steps A 3: after reference data sets, carries out in following 4 energy transferring situation Rule of judgment any one or more: Rule of judgment 1:((Kem1_cal-Kem1_org) >Kem1_def_u); Rule of judgment 2:((Kem1_cal-Kem1_org) < (-Kem1_def_d)); Rule of judgment 3:(Kem1_cal>Kem1_ref1_u); Rule of judgment 4:(Kem1_cal<Kem1_ref1_d);

Step B: perform following B1, B2, B3, B4 step side by side, then perform step C;

Step C: with 0.3 millisecond for loop cycle performs steps A and step B1 in real time; Step B2, B3, B4 with 2 seconds for loop cycle perform.

The alternate embodiment 1 of embodiment 8: using the comprehensive efficiency factor of Mechanical & Electrical Transmission during motoring condition as measuring and calculating object in embodiment 8, also using previous embodiment 1,2,3,4,5 and variously arbitrary parameter can be substituted in (or extend) embodiment in other the intrinsic parameter of system as measuring and calculating object, calculate its join operation value, in reference example 8, the mode of steps A 2 arranges a reference value and the permissible aberration value of this measuring and calculating object, carries out the energy transferring situation abnormal monitoring of hoisting crane with reference to the method executing steps A 2, step B in example 8.

Embodiment 9:

This monitoring side (#1) method comprises steps A, B, C;

Steps A: this step comprises steps A 1, steps A 2, steps A 3;

Steps A 1: with reference to the method for example 1 (formula 4-15) in the alternate embodiment 3 of previous embodiment 4, using the electromagnetic torque of motor driver output as measuring and calculating object, obtains its join operation value Te_cal;

Steps A 2: can directly perform steps A 3 after reference data sets; When reference data does not set, first must perform following step and set reference data: (concrete obtain manner is as reading motor driver communication data for the measured value of acquisition electromagnetic torque Te, or the electromagnetic torque Te of motor is gone out by the externally measured systematic survey of motor driver), and using a reference value Te_org of this measured value Te as electromagnetic torque; Read the systemic presupposition value of upper limit deviate Te_def_u, lower limit deviate-Te_def_d; Or set the first reference value according to Te_org, Te_def_u, Te_def_d; The higher limit Te_ref1_u of the first reference value, the lower limit Te_ref1_d of the first reference value can adopt following computing formula: Te_ref1_u=Te_org+Te_def_u, Te_ref1_d=Te_org-Te_def_d;

Steps A 3: after reference data sets, carries out in following 4 energy transferring situation Rule of judgment any one or more: Rule of judgment 1:((Te_cal-Te_org) >Te_def_u); Rule of judgment 2:((Te_cal-Te_org) < (-Te_def_d)); Rule of judgment 3:(Te_cal>Te_ref1_u); Rule of judgment 4:(Te_cal<Te_ref1_d);

Step C: with 0.01 millisecond for loop cycle performs steps A and step B1 in real time; Step B2, B3, B4 with 0.1 second for loop cycle perform.

The alternate embodiment 1 of embodiment 9: using electromagnetic torque as measuring and calculating object in embodiment 9, also can using previous embodiment 1,2,3,4,5 and various to substitute in (or extend) embodiment other driving source parameter, in mechanical operating parameters arbitrary parameter as measuring and calculating object, calculate its join operation value, in reference example 9, the mode of steps A 2 arranges a reference value and the permissible aberration value of this measuring and calculating object, carries out the energy transferring situation abnormal monitoring of hoisting crane with reference to the method executing steps A 3, step B in example 9.

Embodiment 6,8,9 and respectively substitute or extend in embodiment, described permissible aberration value, all have employed systemic presupposition value or historic records value, also can adopt simpler mode, as the join operation value of measuring and calculating object or a reference value are multiplied by a coefficient as permissible aberration value, this coefficient can by user depending on field demand arbitrary decision (as getting 0.1 or 0.3 etc.), or and then set the first reference value according to this permissible aberration value, carry out the judgement of energy transferring situation and subsequent treatment; Also can not set permissible aberration value, can directly set the first reference value, the higher limit of this first reference value as setting is the actual value that is greater than described measuring and calculating object and be less than certain numerical value in limiting safe threshold values; The lower limit of this first reference value as setting is be less than described certain numerical value calculating the actual value of object.

In method for supervising provided by the present invention (#1), preferred version is the value of all parameters is Real-time Obtaining, steps A, B are real-time execution, and perform with the circulation of the time cycle of setting, and this repetition period set is as more short better, the shorter sensitivity that more can improve monitoring and ageing.Certainly, also can be non real-time, or intermittent execution.

The Selecting time of the value of parameter (as a reference value in join operation value, reference data, calculating the value that join operation is worth required input parameter) and the explanation of acquisition time; Selecting time of the present invention, refers to the parameter rise time, refers to the time calculated corresponding to the value of the required input parameter of this parameter; Because obtain and have various ways (reading, measurement etc.); As read in first 100 milliseconds of time1 time the parameter value that generates, then the acquisition time of this parameter is time1, but time of first 100 milliseconds when the Selecting time of this parameter is time1;

In method for supervising of the present invention (#1), when described measuring and calculating object is arbitrary parameter in driving source parameter, mechanical operating parameters, more excellent scheme be all parameters (as a reference value in join operation value, reference data, calculating the value that join operation is worth required input parameter) all in the time range preset value (as far as possible synchronous), calculate in real time, Real-time Obtaining (read or measure) join operation value and reference data, real-time judge, dispose judged result in real time, at this moment, the Selecting time of parameter can be equal to acquisition time;

In method for supervising (#1), when described measuring and calculating object is any one parameter in lifted load, the intrinsic parameter of system, the more excellent mode of the Selecting time of join operation value (being worth the value of required input parameter together with calculating join operation) be all in the time range preset value (as far as possible synchronous), calculate in real time, Real-time Obtaining (read or measure), carry out that energy transferring is abnormal judges/monitoring in real time; But the Selecting time of reference data or setting-up time do not need with the Selecting time of join operation value at one time; The acquisition time (only needing to read) then carrying out the reference data before the abnormal judgement of energy transferring allows different from the Selecting time of reference data;

The mode 1 of the Selecting time of parameter value: value stricti jurise obtaining at one time multiple parameter, may be inconvenient to realize; In actual mechanical process, after having before the Selecting time of the value of each parameter group may have, only need the Selecting time of the value of each parameter to control at this moment in a default time range, this time range preset can according to the software processing speed of reality, Hardware Response Delay speed and determining; As desirable 100 milliseconds, or 10 milliseconds, or 1 millimeter, or 0.1 millisecond; This time range time of presetting is shorter, then calculate/monitor precision higher, but system cost also increases;

The mode 2 of the Selecting time of parameter value: if hoisting crane condition of service is substantially constant, the speed of such as hoisting crane all maintained 1m/ speed and travels at the uniform speed within 10 seconds, then get the currency of speed, or value when described 10 seconds first of, value during tail with described 10 seconds, effect is the same; So the time range preset of the Selecting time of each parameter value can adjust according to hoisting crane condition of service, also namely when hoisting crane condition of service is constant, the value of this parameter when condition of service is constant on any time point can be obtained.

The Selecting time of above-mentioned parameter value, the explanation of acquisition time are applicable to any embodiment of the present invention.

In the present invention, described first reference value, energy transferring situation identification deviate, by the setting of systemic presupposition value, have various ways to set, as by the experimentation of limited number of time, and artificial try and cut method, the method settings such as type test method.

8. further, in described method for supervising (#1), described in hoist and run energy equilibrium and calculate and meet at least one condition in following 6A1,6A2,6A3,6A4,6A5:

The driving source parameter that parameter during the operation energy equilibrium that hoists described in 6A1. participates in calculates comprises is electric driving force parameter;

The parameter run in energy equilibrium calculating that hoists described in 6A2. participates in comprises efficiency factor, adjusts described efficiency factor according to motor operating condition;

The operation energy equilibrium that hoists described in 6A3. calculates and meets at least one condition in following 6A31,6A32:

The parameter running energy equilibrium calculating that hoists described in 6A31. participates in comprises acceleration/accel;

Described velocity variations situation and described hoisting also are run energy equilibrium compute associations by 6A32. identification velocity variations situation;

6A4. when described in hoist run energy equilibrium to calculate the driving source parameter comprised be electric power time, carry out the setting of described electric power according to motor operating condition;

The operation energy equilibrium that hoists described in 6A5. calculates and associates with the operating condition of described hoisting crane.

9. further, in described method for supervising, this method for supervising (#1) also comprises the following step of carrying out in advance:

Obtain the value of the input parameter of described hoisting crane; Described input parameter is worth required parameter for calculating described join operation; Described join operation value is calculated according to the value of the input parameter of described acquisition.

The useful meaning of this programme: the join operation and the integrated design of this monitored control system that allow measuring and calculating object, the signal that greatly can reduce monitored control system connects, transmission cost, reduces transmission error.

10. further, in described method for supervising (#1), describedly judge that whether the energy transferring situation of described hoisting crane is abnormal, comprise following 8A1 scheme:

Reference data described in 8A1. is made up of a reference value of described measuring and calculating object and the permissible aberration value of described measuring and calculating object, judges whether the difference of described join operation value and described a reference value exceeds described permissible aberration value.

The beneficial effect of this programme: this technical scheme can realize typical energy transferring EX clearly and monitor.

11. further, described method for supervising (#1), and the setting of described reference data comprises either a program in following 9A1,9A2,9A3,9A4:

9A1. is when described measuring and calculating object is any one parameter in lifted load, the intrinsic parameter of system, and a reference value of described measuring and calculating object is set by the join operation value running energy equilibrium according to hoisting of carrying out when meeting and impose a condition and calculate and obtains and/or the first reference value;

The permissible aberration value of object is calculated described in 9A2., with the intrinsic parameter of system for calculating a reference value of object, in the first reference value being measuring and calculating object with the intrinsic parameter of system, any one or many kinds of parameters are for the historic records value according to described measuring and calculating object, factory-default, in artificial input value, set by any one or several data, the relatively-stationary energy transferring situation identification data 9A3. of described measuring and calculating object sets the permissible aberration value of described measuring and calculating object according to fuzzy algorithm, with the intrinsic parameter of system for calculating a reference value of object, take the intrinsic parameter of system as any one or many kinds of parameters in the first reference value of measuring and calculating object,

9A4. is when described measuring and calculating object is arbitrary parameter in driving source parameter, mechanical operating parameters, described a reference value is according to any one or several data setting in the measured value of described measuring and calculating object, instruction response, estimated value, and the Selecting time of the Selecting time of described a reference value and described join operation value is in default time range.

The implementation detail of scheme 9A1: see embodiment 6,8 and substitute and/or extend embodiment;

The implementation detail of scheme 9A2: under normal circumstances, the setting principle of the permissible aberration value of measuring and calculating object is: this value needs little to improve the sensitivity of monitoring as far as possible, but can not be too small with the false triggering rate reducing monitoring; In like manner, the setting principle of the first reference value is also: be exactly a reference value of close measuring and calculating object as far as possible but must keep suitable difference with a reference value; As the higher limit of the first reference value being set to 1.2 ~ 1.5 times of a reference value, or the lower limit of the first reference value is set to 0.7 ~ 0.9 times of a reference value, or upper limit deviate is set to 0.1 ~ 0.3 times of a reference value, or lower limit deviate is set to-0.3 ~-0.1 times of a reference value; But the accurate setting of this reference data, as leaned on artificial try and cut method, or empirical method goes slowly to grope, and go slowly to verify, reference data Adjusting accuracy is low, efficiency is low; And different hoisting crane machine condition when running, carry a condition and change all the time, more increase the difficulty of the accurate setting of reference data.

Setting described reference data (highest priority is permissible aberration value wherein or the first reference value) according to the historic records value of described measuring and calculating object, is one of method for optimizing;

When described historic records value generates, described reference data (as to carry out in following 9A2_1,9A2_3 any one or plurality of step) can be set according to historic records value;

9A2_1. sets described permissible aberration value according to the difference of described historic records initial value and described historic records a reference value;

9A2_3. is according to described first reference value of described historic records initial value setting;

In above-mentioned 9A2_1,9A2_2,9A2_3, common law is according to certain value 2 of certain value 1 setting; In the present invention, according to certain certain value 2 of value 1 setting, certain can be worth 1 indirect assignment to certain value 2, also certain can be worth 1 and reset as certain value 2 depending on feelings increase/or to reduce/or additional bias amount, can sweetly disposition;

The more excellent mode of reference data setting for: run that energy equilibrium calculates according to hoisting of carrying out when meeting and impose a condition and the join operation value that obtains sets a reference value in described reference data; According to the permissible aberration value in the historic records value setting reference data preset, both combine and can obtain desirable reference data, can improve the sensitivity of energy transferring abnormal monitoring to greatest extent, reduce the rate of false alarm of monitoring;

The implementation detail of scheme 9A3: described fuzzy algorithm comprises following any one or multi-Fuzzy algorithmic rule: can according to the statistical analysis reference data that once access times are maximum in certain number of run; Or the reference data automatically selecting several recently to select number of times maximum in running; Or reference data when automatically selecting the last time to run; Or the different weighted index (as user preset most worthy, having the reference data of Protection significance most) arranging each reference data sets reference data; Or comprehensive number of times statistical analysis and weighted index and set reference data etc.;

The implementation detail of scheme 9A4: see embodiment 9 and each alternative and/or extension embodiment thereof;

The useful meaning of scheme 9A1: this technical scheme is one of core thinking of the present invention, because the lifted load of hoisting crane all may occur significantly to change in each run, by this technical scheme of this employing, essence sets up a self-study mechanism, can the normal variation of subsequent load and flexible adjustment reference data (highest priority is a reference value wherein or the first reference value) automatically; Monitoring sensitivity can be improved on this basis, improve adaptive capacity to environmental change;

The useful meaning of scheme 9A2: this technical scheme is one of core thinking of the present invention, when calculating object and being the intrinsic parameter of lifted load, system, described reference data (highest priority is permissible aberration value wherein or the first reference value) is set according to the historic records value of described measuring and calculating object, optimum configurations accuracy, monitoring sensitivity can be obtained level and improve, become accurate control from the fuzzy control of routine.

The useful meaning of scheme 9A3: fuzzy algorithm parameter preset, can improve the easy degree of system;

The useful meaning of scheme 9A4: the program is applicable to the energy transferring EX of measuring and calculating object when being arbitrary parameter in driving source parameter, mechanical operating parameters and monitors.

12. further, and described method for supervising (#1) also meets at least one condition in following 10A1,10A2:

Calculating object described in 10A1. is any one parameter in lifted load, the intrinsic parameter of system;

10A2. is when described measuring and calculating object is any one parameter in lifted load, the intrinsic parameter of system, and described join operation value and described energy transferring situation identification data only come from a kind of parameter acquiring system, namely all runs energy equilibrium according to hoisting and calculates gained.

The useful meaning of this 10A1 scheme:

Using driving source parameter (as the Driving Torque of the pulling force of steel rope, reel, electromagnetic torque, electric current, electrically power etc.) or mechanical operating parameters (as speed, acceleration/accel etc.) as measuring and calculating to liking the poorest monitoring scheme of effect, observing and controlling difficulty/cost is high, also reduces precision/performance; Such calculates the amplitude possibility Rapid Variable Design of the measurement join operation value of object thus the measured error of increase the first inducement, usually also need to obtain measured value/or command value and then setting reference data, reference data amplitude also may Rapid Variable Design and then bring the measured error of the second inducement; And more easily cause the measured error of the 3rd inducement because join operation value, reference data may be in low amplitude value state (measuring relative to full scale) at any time, even monitor inefficacy; Because lifted load may significantly change in different operation sheetes, if using driving source parameter or system operational parameters as measuring and calculating object, first must obtain again the value of lifted load, thus cause the measured error of the 4th inducement, and make measuring and calculating/monitored control system more complexity/high cost;

Described measuring and calculating object is preferably lifted load, and lifted load value is worked as in time operation relatively stable at hoisting crane, and is convenient to hoisting crane occupant or supervisor's visual judgement monitoring effect directly perceived, greatly improves monitoring confidence level;

Measuring and calculating object suboptimum is the intrinsic parameter of system (being especially efficiency factor); This efficiency factor essence represents wear condition, the parts safety case of hoisting crane parts, and the amplitude change in hoisting crane runs of this parameter is little, is easy to observing and controlling and compares; But this kind of mode also exists the measured error of above-mentioned 4th inducement, and be not easy to crane operator's visual judgement monitoring effect directly perceived;

The useful meaning of this 10A2 scheme: typical parameter acquiring system has sensor weighing system, frequency converter weighing system etc., if adopt multichannel weighing system significantly will increase cost simultaneously; As only adopted a kind of parameter acquiring system; Especially use motor driver (as frequency converter) to carry out parameter measurement (comprise and weighing), significantly can reduce the operation safety monitoring cost of hoisting crane.

13. further, and in described method for supervising (#1), when described measuring and calculating object is any one parameter in lifted load, described reference data is for hoisting set by the calculating of operation energy equilibrium based on what carry out in advance; When described measuring and calculating object is any one parameter in lifting operational factor except lifted load, described hoist run energy equilibrium calculate input parameter comprise lifted load, and as described in hoist run energy equilibrium calculate input parameter lifted load for based on carry out in advance hoist run energy equilibrium calculating set by.

14. is further, in described method for supervising (#1), when described measuring and calculating object is any one parameter in lifted load, described reference data is the first reference value or is made up of permissible aberration value and a reference value, and described first reference value and described energy state identification a reference value are all run set by energy equilibrium calculates based on hoisting of carrying out in advance;

When described measuring and calculating object is any one parameter in hoisting crane operational factor except lifted load, described hoisting is run the input parameter that energy equilibrium calculates and is comprised lifted load, and in lifted load as described in hoist that to run the parameter of input parameter that energy equilibrium calculates be all run set by energy equilibrium calculating based on hoisting of carrying out in advance.

In the present invention, a certain parameter except measuring and calculating object hoists (based on carrying out in advance) to run energy equilibrium and calculate gained and refer to that this parameter carries out hoisting and run time that energy equilibrium calculates Selecting time early than the join operation operation values of measuring and calculating object, and what namely this parameter was corresponding hoist, and to run that energy equilibrium calculates be run early than hoisting of measuring and calculating object the Selecting time that energy equilibrium calculates.In like manner, in the present invention, a certain parameter except calculating object runs energy equilibrium calculating gained, also refers to that the Selecting time of the operation energy equilibrium calculating that hoists that this parameter is corresponding runs the Selecting time of energy equilibrium calculating early than hoisting of measuring and calculating object.

15. further, and in described method for supervising (#1), described lifting operational factor is made up of driving source parameter, system operational parameters, lifted load.

According to the description of the combined parameter of aforementioned driving source, electric power may be combined with out electrical energy; The present invention also allows to use the combined parameter of driving source (as the power consumption of section sometime or the summation of section acting sometime) of kind of energy as measuring and calculating object; Power and energy are easily obscured from physical conception, but run for hoisting crane, and both meanings are different; Power is energy time differential, has moment-fast speed concept, and energy is power in time accumulative, has the concept of time-lag-at a slow speed; So carry out energy transferring abnormal monitoring by scheme provided by the invention, preferably use the instant value of driving source parameter (as instantaneous power, moment torque, instantaneously propulsive effort, immediate current etc.) to carry out real-time power and transmit abnormal monitoring; If use the combined parameter of driving source of kind of energy to carry out energy transferring abnormal monitoring effect, then need the time controling of energy accumulation to be obtained the smaller the better (as 100 millimeters, 10 milliseconds, 1 millisecond, 0.1 millimeter).

If carry out energy transferring extremely by the combined parameter of the driving source of kind of energy as measuring and calculating object, also need to possess step in core bracket (obtain the join operation value of measuring and calculating object, setting reference data, judge that whether energy transferring situation is abnormal, have clear and definite processing scheme to the judged result of energy transferring situation according to join operation value and reference data), can refer to following embodiment 10:

Embodiment 10: this method for supervising (#1) comprises steps A, B, C;

Steps A: this step comprises steps A 1, steps A 2, steps A 3;

Steps A 1: with reference to the method for previous embodiment 5, identify that the energy flow of hoisting crane is to operating mode (electric hoist, motor braking lands), (non-zero travels at the uniform speed the velocity variations situation of identification hoisting crane, Accelerating running, run slowly), first obtain each parameter (the efficiency factor Ke1 of motor and/or Ke2 in (read or measure) same time range, the efficiency factor Km1 of machine driven system and/or Km2, comprehensive transmitting ratio im, spreader assembly quality m0, hoisting speed V1, sinking speed V2) value, following 10A1-1 is carried out to operating mode and velocity variations situation according to different energy flows, any one or multiple calculating in 10A1-2, calculate the join operation value Pm_cal of the electric power of motor, computing formula is as follows:

10A1-1. when energy flow be electric hoist to operating mode, and velocity variations situation is non-zero when traveling at the uniform speed, and calculates the join operation value Po_cal of the electric power of motor according to following formula 4-26;

Po_cal=((m1+m0) * g) * V1/Kem1, (formula 4-26);

10A1-2. when hoisting crane be motor braking landing+non-zero travel at the uniform speed time, calculate join operation value P4_cal or the resistance dynamic braking power P5_cal of electrification feedback B.P. according to following formula 4-29;

P4_cal=(-(m1+m0) * g) * V2* (K14*Kem2), (formula 4-29-1),

P5_cal=(-(m1+m0) * g) * V2*Kem2, (formula 4-29-1);

And then above-mentioned join operation value Po_cal or P4_cal or P5_cal is carried out the electrical energy value EM1_cal of computing (as integration) acquisition within 2 seconds, EM1_cal is the join operation value indirectly obtained;

Steps A 2: above-mentioned acquisition Pm_cal and EM1_cal value while, obtain (read motor driver measuring and calculating the data obtained or with power meter measures) electric power reference value Pm_r, and then to Pm_r integral operation with the measured value EM2 of the electrical energy obtained and in 2 seconds of the same period of EM1_cal, or directly measure with power electric meter and obtain EM2 value; EM2 is as a reference value in reference data; Setting permissible aberration value EM_def3:EM_def3=EM2/10, or EM_def3=EM1_cal/8;

Steps A 3: carry out in following 2 energy transferring situation Rule of judgment any one or more: Rule of judgment 1:((EM1_cal-EM2) >EM_def3), Rule of judgment 2:((EM1_cal-EM2) < (-EM_def3)),

Step B: as in 2 energy transferring situation Rule of judgment in steps A 3, arbitrary judged result is yes, then start energy transferring exception handling (as audio alert etc.);

The replacement scheme 1 of embodiment 10: the time cycle of energy balane can be set to 1 second from 2 seconds, 0.1 second, 0.01 second etc.; Time is longer, as being greater than 5 seconds 10 seconds, then loses the meaning of energy transferring abnormal monitoring; Time is shorter, and the response of energy transferring abnormal monitoring is faster, but (four inducements are caused) of join operation value, measured value, reference data measured error will be larger/and effect is poorer; As can be seen here, by driving source parameter or using the energy transferring abnormal monitoring effect of combined for driving source parameter (as energy) as measuring and calculating object, can not show a candle to lifted load or the intrinsic parameter of system as measuring and calculating object.

In above-mentioned energy transferring method for supervising and system, permission system switches measuring and calculating object as required, enables multiple measuring and calculating object even simultaneously, and multiple energy transferring situations of carrying out multiple difference measuring and calculating object judge; As both allowed to carry out the judgement of energy transferring situation and monitoring using lifted load as measuring and calculating object, also allow to carry out another energy transferring situation using rolling frictional resistance coefficient as another measuring and calculating object to judge and monitoring simultaneously, as long as it is abnormal that any one energy transferring situation judged result is energy transferring, then start energy transferring exception handling;

In monitor procedure, also allow systematic evaluation driving source parameter, as hoisting crane low-speed high-torque runs time, the parameter (as electromagnetic torque) of torque type can be used as driving source parameter; As hoisting crane run with high speed low torque time, by the parameter (as power of motor) of power type as driving source parameter, to improve the join operation value design accuracy of measuring and calculating object, the sensitivity of energy transferring abnormal monitoring can be improved;

Also allow with same measuring and calculating object, adopt multiple driving source parameter to carry out the measuring and calculating of multiple join operation values of same measuring and calculating object simultaneously, carry out multiple energy transferring situation and judge and monitoring; As with lifting article quality m1 for measuring and calculating object, build energy transferring situation using electromagnetic torque Te as driving source parameter and judge and monitoring #100 system, then this system mainly can motor, gearing, reel, steel rope working condition; Input electric power P3i using power supply simultaneously and build the judgement of another energy transferring situation and monitoring #101 system as driving source parameter, then this system can monitor the supply unit of hoisting crane, the working condition of motor driver simultaneously; Motor and rear robot driving system is monitored iff enabling #100 system (not enabled #101 system), then can directly use the energy transferring situation of the supply unit of the electric power Pm of P3i and motor and efficiency factor k31 checking hoisting crane, motor driver whether normal, verification method is for judging whether the result of calculation of ((P3i*k31)-Pm) is greater than pre-set threshold value (as P3i/20), as being greater than then supply unit or motor driver operation exception;

In general; on method for supervising when a kind of crane lifting provided by the invention runs and the basis of system (#1); according to the energy transferring principle of hoisting crane; carry out successively or the energy transferring abnormal monitoring of multilayer; the integral power system to hoisting crane can be convenient to when lifting operational factor does not exceed maximum safe limit threshold values, machine driven system carries out omnibearing sensitive and protect accurately.

Monitored control system (#1) when 16. the present invention also provide a kind of crane lifting to run, comprise: energy transferring situation judge module (2), for the measuring and calculating object according to described hoisting crane the identification of join operation value described in the energy transferring situation of hoisting crane; Described measuring and calculating object be in lifting operational factor any one or multiple, described join operation value be based on hoist run energy equilibrium calculate gained.

17, preferred, at above-mentioned monitored control system (#1), described in the join operation value identification of the described measuring and calculating object according to described hoisting crane, the energy transferring situation of hoisting crane is specially: judge that whether the energy transferring situation of described hoisting crane is abnormal according to the join operation value of the measuring and calculating object of described hoisting crane and the reference data of described measuring and calculating object.

Preferably, described monitored control system (#1) also comprises join operation value acquisition module (1), described join operation value acquisition module (1) for: the join operation value obtaining the measuring and calculating object of described hoisting crane, the join operation value got will be provided to energy transferring situation judge module (2).

18, preferred, described monitored control system also comprises energy transferring exception handling module (3), output module (4), any one or the multiple module preserved in module (5);

Described energy transferring exception handling module (3) for: as described in judged result to comprise be then start the energy transferring exception handling of setting;

The information of the exportable described energy transferring situation of described output module (4);

Described preservation module (5) can preserve the information of described energy transferring situation.

19. further, and described monitored control system (#1) meets at least one condition in following 12A1,12A2:

Calculating object described in 12A1. is any one parameter in lifted load, the intrinsic parameter of system;

12A2. is when described measuring and calculating object is any one parameter in lifted load, the intrinsic parameter of system, and described join operation value and described energy transferring situation identification data only come from a kind of parameter acquiring system, namely all runs energy equilibrium according to hoisting and calculates gained.

Method for supervising when a kind of crane lifting provided by the present invention runs and the beneficial effect of system (#1):

The present invention is by carrying out deep study and analysis to the structure of hoisting crane and principle of work: the operation essence of hoisting crane is exactly energy transfer process; Step is comprised: the energy equilibrium of running to hoist obtaining the measuring and calculating object of described hoisting crane calculates gained join operation value, and the principle of energy balance essence that described hoisting crane runs is the combination of energy conservation principle and Newton's second law (F=m*a) and hoisting crane operation characteristic three in the steps A of method for supervising provided by the invention (#1); That runs at hoisting crane hoists in the calculating of operation energy equilibrium, hoisting crane driving source parameter represents the information provision of power, lifted load represents the most inherence of driving force receptor, and the system operational parameters of hoisting crane represents mechanical operating parameters that the basic condition of energy transferring (parameter as intrinsic in various system) and hoisting crane produce under dynamic action also i.e. motion result (as speed, acceleration/accel etc.); In the present invention, the situation of described energy transferring situation and energy delivery system; Energy transferring situation is also energy transmit mode, and both are equal to.

If when the wearing and tearing increase of the transmission gear of hoisting crane, resistive torque increase: if monitored control system is using driving source parameter as measuring and calculating object, then when other relevant hoisting crane condition of service (as lifted load, speed, acceleration/accel etc.) are constant, more power must be expended and hoisting of causing a reference value of driving source parameter and hoisting crane to run is run the deviate that energy equilibrium calculates gained join operation value and increased; If monitored control system is using mechanical operating parameters medium velocity as measuring and calculating object, constant and other the relevant hoisting crane condition of service of a reference value as the driving source parameter of hoisting crane (as lifted load, acceleration/accel etc.) constant time, then hoisting that a reference value of the speed of hoisting crane and hoisting crane may be caused to run is run the deviate that energy equilibrium calculates gained join operation value and is increased; If using lifted load (as lifting article quality m1 or total mass m2) as measuring and calculating object and other relevant hoisting crane condition of service (as acceleration/accel etc.) constant time, then hoisting of causing hoisting crane to run is run the join operation value that energy equilibrium calculates gained lifted load and changes; So by the join operation value of measuring and calculating object and reference data are compared, just can judge that whether the operating energy transferring situation of described hoisting crane is abnormal, and energy transferring abnormal monitoring and early warning can be realized in time by the treatment step after follow-up energy transferring situation judges;

Because reference data sets according to a reference value (and not according to maximum safe limit threshold values) calculating object, allow it much smaller than maximum safe limit threshold values; So when lifting operational factor does not exceed maximum safe limit threshold values, also be convenient to realize monitoring and early warning (comprise hoisting crane power drive system operation irregularity cause) hoisting crane energy transferring is abnormal, be convenient to avoid to occur more serious, uncertain safety misadventure (comprise wire cable rupture, hoisting crane out of control etc.) as far as possible; As the medical diagnosis on disease of human medical, if just find late period to mean that life terminates, if life survive is meaned in early detection usually; So the technical program is significant for the safe operation of hoisting crane.

Technical matters three:

Three of the technical problem to be solved in the present invention is to provide a kind of method for supervising of Crane Load, with on existing known technology basis, reduces the cost of overload monitoring, or improves its safety;

20. the present invention also provide a kind of method for supervising (#2) of Crane Load, and when described crane lifting runs, described method for supervising (#2) comprises the steps:

13B12. exports and/or preserves the information of described judgement;

Lifting article quality belongs to a kind of parameter in lifted load, its join operation value is according to comprising the system operational parameters of described hoisting crane and the calculation of parameter gained of driving source parameter, the concrete formula that can refer to respectively containing lifting article quality in embodiment 1-5.

21. further, described method for supervising (#2), described in hoist and run energy equilibrium and calculate and also meet following condition: described in hoist and run energy equilibrium and calculate and comprise the first design accuracy and improve component and/or the second design accuracy improves component; It is the inner comprehensive rotation angular acceleration β of rigid body and the calculated amount of rotor inertia L0 that described first design accuracy improves component, and described second design accuracy improves the friction associated data that component is mechanical revolving part.

The beneficial effect of the technical program: the operation energy equilibrium that hoists calculates and comprises the first design accuracy raising component and/or the second design accuracy raising component, can improve the design accuracy of the join operation value of lifting article quality.

22. further, described method for supervising (#2), and the join operation value of the lifting article quality of the described hoisting crane of described acquisition comprises the steps: the value of the input parameter obtaining described hoisting crane; Described input parameter is worth required parameter for calculating described join operation; Described join operation value is calculated according to the value of the input parameter of described acquisition.

23. the present invention also provide a kind of monitored control system (#2) of Crane Load, and when described crane lifting runs, described monitored control system comprises join operation value acquisition module (1); Described monitored control system also comprises overload processing module (2), output module (3), any one or the multiple module preserved in module (4);

16B12. exports and/or preserves the information of described judgement;

24. further, described monitored control system (#2), and described control system meets at least one condition in following 17A1,17A2:

The operation energy equilibrium that hoists described in 17A1. calculates and comprises the first design accuracy raising component and/or the second design accuracy raising component; It is the inner comprehensive rotation angular acceleration β of rigid body and the calculated amount of rotor inertia L0 that described first design accuracy improves component, and described second design accuracy improves the friction associated data that component is mechanical revolving part;

Obtain the join operation value of the lifting article quality of described hoisting crane described in 17A2., comprise following proposal: the value obtaining the input parameter of described hoisting crane; Described input parameter is worth required parameter for calculating described join operation; Described join operation value is calculated according to the value of the input parameter of described acquisition.

Overload described in technical scheme described in 13B11 of the present invention treatment mechanism, voice message alarm, audible and visual alarm when being included in overload, forbids lifting, band-type brake etc.; Machine system and manually combination in any can set various process action.

The information judged described in technical scheme described in 13B12 of the present invention, comprises and judges whether described join operation value is greater than the judged result of the rated load weight of described hoisting crane; As external control system demand, this information can also comprise any one or more data in the join operation value of described lifting article quality, maximum safe limit threshold values.

The method for supervising (#2) of a kind of Crane Load provided by the present invention and the beneficial effect of system:

In existing known technology, the method that weighed object quality efficiency is minimum is that crane loading weight is delivered on platform scale and weighed, on the steel rope of hoisting crane, arrange LOAD CELLS in addition to weigh, because LOAD CELLS needs independently power supply supply, signal handling equipment, and be not real integrated programme with the hoisting system of hoisting crane, so increase cost and system complexity; The method for supervising (#2) of a kind of Crane Load provided by the present invention can utilize the electric driving force parameter of hoisting crane to weigh, and weigh integrated with lift control kernel, thus cost is low, precision is high, efficiency is high; For omitting traditional sensor weighing system, abandon the platform scale weighting manner of poor efficiency and be significant;

System is exportable and/or preservation weighing results both, and also can select naturally to carry out overload monitoring, the safe operation for hoisting crane is of great importance.

Four of the technical problem to be solved in the present invention is to provide a kind of control method of hoisting crane, for improve lifting operating efficiency, also namely provide a kind of control method of hoisting crane operating efficiency, with improve under safe operation prerequisite hoisting crane run efficiency;

25. the present invention also provide a kind of control method of hoisting crane, and this control method can be used for the operating efficiency improving hoisting crane, comprises the steps:

In this control method, the join operation value of described at least two different sizes or at least two different class, there are two kinds of implications: the first be more than or equal to 2 limited join operation value or class, now be equivalent to, by this limited join operation value or class, corresponding for lifted load is divided into multiple part, the corresponding speed and/or acceleration/accel run of each part; The second be more than or equal to 2 unlimited value, the speed of now lifted load and operation and/or the value of acceleration/accel distinguish one_to_one corresponding, and hoisting crane is now for carrying out stepless time adjustment.

Each class of the mechanical operating parameters of hoisting crane all has the value corresponding with it, referred to as respective value, selects certain class also namely to select the respective value of certain class; The class of above-mentioned this mechanical operating parameters of selection is also the class selecting this mechanical operating parameters after the calculation of parameter according to the load quality at least comprising this hoisting crane again; Class because of this mechanical operating parameters is according to other types data (mass carried etc.), through formula or computation of table lookup gained, so the respective value of certain class of this mechanical operating parameters is a kind of join operation value;

In this control method, no matter " calculate the join operation value of this mechanical operating parameters " or " selecting the class of this mechanical operating parameters again after calculating " this calculating also i.e. basis parameter at least comprising the load quality of this hoisting crane and mapping relations calculating preset; Concrete mapping relations, see below literary composition and describe in detail.

In this control method: " running to control hoisting crane according to the join operation value of this this mechanical operating parameters or class "; Comprising two kinds of situations, controlling in a kind of control system implementing this control method, the another kind of join operation value for this mechanical operating parameters of output or class, control hoisting crane to give outside control system and run;

Described " join operation value or the operation of class control hoisting crane according to this this mechanical operating parameters ", comprises two kinds of implementations; Be using the join operation value of this this mechanical operating parameters or the respective value of this class as an instruction preset value, run to control hoisting crane; Another kind is using the join operation value of this this mechanical operating parameters or the respective value of this class as operation upper limit threshold values, runs to control hoisting crane; Concrete control method, sees below literary composition and describes in detail.

In this control method: for control this mechanical operating parameters that hoisting crane runs join operation value or the respective value of this class can not be greater than the safety value of this mechanical operating parameters;

Description about the safety value of mechanical operating parameters: because when this mechanical operating parameters is speed, this speed mainly has the multiple working condition such as electric hoist, motor braking landing; Hoisting speed when hoisting speed refers to electric hoist; Sinking speed when sinking speed refers to that motor braking lands; When this mechanical operating parameters is acceleration/accel, this acceleration/accel has multiple working conditions such as accelerating lifting, fall-retarding, acceleration landing, deceleration lifting:

So corresponding, according to multiple different mode of operation, when the safety value of this mechanical operating parameters is electric hoist hoisting speed License Value, motor braking landing time sinking speed License Value, accelerate to promote the absolute value of License Value of brief acceleration, the License Value of fall-retarding brief acceleration absolute value at least one;

In above-mentioned control method, the safety value of this mechanical operating parameters is carry out calculating gained according to the parameter at least comprising lifted load (being preferably current actual value) and driving source parameter (being preferably maximum safe limit threshold values); The calculating of the safety value of this mechanical operating parameters can whenever calculating before controlling hoisting crane and running, and this calculating both also can be carried out in built-in system in external system; As carried out in external system, then only need to read its result.Such as read result from the second association table described later, the first association table; Emphasis does not lie in computation process, and is the approval of result: the respective value only needing the value ensureing the mechanical operating parameters that control hoisting crane runs to be not more than the class of safety value or mechanical operating parameters is not more than safety value;

26, preferably, in above-mentioned control method, described " controlling hoisting crane according to the join operation value of this this mechanical operating parameters or class to run " is: using the join operation value of this this mechanical operating parameters or the respective value of this class as instruction preset value, run to control hoisting crane.

27, further, in above-mentioned control method, the respective value of the class of this mechanical operating parameters when the respective value of the class of this mechanical operating parameters is greater than heavy duty during underloading, or the join operation value of this mechanical operating parameters when the join operation value of this mechanical operating parameters is greater than heavy duty during underloading.

28. further, and the described calculation of parameter of lifted load based at least comprising this hoisting crane, is specially: according to the calculation of parameter of the driving source parameter of the lifted load and described hoisting crane that at least comprise described hoisting crane.

29. further, in control method as shown in the 28th article of content as described in, described in be calculated as to hoist and run energy equilibrium calculating; The described operation energy equilibrium that hoists calculates and associates with the operating condition of described hoisting crane, especially when described mechanical operating parameters comprises sinking speed.

30. further, in control method as shown in the 29th article of content as described in, described in hoist and run energy equilibrium calculating and meet at least one condition in following 21A1,21A2,21A3,21A4:

It is electric driving force parameter that the operation energy equilibrium that hoists described in 21A1. calculates the driving source parameter comprised;

The operation energy equilibrium that hoists described in 21A2. calculates and meets at least one condition in following 21A21,21A22:

The parameter running energy equilibrium calculating that hoists described in 21A21. participates in comprises acceleration/accel;

Described velocity variations situation and described hoisting also are run energy equilibrium compute associations by 21A22. identification velocity variations situation;

21A3. adjusts the method for calculating of described efficiency factor according to motor operating condition;

21A4. when described in hoist run energy equilibrium to calculate the driving source parameter comprised be electric power time, carry out the type setting of described electric power according to motor operating condition.

31. further, in control method as described in as the 25th, shown in 28 arbitrary articles of contents, meets at least one condition in following 22A1,22A2,22A3,22A4:

The value of lifted load described in 22A1. is according to electric driving force calculation of parameter gained;

The value of lifted load described in 22A2. is run energy equilibrium based on hoisting and is calculated gained;

The value of lifted load described in 22A3. is current actual value, and the value of described driving source parameter is maximum safe limit threshold values;

The join operation value obtaining the mechanical operating parameters of described hoisting crane described in 22A4. can specifically comprise: the value comprising the steps: the input parameter obtaining described hoisting crane; Described input parameter is that the join operation calculating described mechanical operating parameters is worth required parameter; The value of described mechanical operating parameters is calculated according to the value of the input parameter of described acquisition.

32. the present invention also provide a kind of control system of hoisting crane, comprising: comprise control module (1);

Herein, the class of at least two different sizes or join operation value, there are two kinds of implications: the first be more than or equal to 2 limited class or join operation value, now be equivalent to, by this limited class or join operation value, corresponding for mass carried is divided into multiple part, the corresponding speed and/or acceleration/accel run of each part; The second be more than or equal to 2 unlimited value, the speed of now mass carried and operation and/or the value of acceleration/accel distinguish one_to_one corresponding, and hoisting crane is now for carrying out stepless time adjustment.

In above-mentioned control module (1), for controlling the respective value of this class of this mechanical operating parameters that hoisting crane runs, instruction preset value, running the safety value that upper limit threshold values can not be greater than this mechanical operating parameters;

The safety value of this mechanical operating parameters is carry out calculating gained according to the parameter at least comprising lifted load (being preferably current actual value) and driving source parameter (being preferably maximum safe limit threshold values); Certainly, this calculating also can be carried out in built-in system in external system;

Further, in above-mentioned control system, described " controlling hoisting crane according to the join operation value of this this mechanical operating parameters or class to run " is: using the join operation value of this this mechanical operating parameters or the respective value of this class as instruction preset value, run to control hoisting crane.

Further, in above-mentioned control system, the respective value of the class of this mechanical operating parameters when the respective value of the class of this mechanical operating parameters is greater than heavy duty during underloading, or the join operation value of this mechanical operating parameters when the join operation value of this mechanical operating parameters is greater than heavy duty during underloading.

33, further, in above-mentioned control module (1), the described calculation of parameter of lifted load based at least comprising this hoisting crane, is specially: according to the calculation of parameter of the driving source parameter of the lifted load and described hoisting crane that at least comprise described hoisting crane.

34. further, and described control system meets at least one condition in following 24A1,24A2,24A3,24A4,24A5,24A6 scheme:

The value of lifted load described in 24A1. is according to electric driving force calculation of parameter gained;

The value of lifted load described in 24A2. is run energy equilibrium based on hoisting and is calculated gained;

The value of lifted load described in 24A4. is current actual value, and the value of described driving source parameter is maximum safe limit threshold values;

Being calculated as described in 24A5. hoists runs energy equilibrium calculating; When described mechanical operating parameters comprises sinking speed, described in hoist run energy equilibrium calculate associate with the operating condition of described hoisting crane;

The join operation value obtaining mechanical operating parameters described in 24A6. comprises following proposal: the value obtaining the input parameter of described hoisting crane; Described input parameter is worth required parameter for calculating described join operation; Described join operation value is calculated according to the value of the input parameter of described acquisition.

The implementation of this control method:

The core content of this control method it (one):

How demonstration is according at least comprising the calculation of parameter of lifted load (being preferably current actual value) and driving source parameter (being preferably maximum safe limit threshold values) for controlling the safety value of the mechanical operating parameters of hoisting crane operation.

The calculating of this safety value or acquisition, preferred embodiment 19A comprises following 19A-1,19A-2 scheme:

(.1)

19A-1 embodiment is as follows:

The value of described lifted load can be current actual value or preset value; Because the core object of this control method is the safety value arranging the mechanical operating parameters for controlling hoisting crane operation according to the current actual value of lifted load, to improve the operating efficiency of hoisting crane, so the value of lifted load is preferably current actual value, and this current actual value is preferably according to electric driving force parameter with the operation energy equilibrium calculating gained that hoists; Certainly this current actual value also allows to be undertaken hoisting by other driving source parameters to run energy equilibrium and calculate gained, also allows to be weighed gained by sensor, and just latter two mode is by lifting cost;

The value of described driving source parameter, is preferably the maximum safe limit threshold values of driving source parameter, coordinates and calculate, be convenient to like this realize the highest operating efficiency of hoisting crane with the current actual value of lifted load; Also may be selected to be the numerical value being less than maximum safe limit threshold values, will be unfavorable for raising the efficiency;

By the structure of deep study and analysis hoisting crane, account form in following formula 19-1,2,3,4,5,6,7 can be obtained with reference to previous embodiment 4, Po_ena is the License Value of power of motor, and Te_ena is the License Value of electromagnetic torque, and P4_ena is the License Value of electrification feedback B.P., and P5_ena is the maximum safe limit threshold values of dynamic braking power, and F1_ena is the License Value of the comprehensive pulling force of steel rope, above-mentioned many License Values, being can by according to hoisting crane model, the maximum safe limit threshold values of field demand setting, according to the License Value (as Po_ena or P4_ena or P5_ena) of power type and calculate the License Value V1_ena of hoisting speed and/or the License Value V2_ena of sinking speed according to variant energy flow to operating mode (or together with speed operation conditions), according to the License Value (as F1_ena) of power or torque or instantaneous power type and the License Value aj_ena calculating acceleration/accel according to variant energy flow to operating mode (or together with speed operation conditions), special declaration, as certain parameter suffix _ ena in addition, then represents that this parameter is safety value or the License Value of systemic presupposition.

(.2)

When described mechanical operating parameters be hoisting speed or sinking speed time, preferred version 19-1 is described as follows:

The License Value of hoisting speed when calculating electric hoist according to the License Value of the power of electric system during motoring condition, can obtain following formula 19-1 with reference to aforementioned formula 5-1:

V1_ena=Kem1*Po_ena/ ((m1+m0) * g), (formula 19-1);

Calculate the License Value of the sinking speed when motor braking land according to the maximum safe limit threshold values of electrification feedback power and/or dynamic braking power, reference aforementioned formula 5-4 can obtain following formula 19-4:

V2_ena4=(P4_ena/ (K14*Kem2))/(-(m1+m0) * g), (formula 19-4-1);

V2_ena5=(P5_ena/Kem2)/(-(m1+m0) * g), (formula 19-4-2);

The best License Value of (various speed) that above-mentioned formula 19-1,19-2,19-3,19-4 calculate, can be regarded as the License Value of the maximum speed through secure authorization.

(.3)

19A-2 embodiment is as follows:

When described mechanical operating parameters is any one parameter in acceleration/accel when accelerating acceleration/accel, fall-retarding when promoting, detailed protocol 19A-2-1, the 19A-2-2 of preferred version 19A-2 are described as follows:

19A-2-1. calculates the License Value accelerating to promote brief acceleration and/or fall-retarding brief acceleration according to the License Value F1_ena that lifting total mass m2 is also (m1+m0) and the comprehensive pulling force of steel rope; When hoisting crane is for accelerating to promote, or when hoisting crane is fall-retarding, the maximum gear shift shock power that steel rope bears; Following formula 19-5 can be obtained with reference to aforementioned formula 1-3:

| aj1_ena|=|aj4_ena|=F1_ena/ (m1+m0)-g, (formula 19-5);

19A-2-2. above-mentioned 19A-2-1 scheme, for calculating the License Value of acceleration/accel according to the License Value F1_ena of the comprehensive pulling force of steel rope, the safety factor that the License Value F1_ena of the comprehensive pulling force of this steel rope can preset divided by one according to the breaking stress of steel rope usually is again learnt, this breaking stress can be learnt by the mechanical handbook relevant according to the material inquiry of steel rope, and this safety factor can be set to about 12 usually; Usually the weakest link that steel rope is hoisting crane can be given tacit consent to, the License Value (carrying out by reference to formula 3-3,3-4,3-5,3-6 in embodiment 3) of acceleration/accel is certainly also set by the shearing stress safety value of mechanical revolving part (as reel, transmission gear, rotor output shaft), can also according to the safety value of the safety value of electromagnetic torque or electric current or moment electric power safety value the License Value (carrying out by reference to formula 4-5 to 4-12 in previous embodiment 4) of acceleration/accel is set; System can carry out safe accounting, parameter the weakest in the safety value of the License Value of the comprehensive pulling force of confirmation steel rope, the shearing stress safety value of mechanical revolving part, the safety value of electromagnetic torque or the safety value of electric current or instantaneously electric power, according to the License Value of this weakest parameter determination acceleration/accel.

(various acceleration/accel) License Value of above-mentioned 19A-2-1,19A-2-2 scheme gained, can be regarded as the License Value of the peak acceleration through secure authorization; Even if because at same service direction, may there is positive and negative dividing in acceleration/accel; (under various situation acceleration/accel) License Value of such scheme gained, can be regarded as the absolute value of the License Value of the acceleration/accel through secure authorization; Apparent, learnt by above-mentioned computing formula, this License Value is applicable to current lifted load value; When this lifted load value is different, the absolute value of the License Value of this acceleration/accel is by difference;

The core content of this control method they (two):

(two .1)

Analyze and how to control hoisting crane run with instruction preset value, operation upper limit threshold values; Instruction preset value, run upper limit threshold values be on the occasion of; Specific as follows:

Each action that crane lifting runs, all can be sent the expected value (also i.e. instruction preset value) of a target component (in mechanical operating parameters hoisting speed and/or sinking speed and/or the nyctitropic acceleration/accel of each speed) by control system, then according to target be worth (also i.e. instruction preset value) as the power system of hoisting crane drives hoisting crane by actuating unit and run;

(two .2), the explanation run with instruction preset value control hoisting crane:

Instruction preset value is used for speed and/or the acceleration/accel of ACTIVE CONTROL hoisting crane, namely the expected value of (the crane lifting speed and sinking speed and the nyctitropic acceleration/accel of each speed) of the mechanical operating parameters that ACTIVE CONTROL hoisting crane runs is used as, for directly controlling the operation of this hoisting crane; This mode is a kind of ACTIVE CONTROL mode; As mentioned above, because this instruction preset value is the calculation of parameter gained according at least comprising the lifted load (current actual value) of described hoisting crane and the driving source parameter (maximum safe limit threshold values) of described hoisting crane, institute's crane lifting speed that can make in like fashion and/or sinking speed and/or the nyctitropic acceleration operation of each speed are in maxim, hoisting crane operating efficiency can be improved, also can ensure hoisting crane safe in operation simultaneously;

(two .3), the explanation run with operation upper limit threshold values control hoisting crane:

Run upper limit threshold values, refer to the upper limit threshold values of hoisting crane hoisting speed, sinking speed, nyctitropic acceleration/accel of each speed in operational process; Control hoisting crane with operation upper limit threshold values to run, for a kind of non-active but be of value to safe mode; This mode comprises following proposal: when the hoisting speed/of hoisting crane or sinking speed (currency or expected value) are not more than the operation upper limit threshold values of described service direction, hoisting crane former run action and unrestricted; The operation upper limit threshold values being greater than described service direction when the hoisting speed/of hoisting crane or sinking speed (currency or expected value) namely carries out speed limit or the process such as overspeed alarming or stoppage protection; This speed limit refers to hoisting speed/or sinking speed (currency or expected value) to be restricted to the value being not more than and running upper limit threshold values;

When the absolute value of the acceleration/accel (currency or expected value) of hoisting crane is not more than the operation upper limit threshold values of the nyctitropic acceleration/accel of described speed and unrestricted; Acceleration/accel amplitude limit or the process such as overload alarm or stoppage protection is carried out when the absolute value of the acceleration/accel (currency or expected value) of hoisting crane is greater than the operation upper limit threshold values of the nyctitropic acceleration/accel of described speed; This acceleration/accel amplitude limit refers to the absolute value of nyctitropic for described speed acceleration/accel (currency or expected value) to be restricted to the value being not more than and running upper limit threshold values;

Concrete speed limit measure, can carry out with reference to existing control technology, if the expected value that underspeeds or instruction preset value (as reduced the setpoint frequency of frequency converter) are to allow decelerating through motor etc.; The measure of concrete acceleration/accel amplitude limit, can carry out with reference to existing control technology, as underspeed current expected value or instruction preset value rate of change (as reduce frequency converter setpoint frequency rate of change, make the slope reduction etc. of speed change curves) to allow motor carry out acceleration/accel amplitude limit etc.

When the motor driver of hoisting crane possesses direct Acceleration Control function, directly can control acceleration/accel and run to control hoisting crane; When this motor driver does not possess direct Acceleration Control function, indirectly control acceleration/accel by controlling acceleration and deceleration time of run; As known in frequency converter ongoing frequency (being also present speed), namely target frequency (also target velocity) is known, then can converse desirable acceleration and deceleration time of run by the difference of target frequency and the ongoing frequency difference of speed (also i.e.) divided by the value of acceleration/accel.

(two .4),

19A-1 and/or 19A-2 scheme of the present invention is for the lifted load (being preferably current actual value) according to hoisting crane and driving source parameter are (as electric power or lineoutofservice signal pull, its value is preferably maximum safe limit threshold values) calculate the safety value of mechanical operating parameters run for controlling hoisting crane, the safety value of mechanical operating parameters comprises the License Value of the speed through secure authorization, at least one in the absolute value of the License Value of the acceleration/accel of secure authorization, also the License Value of hoisting speed when namely the safety value of mechanical operating parameters comprises electric hoist, the License Value of sinking speed during motor braking landing, accelerate the License Value promoting brief acceleration, at least one in the License Value of fall-retarding brief acceleration, to guarantee to make hoisting crane under safe prerequisite fastest/most effective, belong to crane movements control in highly intelligentized scheme,

When the measured value that driving source parameter is current, lifted load be current join operation value or measured value time, the join operation value of the mechanical operating parameters calculated also is currency; " controlling hoisting crane according to the respective value of the join operation value of this mechanical operating parameters or this class to run " of the present invention also can comprise following proposal: whether the currency detected through the mechanical operating parameters of combined calculation gained exceeds the maximum safe limit threshold values preset, and then carries out the warning of being correlated with or speed limit process in this way;

With reference to above-mentioned method of calculating, also the rated value of driving source parameter/artificial preset value can be selected to coordinate with the current actual value of lifted load calculate, the value of corresponding drawn mechanical operating parameters can be regarded as: the speed when the load of hoisting crane is current lifted load value or the rated value of acceleration/accel/artificial preset value; Also can run upper limit threshold values to control hoisting crane operation according to the rated value/artificial preset value of this speed or acceleration/accel as instruction preset value, control method can with reference to such scheme.

The core content of this control method they (three):

Control the calculating of safety value or the acquisition of the mechanical operating parameters that hoisting crane runs, except above-mentioned basic embodiment 19A, also have table-look-up type embodiment 19B, the most various ways such as simplified embodiment 19C, 19D embodiment;

19B embodiment is described as follows: the value (join operation value) of the mechanical operating parameters of described hoisting crane, except the preferred numerical procedure adopting above-mentioned 19A, also can carry out the low but easy calculating of performance according to the lifted load of described hoisting crane and driving source parameter; As preset the association table of the lifted load of a hoisting crane, driving source parameter, mechanical operating parameters, this association table is the second association table; When inputting known lifted load, driving source parameter, the value (join operation value) drawing mechanical operating parameters of tabling look-up; Control hoisting crane according to the value of described mechanical operating parameters to run;

19C embodiment is described as follows: preset the lifted load of a hoisting crane, the association table of mechanical operating parameters, this association table is the first association table; When inputting known lifted load, tabling look-up and drawing the value (join operation value) of mechanical operating parameters (acceleration/accel during acceleration/accel, fall-retarding when hoisting speed, sinking speed, acceleration promote); Control hoisting crane according to the value of described mechanical operating parameters to run;

19D embodiment illustrates: above-mentioned 19A, 19B, 19C are the calculating carrying out the value (join operation value) of the mechanical operating parameters of described hoisting crane in control system inside; Also allow, by outside, that other system carries out the value (join operation value) of mechanical operating parameters calculating, only to need its method of calculating to adopt method of calculating described in 19A, 19B, 19C; Read this by outside, that other system calculates gained mechanical operating parameters value (join operation value); Control hoisting crane according to the value of described mechanical operating parameters to run;

In the present invention, except calculating with formula/model, tabling look-up also is a kind of method of calculating, and form calculates; Arbitrary formula, form in above-mentioned formula 19-1, formula 19-4-1, formula 19-4-2, formula 19-5, the second association table, the first association table, all can be described as a kind of mapping relations at least comprising the parameter of the lifted load of described hoisting crane and the mechanical operating parameters of this hoisting crane;

Be worth the value action of the value of described mechanical operating parameters according to described lifted load, usually a certain specific time carry out, as hoisting crane close the door, start lifting run run before; Certainly, this value action also can carry out this value in lifting process, is selected voluntarily by user.

In above-mentioned 19A, 19B, 19C, 19D either a program, " controlling hoisting crane according to the value of described mechanical operating parameters to run ", this control hoisting crane runs all accuses that the described hoisting crane of system meets safety standard and runs;

The core content of this control method they (four):

Foregoing solved the safety value controlling the mechanical operating parameters that hoisting crane runs source, how according to instruction preset value, run upper limit threshold values and control hoisting crane and run, how following content carries out stepping, how controls hoisting crane according to class or discrete value and run if introducing, particular content is as follows:

The core object of this control program is License Value adjustment crane lifting speed, sinking speed according to lifted load (current actual value) and electric power; When this mechanical operating parameters be hoisting speed or sinking speed time, when these " at least two " are for being only two, simply can be interpreted as high speed value, low speed value, high speed value is greater than low speed value; Also can be regarded as this speed and have two different class, a high speed gear, a low gear, each class all has a respective value; The respective value of high speed gear is high speed value, and the respective value of low gear is low speed value, and the respective value of high speed gear is greater than the respective value of low gear;

The special agree as follows of the present invention: " at least two " do not comprise this this mechanical operating parameters be zero or this mechanical operating parameters value and zero difference be less than the situation of a preset value; Main purpose of this agreement is exactly to understand and easy to operate in order to those skilled in the art, in " at least two " middle eliminating zero-speed.

When crane lifting or when preparing to promote, setting a decision threshold is also the 3rd preset value, and the value as lifted load is greater than the 3rd preset value, then export the instruction preset value of the instruction preset value of a mine hoist acceleration (/ hoisting speed); Value as lifted load is less than the 3rd preset value, then export the instruction preset value of another different size of this mine hoist acceleration (/ hoisting speed); Such as: when the value of lifted load is less than the 3rd preset value, then using high speed value as the instruction preset value/of mine hoist acceleration (/ hoisting speed) or run upper limit threshold values, or control hoisting crane and run on high speed gear; When the value of lifted load is more than or equal to the 3rd preset value, then using low speed value as the instruction preset value/of mine hoist acceleration (/ hoisting speed) or run upper limit threshold values, or control hoisting crane and run on low gear;

When hoisting crane landing or when preparing landing, when these " at least two " are three, three speed can simply be interpreted as " high speed value, middling speed value, low speed value ", and high speed value is greater than middling speed value, and middling speed value is greater than low speed value; Also can be regarded as this speed three different class, a high speed gear, a mid ranger, a low gear, each class all has a respective value; The respective value of high speed gear is high speed value, and the respective value of mid ranger is middling speed value, and the respective value of low gear is low speed value, and the respective value of high speed gear is greater than the respective value of mid ranger, and the respective value of mid ranger is greater than the respective value of low gear; As set two decision threshold varied in size (being also the 4th preset value, the 5th preset value), the value of lifted load is simply divided into large, medium and small three intervals; Such as: 0< the 4th preset value < the 5th preset value < rated load weight, " little " district is the interval of the 0 to the four preset value, " in " district is the interval of the 4th preset value to the 5th preset value, " greatly " district is the interval of the 5th preset value to rated load weight; When the value of lifted load is in " greatly " district, then using low speed value as the instruction preset value/of sinking speed (landing brief acceleration) or run upper limit threshold values, or control hoisting crane and run on low gear; When the value of lifted load be in " in " district time, then using middling speed value as the instruction preset value/of sinking speed (landing brief acceleration) or run upper limit threshold values, or control hoisting crane and run on mid ranger; When the value of lifted load is in " little " district, then using high speed value as the instruction preset value/of sinking speed (landing brief acceleration) or run upper limit threshold values, or control hoisting crane and run on high speed gear;

Certainly, be above-mentionedly only an example according to the 3rd preset value, the 4th preset value, the 5th preset value subregion, and non-limiting; User can refer to which, from each preset value of Row sum-equal matrix, voluntarily subregion;

Therefore, when these " at least two " are (as 4,5,6,8 etc.) during finite number, its essence be this mechanical operating parameters value be multiple discrete values, be divided into many grades to control hoisting crane according to this multiple discrete value.As for the respective value of above-mentioned high speed value, middling speed value, low speed value, each class, the concrete size of its value, can determine according to schemes such as the experiment of type test setting, limited number of time, artificial try and cut methods, also can set with reference to above-mentioned arbitrary mapping relations (formula or form); All preset values herein, all can determine according to schemes such as the experiment of type test setting, limited number of time, artificial try and cut methods.

According to 19A, 19B, 19C, 19D scheme, in fact allow more class/discrete value, or even stepless time adjustment, be in zero load to make hoisting crane and all can ensure that hoisting crane operating efficiency is higher at full load, also, when namely lifted load is from zero arbitrary value interval to rated load weight, all can ensure that hoisting crane operating efficiency is higher;

The core content of this control method they (five):

(five .1)

When analyzing various load situation (as zero load, underloading, heavy duty, being fully loaded with), with the relation of the safety value (being especially the License Value of speed) of mechanical operating parameters; Apparent, when lifted load value is zero (m1=0) for unloaded; Be fully loaded when lifted load value equals nominal payload m1_ena (m1=m1_ena) of hoisting crane;

For the ease of understanding, the present invention arranges: be underloading when lifted load value is greater than zero and is less than the first preset value (0<m1< first preset value); When lifted load value is more than or equal to the second preset value and is less than the nominal payload m1_ena of hoisting crane, (the second preset value≤m1<m1_ena) is heavy duty;

(the first preset value≤the second preset value); Such as, the first preset value can go to be worth 0.5 times of equilibrium value, 1.5 times of the desirable equilibrium value of the second preset value; Certainly, this value first preset value, the second preset value can be adjusted by user;

As a rule, when hoisting crane is fully loaded with and promotes, electric power is consumed many, the hoisting speed step-down of permission; When hoisting crane is fully loaded with landing, the sinking speed of license is limited by the ability to arrange jobs of electric power system to B.P.; Especially when resistance braking, pay particular attention to, preferably do not allow B.P. exceed default maximum safe limit threshold values, otherwise motor driver bus voltage will be caused to raise/report the unsafe conditions such as fault/sudden stop.

Comprehensive, control the expected value of crane lifting speed that hoisting crane runs and sinking speed and the nyctitropic acceleration/accel of each speed, run the respective value of upper limit threshold values, each class, all need can learn through deep safety compute; " controlling hoisting crane to run " of the present invention, is often referred to " control described hoisting crane and meet safety standard operation ";

Describedly meeting safety standard, is at least one in following safety condition 1, safety condition 2, safety condition 3;

Safety condition 1: process as shown in embodiment 19A, for the safety value that the respective value (being also instruction preset value or operation upper limit threshold values) of the join operation value or this class that control this mechanical operating parameters that hoisting crane runs is mechanical operating parameters, the safety value of this mechanical operating parameters carries out calculating gained (as shown in embodiment 19A) according to the parameter at least comprising lifted load (being preferably current actual value) and driving source parameter (being preferably maximum safe limit threshold values); Understandable, it is safe for controlling hoisting crane operation with the safety value of this mechanical operating parameters;

Safety condition 2: as 19B, 19C, 19D scheme, by tabling look-up or obtaining this respective value for the join operation value of this mechanical operating parameters that controls hoisting crane and run or this class (also i.e. instruction preset value or run upper limit threshold values) from outside, other system, verify from result: this value is not more than the safety value of mechanical operating parameters;

The safety value of this mechanical operating parameters carries out calculating gained (as shown in embodiment 19A result) according to the parameter at least comprising lifted load (being preferably current actual value) and driving source parameter (being preferably maximum safe limit threshold values); Understandable, it is safe for controlling hoisting crane operation by the value of this mechanical operating parameters;

Safety condition 3: the value for controlling the driving source parameter corresponding to the respective value (also i.e. instruction preset value or run upper limit threshold values) of the join operation value of this mechanical operating parameters that hoisting crane runs or this class and lifted load (current actual value) is not more than the maximum safe limit threshold values of this driving source parameter; Detailed description of the invention, the value of corresponding driving source parameter can calculate gained by the deformation formula of above-mentioned formula 19-1, formula 19-4-1, formula 19-4-2, formula 19-5.

(five .3)

Learn according to foregoing analysis, control described hoisting crane according to the join operation value of this mechanical operating parameters or the respective value of this class to run: the respective value of the class of this mechanical operating parameters when the respective value of the class of this mechanical operating parameters is greater than heavy duty during underloading, or the join operation value of this mechanical operating parameters when the join operation value of this mechanical operating parameters is greater than heavy duty during underloading.。

A kind of control method of hoisting crane operating efficiency provided by the present invention and the beneficial effect of system: the thinking adjusting hoisting crane running velocity in existing open source literature data according to lifting article quality m1, but concrete scheme is smudgy, and do not distinguish B.P. and electric power may significantly difference, not only if the motoring condition of not distinguishing hoisting crane and motor braking state blindly carry out the effect that speed adjustment does not have speed adjustment, easily cause hoisting crane to produce safety misadventure on the contrary;

The immediate cause of the damage of mechanical device be certain load-carrying brief acceleration cross senior general cause mechanical system stress be greater than safe threshold (rupture as lineoutofservice signal pull is greater than breaking stress, as moment torque transfinite/shearing stress transfinites and causes transmission shaft off-axis, gear explosion etc.); In the existing known documents and materials of crane field, there is disappearance in the research for the safety misadventure of the anti-wire cable rupture of hoisting crane; Be more rely on " forbid reverse sudden stop " to carry out personnel's instruction and guide, namely rely on the experience of operating personal and consciously go prevention;

Use control method and the system of a kind of hoisting crane operating efficiency provided by the invention, the safe operation speed of hoisting crane can be set accurately, significant for the operating efficiency improving hoisting crane; Can science accekeration is set, cause gear shift shock power transfinite, the prevent safety misadventure of wire cable rupture significant for prevention human users error.

Technical matters five:

Five of the technical problem to be solved in the present invention is to provide the method for supervising that a kind of hoisting crane operational factor transfinites, to improve safety when hoisting crane runs;

The method for supervising (#3) that 35. the present invention also provide a kind of hoisting crane operational factor to transfinite, comprise step: the join operation value obtaining the driving source parameter of described hoisting crane, judge whether the join operation value of described driving source parameter exceeds systemic presupposition value or the maximum safe limit threshold values of described driving source parameter; Described join operation value runs energy equilibrium based on hoisting to calculate gained.

In this method for supervising (#3), for judging whether the driving source parameter of affiliated hoisting crane transfinites; The large I of this systemic presupposition value is chosen according to the actual requirements, but usually meets: 0< systemic presupposition value≤driving source parameter safety limiting threshold value.

Such as, driving source parameter is the pulling force of the steel rope of hoisting crane, namely systemic presupposition value both can be the normal value (also rated value or calibration value) of the pulling force of this steel rope, this value generally by type test or production firm or professional testing agency given; The systemic presupposition value ideal value that also available subscribers scene needs, scene confirms; Systemic presupposition value also can be maximum safe limit threshold value × 80% value; Once the join operation value of the pulling force of steel rope exceedes this maximum safe limit threshold value, then driving source parameter-beyond-limit is described.

Further, systemic presupposition value can also be set to multiple, to realize the parameter-beyond-limit of classification; If the normal value of the pulling force using steel rope is as the first system preset value (supposing the maximum safe limit threshold of the pulling force of its value 50% × steel rope); The maximum safe limit threshold of the pulling force of 85% × steel rope is set to second system preset value;

When the join operation value > maximum safe limit threshold of the pulling force of steel rope, then can start urgent speed limit, acceleration/accel amplitude limit, shut down, forbid running, sending the safety methods such as alerting signal;

When the join operation value > second system preset value of the pulling force of maximum safe limit threshold > steel rope, now can send out a warning, being in second with driving source parameter of warning transfinites scope;

When the join operation value > the first system preset value of the pulling force of second system preset value > steel rope, now can bright orange lamp, being in first with driving source parameter of warning transfinites scope;

When the join operation value < the first system preset value of the pulling force of steel rope, now can give a green light, to represent that driving source parameter does not transfinite.

36. is further, in the method for supervising that hoisting crane operational factor of the present invention transfinites, the described system operational parameters running demand in energy equilibrium calculating that hoists comprises speed and/or acceleration/accel, and the value of described speed and/or acceleration/accel is according to instruction preset value or measured value setting;

Preferably, in the method for supervising that the control hoisting crane operational factor of above-mentioned 35 transfinites, the step of the join operation value of the measuring and calculating object of the described hoisting crane of the acquisition carried out in advance can also be comprised.

37, further, in the method for supervising that hoisting crane operational factor of the present invention transfinites, also can comprise following 25A1,25A2 any one or kinds of schemes:

25A1. as described in judged result to comprise be then start the driving source parameter-beyond-limit treatment mechanism of setting;

25A2. exports and/or preserves the information of described judgement.

38. further, and described method for supervising (#3) meets at least one condition in following 26A1,26A2,26A3,26A4,26A5,26A6,26A7,26A8:

Driving source parameter described in 26A1. comprises arbitrary parameter in the dynamical parameter of traction piece, the dynamical parameter of mechanical revolving part, electric driving force parameter;

26A2. adjusts the method for calculating of described efficiency factor according to motor operating condition;

26A3. is when described driving source parameter is electric power, and the type of carrying out described electric power according to motor operating condition is arranged;

The operation energy equilibrium that hoists described in 26A4. calculates and meets at least one condition in following 26A41,26A42:

The parameter running energy equilibrium calculating that hoists described in 26A41. participates in comprises acceleration/accel;

Described velocity variations situation and described hoisting also are run energy equilibrium compute associations by 26A42. identification velocity variations situation;

26A5. when described in hoist run energy equilibrium calculate in the value of demand lifted load time, the value of described lifted load is according to electric driving force calculation of parameter gained;

The join operation that 26A6. calculates described driving source parameter is worth the value of required lifted load, calculates gained for running energy equilibrium based on hoisting formerly;

The operation energy equilibrium that hoists described in 26A7. calculates and associates with the operating condition of described hoisting crane;

The join operation value obtaining the driving source parameter of described hoisting crane described in 26A8. comprises the steps: the value of the input parameter obtaining described hoisting crane; Described input parameter is worth required parameter for calculating described join operation; Described join operation value is calculated according to the value of the input parameter of described acquisition.

The monitored control system (#3) that 39. the present invention also provide a kind of hoisting crane operational factor to transfinite, driving source parameter-beyond-limit monitoring module (2);

40, in the monitored control system that above-mentioned hoisting crane operational factor transfinites, also can comprise the steps, carry out in following 27A1,27A2 any one or kinds of schemes process;

27A1. as described in judged result to comprise be then start the driving source parameter-beyond-limit treatment mechanism of setting;

27A2. exports and/or preserves the information of described judgement.

28. further, and described monitored control system (#3) meets at least one condition in following 28A1,28A2,28A3,28A4,28A5,28A6,28A7,28A8:

Driving source parameter described in 28A1. comprises arbitrary parameter in the dynamical parameter of traction piece, the dynamical parameter of mechanical revolving part, electric driving force parameter;

28A2. adjusts described efficiency factor according to motor operating condition;

28A3., when described driving source parameter is electric power, carries out the setting of described electric power according to motor operating condition;

The operation energy equilibrium that hoists described in 28A4. calculates and meets at least one condition in following 28A41,28A42:

The parameter running energy equilibrium calculating that hoists described in 28A41. participates in comprises acceleration/accel;

Described velocity variations situation and described hoisting also are run energy equilibrium compute associations by 28A42. identification velocity variations situation;

28A5. when described in hoist run energy equilibrium calculate in the value of demand lifted load time, the value of described lifted load is according to electric driving force calculation of parameter gained;

The join operation that 28A6. calculates described driving source parameter is worth the value of required lifted load, calculates gained for running energy equilibrium based on hoisting formerly;

The operation energy equilibrium that hoists described in 28A7. calculates and associates with the operating condition of described hoisting crane;

Monitored control system described in 28A8. comprises join operation value acquisition module, and the join operation value for the driving source parameter obtaining described hoisting crane comprises the steps, specifically can comprise the value of the input parameter obtaining described hoisting crane; Described input parameter is worth required parameter for calculating described join operation; Described join operation value is calculated according to the value of the input parameter of described acquisition.

The implementation of this method for supervising (#3): this method for supervising (#3) is the technology with the control method same idea root of aforementioned a kind of hoisting crane operating efficiency, can be understood as the inverse operation that method for supervising (#3) is the control method of aforementioned a kind of hoisting crane operating efficiency; The program is applicable to not need and/or do not allow the speed of active accommodation hoisting crane and/or the place of acceleration/accel;

When the described operation energy equilibrium calculating that hoists comprises lifting article quality, the value of described lifting article quality is currency or preset value; Whether the torque of the comprehensive pulling force or rotating machinery that can dope steel rope under the setting model of various lifting article quality can transfinite;

When the motor driver of hoisting crane possesses direct Acceleration Control function, can acceleration/accel directly in reading command preset value; When this motor driver (as frequency converter) does not possess direct Acceleration Control function, issued by this motor driver, to prepare execution instruction preset value (slope of the acceleration and deceleration curves of known ongoing frequency (being also present speed), the target frequency (being also target velocity) of setting, setting acceleration and deceleration time of run, setting), can draw the acceleration/accel of this instruction preset value; As a rule, the reading that the instruction preset value of speed can be easy from motor driver is learnt.

The embodiment 1 of method for supervising provided by the present invention (#3):

When crane lifting+Accelerating running, or hoisting crane is when landing+run slowly, utilize formula 1-2 in the alternate embodiment 1 of embodiment 1 can calculate join operation value F1_cal:F1_cal=(m1+m0) * (g+aj) of the comprehensive pulling force of steel rope on spreader assembly, (formula 1-2);

Judge whether (F1_cal>F1_ena) sets up, and if judged result is be, starts the driving source parameter-beyond-limit treatment mechanism of setting;

The embodiment 2 of method for supervising provided by the present invention (#3):

When energy flow is electric hoist to operating mode, and velocity variations situation is non-zero when traveling at the uniform speed, utilize formula 4-15 in alternate embodiment 3 example 1 of embodiment 4 can calculate the join operation value of electromagnetic torque Te: Te_cal=((m1+m0) * g) * R1/ (Kem1*im), (formula 4-15);

Judge whether (Te_cal>Te_ena) sets up, and exports and/or preserve the information of described judgement;

The embodiment 3 of method for supervising provided by the present invention (#3):

When energy flow is electric hoist to operating mode, and velocity variations situation is non-zero when traveling at the uniform speed, the deformation formula of formula 5-1 in the 5A1-1 of embodiment 5 (formula 19-7) is utilized to calculate the join operation value of the electric power of motor: Po_cal=((m1+m0) * g) * V1/Kem1, (formula 19-7);

Judge whether (Po_cal>Po_ena) sets up, if judged result is be, start the driving source parameter-beyond-limit treatment mechanism of setting and/or export the described information judged.

In method for supervising of the present invention (#3) in 25A1 scheme, described driving source parameter-beyond-limit treatment mechanism, with energy transferring exception handling roughly the same, can be including, but not limited to: refusal performs the branch prediction value transfinited, the instruction preset value called through secure authorization controls Jack operational factor, voice message alarm, audible and visual alarm, warning information is outputted to human-computer interaction interface, network system, connectivity port etc.; Emergency engine kill etc.; Machine system and manually combination in any can set various process action.

In method for supervising of the present invention (#3) in 25A2 scheme, the information of described judgement comprises and judges whether the join operation value of described driving source parameter exceeds the systemic presupposition value of described driving source parameter or the judged result of maximum safe limit threshold values, if external system needs, this information can also comprise any one or more data in the maximum safe limit threshold values of the join operation value of described driving source parameter, described driving source parameter;

For method for supervising of the present invention (#3), this application provides following concrete technical scheme:

(1) this programme comprises the steps:

Obtain the currency of load quality of hoisting crane, system or the artificial instruction preset value for the hoisting crane running velocity that arranges and/or acceleration/accel (also i.e. control command, expected value) sent;

Calculate based on the currency of the load quality got, described instruction preset value the join operation value that (computation of table lookup or the operation energy equilibrium that hoists calculate) goes out driving source parameter, judge whether described join operation value exceedes the maximum safe limit threshold value/systemic presupposition value of this driving source parameter;

When described join operation value does not exceed the maximum safe limit threshold value/systemic presupposition value of this driving source parameter: then continue to perform this control command;

When described join operation value exceedes the maximum safe limit threshold value/systemic presupposition value of this driving source parameter: then can judge described instruction preset value (also control command, expected value) mal, if perform this instruction may produce (such as steel rope exceed breaking stress or gear failure or electric power system damage) security risk; Now, system then can export alarm signal or end execution or the forced stoppage of this instruction by force; Have the effect taking precautions against following (not yet occur but will occur) security risk in some sense, the safe operation for hoisting crane is significant.

(2) this programme comprises the steps:

(obtained by crane movements EQUILIBRIUM CALCULATION FOR PROCESS or sensor is weighed) obtains the currency of load quality of hoisting crane, (passing through metering system) obtain hoisting crane running velocity and/or acceleration/accel currency;

Based on the currency of the load quality got, running velocity and/or acceleration/accel currency calculate the join operation value that (computation of table lookup or hoist run energy equilibrium calculate) goes out driving source parameter, the join operation value essence of this driving source parameter is the currency of (non-obtained by sensor measurement approach); Judge whether described join operation value exceedes the maximum safe limit threshold value/systemic presupposition value of this driving source parameter;

As no: then show the present situation safety, current operation can be proceeded;

In this way, then alarm signal is exported; Predict whether the control command (also namely artificial or system is given an order) being about to perform causes future secure risk different from above-mentioned (1) this programme; What be somebody's turn to do the monitoring of (2) this programme is the current security risk that whether there is parameter-beyond-limit; Safe operation for hoisting crane is also significant.

(3) this programme comprises the steps:

Obtain the preset value of load quality of hoisting crane, (passing through metering system) obtain hoisting crane running velocity and/or acceleration/accel currency; Based on the preset value of the load quality got, running velocity and/or acceleration/accel currency calculate the join operation value that (computation of table lookup or hoist run energy equilibrium calculate) goes out driving source parameter, the join operation value essence of this driving source parameter is the currency of (default settings according to quality);

Judge whether join operation value exceedes the maximum safe limit threshold value/systemic presupposition value of this driving source parameter, and then the load quality metric of license, safety can be learnt, the number that this hoisting crane even measurable can deliver; Facilitation is had for the efficiency of operation improving hoisting crane.

(4) this programme comprises the steps:

Obtain the preset value of the load quality of hoisting crane, obtain hoisting crane running velocity and/or acceleration/accel preset value; Preset value based on the preset value of the load quality got, running velocity and/or acceleration/accel calculates (computation of table lookup or hoist run energy equilibrium calculate) goes out the join operation value of driving source parameter, judges whether join operation value described in this exceedes the maximum safe limit threshold value/systemic presupposition value of this driving source parameter;

The program is generally used for the reasonable prediction carrying out motion planning, mass carried, running velocity and/or acceleration/accel; Facilitation is had for the efficiency of operation improving hoisting crane.

The beneficial effect of the method for supervising (#3) that a kind of hoisting crane operational factor provided by the present invention transfinites:

The speed that present hoisting crane runs and/or acceleration/accel have two kinds of modes: a kind of for adopting Computerized intelligent to control, and generate software instruction preset value; One is manual control, generates manual command's preset value by manual command; Especially, when manual operation hoisting crane, the safety of hoisting crane is more to be relied on operating personal " forbid the sudden stop that reverses " comprehension of instructing and guiding, conscious, manual capacity; Use method for supervising provided by the invention (#3), the software instruction preset value that can generate computer, or the artificial manual command's preset value generated carries out safety inspection, predict whether the instruction preset value of (will perform and still nonevent) speed and/or acceleration/accel closes rule by the means of science, predict whether it can cause gear shift shock overstressing/whether cause steel rope disrumpent feelings, transfinite once Prediction Parameters, can refuse automatically perform dangerous operational motion or carry out peak clipping amplitude limit to this parameter; Have the effect taking precautions against future risk in some sense, the safe operation for hoisting crane is significant.

In the present invention, threshold values and threshold value, both substantial equivalences.

A kind of hoisting crane provided by the present invention is in the method for supervising be elevated when running and system (#1), a kind of method for supervising of Crane Load and system (#2), a kind of control method of hoisting crane operating efficiency and system, the method for supervising that a kind of hoisting crane operational factor transfinites and system (#3), there is between four the technical characteristic that part is identical, all in the measuring method of a kind of lifting operational factor provided by the present invention and the central inventive thought association of system: the scheme namely obtaining the join operation value of the measuring and calculating object of described hoisting crane, join operation value be all hoist run energy equilibrium calculate gained, and operate when being applicable to carrying out zero-speed/or speed change/or low speed/or motor braking,

But the function between four, point of action are respectively had any different again;

Method for supervising when a kind of crane lifting provided by the present invention runs and system (#1), core concept is the join operation value of measuring and calculating object of hoisting crane and comparing of reference data; In this reference data, the first reference value all requires as far as possible close to the actual value of measuring and calculating object (as lifting article quality); First reference value can much smaller than the maximum safe limit threshold values of parameter (legal load carrying ability as maximum in hoisting crane); As being 1000KG when hoisting crane nominal payload, actual lifting article quality 500KG, is greater than 600kg once hoisting crane weighing results is shown as or is less than 400kg, can at once start safe handling mechanism; To realize monitoring and early warning (comprise electric power system or machine driven system fault caused) hoisting crane energy transferring is abnormal, be convenient to the maximum safe limit threshold values of hoisting crane transfinite protection trigger before, there is more serious, uncertain safety misadventure (comprise wire cable rupture, transmission gear explosion, motor driver aircraft bombing, hoisting crane out of control etc.) and carry out monitoring and protecting before.

This method for supervising and system (#1), usually can when crane lifting runs real time operation;

The method for supervising of a kind of Crane Load provided by the invention and system (#2), core concept is to weigh by the electric driving force parameter of hoisting crane, also can carry out overload monitoring simultaneously; Such as namely start audio alert when lifting article quality is greater than 1.0 times of maximum legal load carrying abilities (being assumed to be 1000KG) of hoisting crane; Even if actual lifting article quality 500KG, as when weighing system weighing result is 900kg, traditional crane control system will think that hoisting crane is normal.

The method for supervising of this Crane Load and system (#2), both can at certain particular moment (when running as crane at zero speed) intermittent work, also can when crane lifting runs continuously/monitor work in real time.

Analyze accordingly, provided by the invention the former (method for supervising when a kind of crane lifting runs and system (#1)), will far above the latter (a kind of method for supervising of Crane Load and system (#2)) in security monitoring effect when crane lifting runs, certainly, the object of the latter is to carry out as early as possible at the beginning of hoisting crane starts to weigh, overload monitoring, significant equally.

The control method of a kind of hoisting crane operating efficiency provided by the invention and system, core concept is the License Value (as the maximum speed allowed, most high acceleration) of the mechanical operating parameters setting hoisting crane, or control and protection is carried out in control of transfiniting when the mechanical operating parameters of hoisting crane has exceeded License Value (as hypervelocity, super acceleration/accel), as speed limit, limit acceleration/accel, warning, shutdown etc.; This control method and system, core object is that hoisting crane is efficient, Energy Saving Control.

This control method and system, when planning for target velocity and/or aimed acceleration, can intermittent work sometime after obtaining lifted load and before high-speed cruising; When controlling when transfiniting for speed threshold and/or acceleration/accel threshold values, also can when crane lifting runs continuously/real time operation;

The method for supervising that a kind of hoisting crane operational factor provided by the invention transfinites and system (#3), core concept is to predict whether the instruction preset value of (will perform and still nonevent) speed and/or acceleration/accel can cause gear shift shock overstressing/whether cause steel rope disrumpent feelings, has the effect taking precautions against future risk in some sense; This control method and system, core object is that hoisting crane safe in operation controls.

This method for supervising and system (#3), can work before hoisting crane runs, the instruction preset value prediction source dynamical parameter according to speed and/or acceleration/accel can noly transfinite; Also can in hoisting crane operational process continuously/real time operation, to carry out the prediction of driving source parameter-beyond-limit to the instruction preset value of each pending speed and/or acceleration/accel.

The desirable mode of hoisting crane can be:

S1: with the method for supervising of Crane Load and system (#2) carry out as early as possible weighing at the beginning of startup, overload monitoring;

S2: then according to control method and the system of a kind of hoisting crane operating efficiency provided by the invention, according to lifting article quality, meets the efficient speed of the maximum safe limit threshold value setting hoisting crane of the electric power of motor operating condition, the acceleration/accel according to the security clearance value setting safety of the carrying of steel rope;

S3: simultaneously start method for supervising and system (#3) that method for supervising when crane lifting runs and system (#1) and a kind of hoisting crane operational factor transfinite, the former carries out the energy transferring abnormal monitoring before highly sensitive absolute rating transfinites, and the latter carries out the ultralimit protection of real-time driving source parameter-beyond-limit;

And all technical schemes provided by the present invention, sensor is not used to weigh as far as possible, be preferably with the electric driving force parameter of electric power system especially electromagnetic torque or torque current carry out weighing, the planning of overload monitoring, speed and/or acceleration/accel, can control accuracy be improved, reduce costs.

By method provided by the invention, both can having ensured safety of science, even if human users's error " reversion sudden stop " also can be safe and sound; Hoisting crane operating efficiency can be increased substantially again, meeting in identical article carrying capacity situation, the installation quantity of hoisting crane in harbour, harbour, warehouse, factory can be reduced thus save a large amount of cost of installation, manufacturing cost, maintenance cost, power consumption, there is great energy-saving and environmental protection meaning.

The acceleration J of hoisting crane, is also the parameters of the S degree of acceleration and deceleration S curve, can be determined by experiment; When the speed of hoisting crane, acceleration/accel, acceleration J are arranged all, the S curve that hoisting crane can be desirable is run, and realizes efficient, safety, pulsation-free and runs;

According to the S curve set, system also and then can set desirable deceleration distance; S curve runs slowly and three sections (just become decelerating phase S5, even decelerating phase S6, end becomes decelerating phase S7) can be divided into run; The acceleration value of even decelerating phase S6 is 0, the maximum safe limit threshold values that namely acceleration/accel has set; The time of S5 and S7 learns by the License Value of acceleration/accel License Value divided by acceleration; Because the velocity amplitude that S5, S6, S7 are each section and time all can be asked, so deceleration distance can accurately be learnt.

Because current hoisting crane all has ripe motor driver (as frequency converter or integrated crane controller), central controller, network transmission system, ripe human-computer interaction interface (display or voice mode);

The measuring method of a kind of lifting operational factor provided by the invention, a kind of hoisting crane being elevated method for supervising when running, a kind of method for supervising of Crane Load, a kind of control method of hoisting crane operating efficiency, a kind of hoisting crane operational factor transfinite method for supervising, both can run in independently equipment, and also can be integrated in existing central controller or motor driver or human-computer interaction interface and run.

The monitored control system that the calculating system of a kind of lifting operational factor provided by the invention, a kind of hoisting crane monitored control system when being elevated operation, a kind of monitored control system of Crane Load, a kind of control system of hoisting crane operating efficiency, a kind of hoisting crane operational factor transfinite, both can exist as independently equipment, also can be integrated in existing central controller or motor driver or human-computer interaction interface.

Technical scheme provided by the present invention, substantially can realize when hardware additional cost is zero, significantly can improve the safe operation coefficient of hoisting crane, is beneficial to the security of the lives and property ensureing hoisting crane occupant; Or hoisting crane operating efficiency can be increased substantially, save cost and power consumption, there is great energy-saving and environmental protection meaning.

The scientific issues that the research of data is inherently important; Following world, the world of network are exactly the world of data; One of essence of so-called large data, just illustrates the importance of the various key types data of research;

Hoist and run energy equilibrium calculating, inherently can be considered as a kind of data of uniqueness;

In prior art, for " hoist and run energy equilibrium calculating " the impact shortage research for hoisting crane safe in operation; Prior art, runs the data in energy equilibrium calculating to participating in hoisting, especially the data of the intrinsic parameter class of system are not enough for the influence research of hoisting crane safe in operation; Even prior art is lifted load, not enough for the influence research of hoisting crane safe in operation to its data characteristic that whether amplitude fixes in different operation sheet; Integrate, so prior art, complete, an automatic energy transferring monitored control system cannot be built;

The present invention carries out in-depth study to " hoist and run energy equilibrium calculating " with the relation of " hoisting crane safe in operation ", and build multiple monitored control system or disposal system based on the data obtained using " hoist and run energy equilibrium calculating " as gordian technique means, thus realize a kind of important breakthrough to hoisting crane safe in operation technology; This is also the important creation point of thinking of the present invention;

The present invention carries out in-depth study to " hoist and run energy equilibrium calculating " with " hoisting crane safe in operation ", propose using certain parameter as measuring and calculating object, by obtaining its data obtained (join operation value) that " hoists and run energy equilibrium calculating ", contrast with the reference data set by different approaches or different time, and then judge that whether the transmission of power situation of hoisting crane is abnormal, build monitored control system in this, as gordian technique means, thus realize a kind of important breakthrough to hoisting crane safe in operation technology; This is also the important creation point of thinking of the present invention;

The present invention runs data (especially the intrinsic parameter of the system) impact on hoisting crane safe in operation in energy equilibrium on hoisting, carry out in-depth study to scientific law wherein; Propose and build monitored control system as measuring and calculating object as gordian technique means using the intrinsic parameter of system, thus realize a kind of important breakthrough to hoisting crane safe in operation technology; This is also the important creation point of thinking of the present invention;

Even when equally using lifted load as measuring and calculating object, and carry out in-depth study for its data characteristic that whether amplitude fixes in different operation sheet; According to the difference of this data characteristic, formulate the technical scheme that different a reference values is arranged; And then build a monitored control system that is complete, transmission of power exception automatically, thus realize a kind of important breakthrough to hoisting crane operation safety monitoring technology; This is also the important creation point of thinking of the present invention;

Be all to hoist and run energy equilibrium for the driving source parameter in principle calculating, and drive parameter, non-motor to drive the data characteristic of parameter (in acquiring way, procurement cost, parametric sensitivity, precision etc.) to carry out in-depth study for motor; Driving source parameter in preferentially driving parameter to calculate as the operation energy equilibrium that hoists using motor, thus bring the significant enhancement in performances such as cost, sensitivity, precision, also namely to a kind of important breakthrough of hoisting crane operation safety monitoring system (cost performance, sensitivity, precision); This is also the important creation point of thinking of the present invention;

The present invention is according to the impact of the data of multiple different qualities for hoisting crane safe in operation, formulate the plan of establishment (as actual measurement mode, self study mode, demarcating mode) of a reference value of multiple science, and then build a monitored control system that is complete, energy transferring exception automatically, thus realize a kind of important breakthrough to hoisting crane operation safety monitoring technology; This is also the important creation point of thinking of the present invention;

The present invention is directed to hoist and run energy equilibrium for principle computed information (being also join operation value), in different occasions display occasion, in-depth study is carried out for the impact of hoisting crane safe in operation; By running to hoist in device or region that energy equilibrium is presented at convenient operation personnel visual monitoring for principle computed information, hoisting crane operation safety monitoring performance will be significantly improved; This is also the important creation point of thinking of the present invention;

The present invention is directed to hoist and run energy equilibrium for principle computed information (being also join operation value), can as a kind of historic records initial value, can can clear embodiment crane safety situation by one or two data, avoid with without object, cost, the performance deficiencies of going measurement crane safety situation to bring without specific aim, numerous and complicated large data in a jumble; This is also the important creation point of thinking of the present invention;

The present invention is directed to several data (as engine installation operating condition, running environment information, even in hoisting crane runs using lifted load as display object the unique point brought) data characteristic, in-depth study is carried out on the impact of hoisting crane operation safety monitoring performance, thus proposes various prioritization scheme; This is also the important creation point of thinking of the present invention.

The explanation of nouns at any place in present specification, explanatory note, computing formula, parameter acquiring method, embodiment, embodiment and each alternative embodiment, each contents such as embodiment that extend all can be applicable in any one forward and backward technical scheme; And each several part content can combination in any, replacement; The method of calculating, acquisition methods etc. of such as, join operation value in the supervision method of present specification, overload monitoring method, can call arbitrarily the content in aforesaid transmission of power condition monitoring method, parameter measurement method.

Above content is in conjunction with concrete preferred implementation further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.

Claims

1. a measuring method for lifting operational factor, is characterized in that, described measuring method comprises the steps 1A1,1A2:

1A1. obtains the value of the input parameter of hoisting crane;

2. a calculating system for lifting operational factor, is characterized in that, described calculating system comprises input parameter acquisition module (1), computing module (2);

The described operation energy equilibrium that hoists that is calculated as calculates, and described input parameter is that the join operation of the measuring and calculating object calculating described hoisting crane is worth required parameter, and described measuring and calculating object is any one parameter in hoisting crane operational factor; The driving source parameter comprised in described input parameter and described measuring and calculating object is electric driving force parameter; And described in hoist run energy equilibrium calculate meet at least one condition in following 3A11,3A12,3A13:

3. the method for supervising of hoisting crane when being elevated operation, it is characterized in that, described method for supervising comprises step:

Obtain the join operation value of the measuring and calculating object of described hoisting crane, the energy transferring situation of hoisting crane according to the join operation value identification of the measuring and calculating object of described hoisting crane; Described measuring and calculating object be in lifting operational factor any one or multiple, described join operation value be based on hoist run energy equilibrium calculate gained.

4. the method for supervising of a kind of hoisting crane as claimed in claim 3 when being elevated operation, it is characterized in that, described in the join operation value identification of the described measuring and calculating object according to described hoisting crane, the energy transferring situation of hoisting crane is specially: judge that whether the energy transferring situation of described hoisting crane is abnormal according to the join operation value of the measuring and calculating object of described hoisting crane and the reference data of described measuring and calculating object.

5. the monitored control system of a hoisting crane when being elevated operation, it is characterized in that, comprise: energy transferring situation judge module (2), for: the join operation value obtaining the measuring and calculating object of described hoisting crane, the energy transferring situation of hoisting crane according to the join operation value identification of the measuring and calculating object of described hoisting crane; Described measuring and calculating object be in lifting operational factor any one or multiple, described join operation value be based on hoist run energy equilibrium calculate gained.

6. a method for supervising for Crane Load, when crane lifting runs, is characterized in that, comprise the steps:

13B12. exports and/or preserves the information of described judgement;

7. a monitored control system for Crane Load, when crane lifting runs, is characterized in that, described monitored control system comprises join operation value acquisition module (1); Described monitored control system also comprises overload processing module (2), output module (3), any one or the multiple module preserved in module (4);

16B12. exports and/or preserves the information of described judgement;

8. a control method for hoisting crane, is characterized in that, comprises the steps:

9. a control system for hoisting crane, is characterized in that, comprising:

10. the method for supervising that transfinites of a hoisting crane operational factor, it is characterized in that, comprise step: the join operation value obtaining the driving source parameter of described hoisting crane, judge whether the join operation value of described driving source parameter exceeds systemic presupposition value or the maximum safe limit threshold values of described driving source parameter; Described join operation value runs energy equilibrium based on hoisting to calculate gained.

The monitored control system that 11. 1 kinds of hoisting crane operational factors transfinite, is characterized in that, comprises driving source parameter-beyond-limit monitoring module (2);