CN106185631A - A kind of rolling control method, device and engineering machinery - Google Patents
A kind of rolling control method, device and engineering machinery Download PDFInfo
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- CN106185631A CN106185631A CN201610798511.1A CN201610798511A CN106185631A CN 106185631 A CN106185631 A CN 106185631A CN 201610798511 A CN201610798511 A CN 201610798511A CN 106185631 A CN106185631 A CN 106185631A
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000005096 rolling process Methods 0.000 title claims abstract description 12
- 238000005086 pumping Methods 0.000 claims abstract description 20
- 230000001737 promoting effect Effects 0.000 claims abstract description 6
- 238000004804 winding Methods 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 210000001367 artery Anatomy 0.000 claims 1
- 238000004080 punching Methods 0.000 claims 1
- 210000003462 vein Anatomy 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 5
- 230000003068 static effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a kind of rolling control method, device and engineering machinery, relate to engineering machinery field, device therein includes: controller, pulling force sensor, elevator encoder and elevator pumping system；Pulling force sensor is for detecting the pulling force on lift rope, the elevator encoder being installed on the rotatable parts of winding plant is with rotatable parts synchronous axial system, controller is according to the pulling force acted on jib and hoisting depth, determine the elevator duty during promoting object, according to the discharge capacity of elevator working state control elevator pumping system pressure oil output.Rolling control method, device and the engineering machinery of the present invention, hoisting speed controlling is realized according to elevator duty, can solve the problem that flexible rope and the long engineering machinery of the iron chains suspender weight when lifting heavy and jib stable problem, construction precision and the stationarity of heavy lift can be controlled, to engineering machinery to accurately construction, intelligent and unmanned direction is developed bigger meaning.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of rolling control method, device and engineering machinery.
Background technology
Hoisting machinery is important foundation construction machinery, plays irreplaceable work in national basis Facilities Construction
With.Along with technological progress, hoisting machinery just develops towards accurately construction, safety and comfort, automatization and unmanned direction.Current
In hoisting machinery lifting heavy practical operation, artificial driving handle realizes promoting, and then realizes weight by static to steel wire rope pretension
Arrive liftoff to certain altitude again.The controlled quentity controlled variable sizes such as the electric current during hoist machinery hoists weight rely on personal experience and responsibility
Change handle position to realize, operator is proposed high requirement, presently, there are initial period and promote afterburning too fast or random, in advance
Produce, before and after tight, the situation that certain momentum causes jib and weight to rock；Further, when flexible rope and iron chains suspender are long,
Once operating causes curent change too fast with sensing, and ultimately causes jib and weight rocks, be difficult to steadily construct, and then impact is executed
The positioning precision of work and traffic safety and riding comfort.
Summary of the invention
In view of this, the technical problem that the invention solves the problems that is to provide a kind of rolling control method, device and engineering
Machinery.
According to one embodiment of present invention, it is provided that a kind of winch control device, including controller, pulling force sensor, volume
Raise encoder and elevator pumping system；Pulling force sensor is for detecting the pulling force on lift rope, and sends detection to described controller
Signal；The described elevator encoder being installed on the rotatable parts of winding plant is with rotatable parts synchronous axial system, and to described control
Device processed sends and rotates the pulse that the number of turns matches；Described controller determines according to described detection signal and acts on drawing on jib
Power, determines hanging object hoisting depth according to described pulse, and true based on the described pulling force acted on jib and hoisting depth
It is scheduled on the elevator duty during lifting object, according to described elevator working state control elevator pumping system pressure oil output
Discharge capacity.
Alternatively, described elevator pumping system includes: electronically controlled proportional valve, elevator pump；The control of described controller is sent to described
The control electric current of electronically controlled proportional valve, described electronically controlled proportional valve controls described elevator pump pressure oil output according to described control electric current
Discharge capacity.
Alternatively, including: slow carry switch and elevator brake valve；When described controller judges described slow to carry switch and press, then
Control elevator brake valve open and control electric current described in Schema control according to the most slow default carrying,
Alternatively, pulling force threshold value Lim_ is strained when the pulling force acted on jib described in the judgement of described controller less than suspender
During LuffPres, it is determined that suspender rope is in non-tension, the initial value of described control electric current is arranged by described controller
For the dead band electric current I_Deadband of elevator pump, and periodically increase default electric current increment；When judging described control electric current
During equal to the low level electric current preset, the most described controller stops increasing described control electric current and keeping constant.
Alternatively, pulling force threshold is strained when the pulling force acted on jib described in the judgement of described controller more than or equal to suspender
During value Lim_LuffPres, it is determined that suspender rope is in tension, described controller controls described control electric current and is: I=
I_L+K*deltaH；Wherein, I is for controlling electric current, and I_L is low level electric current, and K is proportionality coefficient, and deltaH is current hanging object
The difference of hanging object height when height is in tension with suspender rope.
Alternatively, when described controller judges described control electric current more than or equal to the high side current preset, it is determined that
Weight is in liftoff and propradation, then stop increasing described control electric current and keeping constant, so that the hanging object rate of climb
Constant.
Alternatively, when described controller judge described slow carry switch reset or hanging object hoisting depth exceed default from
Dynamic slow when carrying height threshold, then by default rule described control electric current is reduced to 0, and control elevator brake valve close,
It is switched to manual control pattern.
According to a further aspect in the invention, it is provided that a kind of engineering machinery, including winch control device as above.
According to another aspect of the invention, it is provided that a kind of rolling control method, including: receive the inspection that pulling force sensor sends
Surveying signal, wherein, described pulling force sensor is for detecting the pulling force on lift rope；Receive filling with elevator of elevator encoder transmission
Put the pulse that the rotation number of turns of rotatable parts matches；The pulling force acting on jib is determined according to described detection signal, according to
Described pulse determines object hoisting depth, determines based on the described pulling force acted on jib and hoisting depth and is promoting object mistake
Elevator duty in journey, according to the discharge capacity of described elevator working state control elevator pumping system pressure oil output.
Alternatively, described elevator pumping system includes: electronically controlled proportional valve, elevator pump；Control to be sent to the control of electronically controlled proportional valve
Electric current processed, wherein, described electronically controlled proportional valve controls the discharge capacity of the pressure oil output of described elevator pump according to described control electric current.
Alternatively, the described discharge capacity according to described elevator working state control elevator pumping system pressure oil output includes: when
Judge slow to carry switch and press, then control elevator brake valve and open and control electricity described in Schema control according to the most slow default carrying
Stream,
Alternatively, described control elevator brake valve is opened and controls electric current described in Schema control according to the most slow default carrying
Including: when the pulling force acted on described in judging on jib is less than suspender tension pulling force threshold value Lim_LuffPres, it is determined that hang
Tool rope is in non-tension, and the initial value of described control electric current is set to the dead band electric current I_Deadband of elevator pump,
And periodically increase default electric current increment；When judging described control electric current equal to the low level electric current preset, then stop increasing
Big described control electric current also keeps constant.
Alternatively, described control elevator brake valve is opened and controls electric current described in Schema control according to the most slow default carrying
Including: when the pulling force acted on described in judging on jib is more than or equal to suspender tension pulling force threshold value Lim_LuffPres, then
Determining that suspender rope is in tension, controlling described control electric current is: I=I_L+K*deltaH；Wherein, I is control electric current,
I_L is low level electric current, and K is proportionality coefficient, and deltaH is current weight height when being in tension with suspender rope, and weight is high
The difference of degree.
Alternatively, described control elevator brake valve is opened and controls electric current described in Schema control according to the most slow default carrying
Including: when judging described control electric current more than or equal to the high side current preset, it is determined that weight is in liftoff and rises shape
State, then stop increasing described control electric current and keeping constant, and the weight rate of climb is constant.
Alternatively, the described discharge capacity according to described elevator working state control elevator pumping system pressure oil output includes: when
Judge that the described slow switch that carries resets or object hoisting depth exceedes default the most slow when carrying height threshold, then by the rule preset
Described control electric current is reduced to 0, and controls elevator brake valve and close and be switched to manual control pattern.
Rolling control method, device and the engineering machinery of the present invention, realizes hoisting speed according to elevator duty
Control, it is possible to solve flexible rope and the long engineering machinery of the iron chains suspender weight when lifting heavy and jib is stably asked
Topic, can control construction precision and the stationarity of heavy lift.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only
Some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawing can be obtained according to these accompanying drawings.
Fig. 1 is the composition schematic diagram of an embodiment of the winch control device according to the present invention；
Fig. 2 be the winch control device according to the present invention an embodiment in sensor, the scheme of installation of encoder；
Fig. 3 is the lifting view of hoisting object；
Fig. 4 and Fig. 5 is the change schematic diagram of each control variable, and wherein, Fig. 4 is that existing winch control device carries in control
The change schematic diagram of each control variable during liter object, Fig. 5 is that the winch control device of the present invention is when controlling to promote object
The change schematic diagram of each control variable；
Fig. 6 is the schematic flow sheet of an embodiment of the rolling control method according to the present invention.
Detailed description of the invention
With reference to the accompanying drawings the present invention is described more fully, the exemplary embodiment of the present invention is wherein described.Under
Face will combine the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, aobvious
So, described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Based on the reality in the present invention
Execute example, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, all belong to
In the scope of protection of the invention.Below in conjunction with each figure and embodiment, technical scheme is carried out many descriptions.
As it is shown in figure 1, the present invention provides a kind of winch control device, including: controller 11, pulling force sensor 12, elevator
Encoder 13, slow open up pass 14, elevator rises electromagnetic valve 15, elevator pumping system 16 and elevator brake valve 17.Pulling force sensor 12 is used
Pulling force on detection lift rope, and send detection signal to controller 11.The volume being installed on the rotatable parts of winding plant
Raise encoder 13 with rotatable parts synchronous axial system, and send the pulse matched with the rotation number of turns to controller 11.Such as, such as figure
Shown in 2, near jib tip side, pulling force sensor 12 is installed at luffing range of cantilever support steel wire rope, elevator encoder is installed in master file side
13。
Controller 11 determines, according to detection signal, the pulling force acting on jib, can calculate according to the pulling force on lift rope
Go out to act on the pulling force on jib.Controller 11 determines the hoisting depth of hanging object according to pulse, and based on acting on jib
On pulling force and hoisting depth determine and promoting the elevator duty during object, controller 11 is according to elevator duty
Control the discharge capacity of elevator pumping system pressure oil output.As it is shown on figure 3, elevator duty includes: suspender propradation, tension-like
State, the liftoff state of weight etc..
Elevator pumping system 16 includes: electronically controlled proportional valve, elevator pump.Controller 11 controls to be sent to the control of electronically controlled proportional valve
Electric current, electronically controlled proportional valve controls the discharge capacity of elevator pump pressure oil output according to controlling electric current.Electronically controlled proportional valve can be chosen multiple
Proportioning valve, adjusts the area of section of spool, thus reaches to regulate the pressure oil of elevator pump output according to the size controlling electric current
Uninterrupted, and then realize hoisting speed controlling.
Elevator rises electromagnetic valve 15 can use switch valve, the instruction sent according to controller 11, it is achieved heavy lift function.
Hoist brake 17 realizes the braking whether locking of elevator according to the instruction that controller 11 sends.When controller 11 judges slow carrying out
Close 14 to press, then control elevator brake valve 17 and open and carry mode control current according to default automatically delaying.Slow carrying switchs 14 in fact
Now when operator assign slow propose instruction time, controller 11 controls elevator brake valve 17 and opens and perform slow to carry algorithm, during reset
Controller 11 automatically control electric current be slowly reduced to 0 and elevator brake valve 17 close and be switched to manual control pattern.
Realize automatically delaying putting forward technology for the hoisting machinery that flexible rope and iron chains suspender are long, it is possible to realize the most flat
Delay tension, automatically speed up and rise to the functions such as certain altitude steadily, operate with indirect labor and improve construction precision with steady
Property.Automatically delay the control proposed first in the way of periodically increasing control electric current, to overcome static friction startup suspender uphill process, hang
Tool slowly rises until tension weight, then starts and changes the mode controlling electric current by lifting altitude, to control heavy lift.
When controller 11 judges the pulling force acting on jib less than suspender tension pulling force threshold value Lim_LuffPres, then
Determining that suspender rope is in non-tension, the initial value controlling electric current is set to the dead band electric current I_ of elevator pump by controller 11
Deadband, and periodically increase default electric current increment, when judging to control electric current equal to the low level electric current preset, then control
Device 11 processed stops increasing and controls electric current and keep constant.
When controller 11 judges that the pulling force acting on jib strains pulling force threshold value Lim_ more than or equal to suspender
During LuffPres, it is determined that suspender rope is in tension, controller 11 controls electric current and is: I=I_L+K*deltaH,
I is for controlling electric current, and I_L is low level electric current, and K is proportionality coefficient, and deltaH is that current hanging object height is in suspender rope
The difference of hanging object height during tension.
When controller 11 judge control electric current more than or equal to preset high side current time, it is determined that weight be in liftoff and
Propradation, then stop increasing controlling electric current and keeping constant, so that the hanging object rate of climb is constant.When controller 11 judges
The slow hoisting depth carrying switch 14 reset or hanging object exceedes default the most slow when carrying height threshold, then by the rule preset
Control electric current is reduced to 0, and controls the closedown of elevator brake valve, be switched to manual control pattern.
As shown in Figure 4,5,1 line style represents that control current curve, 2 line styles represent that hoisting depth curve, 3 line styles represent jib
Pull-up curve.As shown in Figure 4, when not applying the most slow carrying, jib pulling force has large magnitude.As it is shown in figure 5, automatically delay
When carrying, in the first stage of the corresponding above-mentioned principle of AC section, wherein AB section is that controller is with elevator pump dead band electric current I_Deadband
Based on, periodically increase deltaI, i.e. I=I+deltaI, until I increases to low level electric current I_L, BC section suspender is with low level electric current
I_L slowly promotes.
As it is shown in figure 5, CD section correspondence second stage, when jib pulling force sensor detected value is more than or equal to Lim_
LuffPres, sign suspender rope is already at tension, and at this moment controller is slowly increased control electric current I=by lifting altitude
I_L+K*deltaH, wherein K is proportionality coefficient, and deltaH is current weight height and weight height relatively high during tension
Degree.The DE section correspondence phase III, when controlling electric current more than or equal to high side current I_H, now weight already at liftoff state and
Rise sane, control electric current I and keep constant.
In the control stage of first stage, the slow switch 14 that carries is pressed, and starts the most slow carrying, and controller 11 controls elevator system
Dynamic device 17 is opened and elevator rises electromagnetic valve 15 and opens, and controller 11, based on the electric current I_Deadband of elevator pump dead band, makes control
Electric current I processed, by periodically increasing deltaI, tests the fixed value of setting, i.e. I=I+deltaI according to deltaI, until I increases
To low level electric current I_L, the suspender low speed testing setting according to I_L promotes the control electric current that state is corresponding, and suspender is by static shape
State is to slow propradation.
In the control stage of second stage, when pulling force sensor 12 detected value is more than or equal to Lim_LuffPres, Lim_
LuffPres is according to measuring, and when characterizing suspender rope already at abundant tension, controller 11 changes into by hoisting
Highly being slowly increased control electric current I=I_L+K*deltaH, wherein K is proportionality coefficient, and deltaH is current weight height and draw
The relative altitude of weight height during tight state.
In the control stage of phase III, increase to greater than equal to high side current I_H, according to I_H when controlling electric current
The high speed that experiment sets promotes the control electric current that state is corresponding, and now weight already at liftoff state and is rising, and controls electricity
Stream I keeps constant, and the weight rate of climb is constant.
In the control stage of fourth stage, when reset slow carry switch 14 or exceed the most slow put forward maximum height limit time, control
Electric current is slowly reduced to 0, and elevator brake valve 17 cuts out, elevator rises electromagnetic valve 15 and closes, and is switched to manual control pattern.
The winch control device that above-described embodiment provides, it is achieved automatically speed up and rise to the functions such as certain altitude steadily,
First in the way of periodically increasing control electric current, to overcome static friction to start suspender uphill process, suspender slowly rises until drawing
Tight weight；Then start and change the mode controlling electric current by lifting altitude, to control construction precision and the stationarity of heavy lift,
To hoisting machinery to accurately construction, intelligent and unmanned direction is developed bigger meaning.
In one embodiment, the present invention provides a kind of engineering machinery, including: winch control device as above.
Fig. 6 is the schematic flow sheet of an embodiment of the rolling control method according to the present invention, as shown in Figure 6:
Step 601, receives the detection signal that pulling force sensor sends, and pulling force sensor is for detecting drawing on lift rope
Power.
Step 602, receives the pulse that the rotation number of turns with winding plant rotatable parts of elevator encoder transmission matches.
Step 603, determines, according to detection signal, the pulling force acting on jib, determines object hoisting depth according to pulse,
The elevator duty during promoting object is determined, according to elevator work based on the pulling force acted on jib and hoisting depth
Make state and control the discharge capacity of elevator pumping system pressure oil output.
In one embodiment, elevator pumping system includes: electronically controlled proportional valve, elevator pump.Control to be sent to electronically controlled proportional valve
Control electric current, wherein, electronically controlled proportional valve controls the discharge capacity of pressure oil output of elevator pump according to controlling electric current.When judging slow carrying
Switch is pressed, then control elevator brake valve and open and control electric current according to the most slow default Schema control that carries,
When judging the pulling force acting on jib less than suspender tension pulling force threshold value Lim_LuffPres, it is determined that suspender
Rope is in non-tension, and the initial value controlling electric current is set to the dead band electric current I_Deadband of elevator pump, and cycle
Property ground increase preset electric current increment；When judging to control electric current equal to the low level electric current preset, then stop increasing controlling electric current
And keep constant.
When judging the pulling force acting on jib more than or equal to suspender tension pulling force threshold value Lim_LuffPres, the most really
Determining suspender rope and be in tension, controlling electric current is: I=I_L+K*deltaH；Wherein, I is for controlling electric current, and I_L is
Low level electric current, K is proportionality coefficient, the difference of weight height when being in tension with suspender rope that deltaH is current weight height
Value.
When judging to control electric current more than or equal to the high side current preset, it is determined that weight is in liftoff and rises shape
State, then stop increasing controlling electric current and keeping constant, and the weight rate of climb is constant.When judging that the slow switch that carries resets or object lifting
Highly exceed default the most slow when carrying height threshold, then by default rule, control electric current is reduced to 0, and controls elevator
Brake valve cuts out and is switched to manual control pattern.
Rolling control method, device and the engineering machinery that above-described embodiment provides, realizes elevator according to elevator duty
Rising or falling speed controls, and solves flexible rope and the long engineering machinery of the iron chains suspender weight when lifting heavy and jib is steady
Determine problem, it is achieved automatically speed up and rise to steadily the functions such as certain altitude, first in the way of periodically increasing control electric current, with
Overcoming static friction to start suspender uphill process, suspender slowly rises until straining weight；Then start and change control by lifting altitude
The mode of electric current processed, to control construction precision and the stationarity of heavy lift, to hoisting machinery to accurately construction, intelligent and nothing
Peopleization direction is developed bigger meaning.
The method and system of the present invention may be achieved in many ways.Such as, can pass through software, hardware, firmware or
Software, hardware, any combination of firmware realize the method and system of the present invention.Said sequence for the step of method is only
In order to illustrate, the step of the method for the present invention is not limited to order described in detail above, says the most especially
Bright.Additionally, in certain embodiments, the present invention also can be embodied as the program recorded in the recording medium, these programs include
For realizing the machine readable instructions of the method according to the invention.Thus, the present invention also covers storage for performing according to this
The record medium of the program of bright method.
Description of the invention is given for example with for the sake of describing, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Select and retouch
Stating embodiment is in order to the principle of the present invention and actual application are more preferably described, and enables those of ordinary skill in the art to manage
Solve the present invention thus design the various embodiments with various amendments being suitable to special-purpose.
Claims (15)
1. a winch control device, it is characterised in that including:
Controller, pulling force sensor, elevator encoder and elevator pumping system；
Described pulling force sensor is for detecting the pulling force on lift rope, and sends detection signal to described controller；It is installed on volume
Raise the described elevator encoder on the rotatable parts of device with rotatable parts synchronous axial system, and send to described controller and rotate
The pulse that the number of turns matches；Described controller determines, according to described detection signal, the pulling force acting on jib, according to described arteries and veins
Punching determines the hoisting depth of hanging object, and determines at lifting object based on the described pulling force acted on jib and hoisting depth
During elevator duty, according to the discharge capacity of described elevator working state control elevator pumping system pressure oil output.
2. device as claimed in claim 1, it is characterised in that:
Described elevator pumping system includes: electronically controlled proportional valve, elevator pump；
Described controller controls to be sent to the control electric current of described electronically controlled proportional valve, and described electronically controlled proportional valve controls electricity according to described
The discharge capacity of elevator pump pressure oil output described in flow control.
3. device as claimed in claim 2, it is characterised in that including:
Slow carrying switchs and elevator brake valve；
When described controller judges described slow to carry switch and press, then control elevator brake valve and open and the most slow carry according to default
Electric current is controlled described in Schema control.
4. device as claimed in claim 3, it is characterised in that:
When the pulling force acting on jib described in described controller judges is less than suspender tension pulling force threshold value Lim_LuffPres,
Then determining that suspender rope is in non-tension, the initial value of described control electric current is set to the dead of elevator pump by described controller
District electric current I_Deadband, and periodically increase default electric current increment；
When judging described control electric current equal to the low level electric current preset, the most described controller stops increasing described control electric current also
Keep constant.
5. device as claimed in claim 4, it is characterised in that:
The pulling force acting on jib described in judging when described controller strains pulling force threshold value Lim_ more than or equal to suspender
During LuffPres, it is determined that suspender rope is in tension, described controller controls described control electric current and is: I=I_L+K*
deltaH；
Wherein, I is for controlling electric current, and I_L is low level electric current, and K is proportionality coefficient, and deltaH is current hanging object height and suspender
The difference of hanging object height when rope is in tension.
6. device as claimed in claim 5, it is characterised in that:
When described controller judges described control electric current more than or equal to the high side current preset, it is determined that hanging object is in
Liftoff and propradation, then stop increasing described control electric current and keeping constant, so that the hanging object rate of climb is constant.
7. device as claimed in claim 3, it is characterised in that:
When described controller judges that the described slow hoisting depth carrying switch reset or hanging object exceedes default automatically delaying and improves
During degree threshold value, then by default rule described control electric current is reduced to 0, and controls elevator brake valve and close, be switched to people
Work steer mode.
8. an engineering machinery, it is characterised in that including:
Winch control device as described in any one of claim 1 to 7.
9. a rolling control method, it is characterised in that including:
Receiving the detection signal that pulling force sensor sends, wherein, described pulling force sensor is for detecting the pulling force on lift rope；
Receive the pulse that the rotation number of turns with winding plant rotatable parts of elevator encoder transmission matches；
Determine, according to described detection signal, the pulling force acting on jib, determine object hoisting depth according to described pulse, based on
The described pulling force acted on jib and hoisting depth determine the elevator duty during promoting object, according to described volume
Raise the discharge capacity of working state control elevator pumping system pressure oil output.
10. method as claimed in claim 9, it is characterised in that described elevator pumping system includes: electronically controlled proportional valve, elevator pump；
Controlling to be sent to the control electric current of electronically controlled proportional valve, wherein, described electronically controlled proportional valve controls institute according to described control electric current
State the discharge capacity of the pressure oil output of elevator pump.
11. methods as claimed in claim 10, it is characterised in that described according to described elevator working state control elevator pump system
The discharge capacity of system pressure oil output includes:
When judging slow to carry switch and press, then control elevator brake valve and open and control described in Schema control according to the most slow default carrying
Electric current processed.
12. methods as claimed in claim 11, it is characterised in that described control elevator brake valve open and according to preset from
Dynamic slow carrying controls electric current and includes described in Schema control:
When the pulling force acted on described in judging on jib is less than suspender tension pulling force threshold value Lim_LuffPres, it is determined that suspender
Rope is in non-tension, and the initial value of described control electric current is set to the dead band electric current I_Deadband of elevator pump, and
Periodically increase default electric current increment；
When judging described control electric current equal to the low level electric current preset, then stop increasing described control electric current and keeping constant.
13. methods as claimed in claim 12, it is characterised in that described control elevator brake valve open and according to preset from
Dynamic slow carrying controls electric current and includes described in Schema control:
When the pulling force acted on described in judging on jib is more than or equal to suspender tension pulling force threshold value Lim_LuffPres, the most really
Determining suspender rope and be in tension, controlling described control electric current is: I=I_L+K*deltaH；
Wherein, I is for controlling electric current, and I_L is low level electric current, and K is proportionality coefficient, and deltaH is current weight height and suspender rope
The difference of weight height when being in tension.
14. methods as claimed in claim 13, it is characterised in that described control elevator brake valve open and according to preset from
Dynamic slow carrying controls electric current and includes described in Schema control:
When judging described control electric current more than or equal to the high side current preset, it is determined that weight is in liftoff and rises shape
State, then stop increasing described control electric current and keeping constant, and the weight rate of climb is constant.
15. methods as described in claim 11 to 14 any one, it is characterised in that described according to described elevator duty
The discharge capacity controlling elevator pumping system pressure oil output includes:
When judge described slow carry switch reset or object hoisting depth exceed default the most slow carry height threshold time, then by presetting
Rule described control electric current is reduced to 0, and control elevator brake valve and close and be switched to manual control pattern.
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| CN106638546A (en) * | 2017-01-20 | 2017-05-10 | 中南大学 | Automatic-continuous tamping and punching control system capable of freely descending and winding and automatic-continuous tamping and punching control method |
| CN107829424A (en) * | 2017-11-08 | 2018-03-23 | 泰安大地强夯重工科技有限公司 | A kind of automatic remote control dynamic compaction machinery |
| CN108203062A (en) * | 2017-12-29 | 2018-06-26 | 三汽车起重机械有限公司 | Rolling control method, winch control device and engineering machinery |
| CN111422746A (en) * | 2019-01-10 | 2020-07-17 | 秦皇岛天业通联重工科技有限公司 | Synchronous control system of crane |
| CN111547637A (en) * | 2019-02-08 | 2020-08-18 | 珠海达理宇航科技有限公司 | Cable transfer system and light force outward moving process |
| CN113845033A (en) * | 2021-08-30 | 2021-12-28 | 中联重科股份有限公司 | Control method and device for crane, controller and crane |
| CN115818448A (en) * | 2023-02-23 | 2023-03-21 | 三一汽车起重机械有限公司 | Method and device for distributing getting-on power of electric crane and electric crane |
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| CN111422746A (en) * | 2019-01-10 | 2020-07-17 | 秦皇岛天业通联重工科技有限公司 | Synchronous control system of crane |
| CN111547637A (en) * | 2019-02-08 | 2020-08-18 | 珠海达理宇航科技有限公司 | Cable transfer system and light force outward moving process |
| CN113845033A (en) * | 2021-08-30 | 2021-12-28 | 中联重科股份有限公司 | Control method and device for crane, controller and crane |
| CN115818448A (en) * | 2023-02-23 | 2023-03-21 | 三一汽车起重机械有限公司 | Method and device for distributing getting-on power of electric crane and electric crane |
| CN115818448B (en) * | 2023-02-23 | 2023-05-23 | 三一汽车起重机械有限公司 | Method and device for distributing power of electric crane on crane and electric crane |
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