CN107473092A - Suspender swing angle acquisition methods and device, and crane are prevented shaking method and device - Google Patents
Suspender swing angle acquisition methods and device, and crane are prevented shaking method and device Download PDFInfo
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- CN107473092A CN107473092A CN201710936379.0A CN201710936379A CN107473092A CN 107473092 A CN107473092 A CN 107473092A CN 201710936379 A CN201710936379 A CN 201710936379A CN 107473092 A CN107473092 A CN 107473092A
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- suspender
- swing angle
- trolley platform
- deflection
- angle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
-
- 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
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0023—Measuring of sport goods, e.g. bowling accessories, golfclubs, game balls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides suspender swing angle acquisition methods and device, and crane to prevent shaking method and device, is related to crane gear and prevents shaking field.Suspender swing angle acquisition methods provided by the invention, the change of track amount of deflection is take into account when calculating suspender actual swing angle, and then after the swing angle to be optimized of deflection angle and suspender along the trolley platform direction of motion of trolley platform vertically is got, the actual swing angle of suspender has been calculated according to the two parameters, so as to ensure that the actual swing angle calculated is accurate to a certain extent, and then the actual swing angle for calculate using this carries out preventing that it is highly efficient to shake control.
Description
Technical field
Prevent shaking field the present invention relates to crane gear, in particular to suspender swing angle acquisition methods and device, and
Crane is anti-to shake method and device.
Background technology
Crane gear can move container along assigned direction (as both vertically and horizontally).In general work
In industry production activity, crane gear is often used.
Influenceed by factors such as inertia, wind-force, when work, suspender thereon often shakes crane gear
The phenomenon of rolling, suspender can not fast and accurately be directed at container to be crawled when this can cause to grab case, can not be accurate when putting case
Container is put into target location, this strong influence operating efficiency.
For this kind of situation, it is necessary to increase the anti-device shaken to avoid suspender from rocking.In correlation technique, it will usually using control
The modes such as big trolley platform acceleration and deceleration are made to avoid suspender from rocking, but anti-to shake effect unsatisfactory.
The content of the invention
It is an object of the invention to provide suspender swing angle acquisition methods and device, and crane to prevent shaking method and dress
Put, with the anti-order of accuarcy for shaking control of crane.
In a first aspect, the embodiments of the invention provide suspender swing angle acquisition methods, including：
The deflection angle of trolley platform vertically is obtained, and, obtain suspender and treated along the trolley platform direction of motion
Optimize swing angle；
According to deflection angle and swing angle to be optimized, the actual swing angle of suspender is calculated.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, step
The deflection angle of rapid acquisition trolley platform vertically, including：
By the vertical direction angel measuring instrument direct measurement trolley platform that is arranged on trolley platform vertically
Deflection angle.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein, press
According to the deflection angle of following manner counting of carriers platform vertically：
Wherein, B is the deflection angle of trolley platform vertically, and ML is that two the 5th acceleration transducers are put down along dolly
Distance on platform moving direction, dL1=∫ ∫ a1Dt, dL2=∫ ∫ a2Dt, a1The vertical side measured for the 5th acceleration transducer
To acceleration magnitude, a2The acceleration magnitude of the vertical direction measured for another the 5th acceleration transducer；Two the 5th acceleration
Degree sensor is arranged on trolley platform.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, wherein, two
Individual 5th acceleration transducer is more than 3.2 meters along the distance on trolley platform moving direction.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 4th of first aspect kind, wherein, it is small
The track amount of deflection of track calculates according to equation below where car platform：
dL5=∫ ∫ a5dt；
dL5It is track amount of deflection, a5It is the acceleration magnitude obtained measured by the first acceleration transducer, the first acceleration sensing
Device is arranged on trolley platform.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 5th of first aspect kind, wherein, it is small
The track amount of deflection of track determines as follows where car platform：
The distance of each second acceleration transducer distance objective position is obtained, target location is the center institute of trolley platform
Position；Second acceleration transducer is multiple；
Track amount of deflection is calculated using equation below：
dL6=∫ ∫ a6dt；
In formula, dL6It is track amount of deflection, a6It is the acceleration magnitude obtained measured by aimed acceleration sensor；Target accelerates
Degree sensor is that all second acceleration transducer mid-range objectives positions are nearest.
Second aspect, the embodiment of the present invention additionally provide suspender swing angle acquisition device, including：
Acquisition module, for obtaining the deflection angle of trolley platform vertically, and, suspender is obtained along trolley platform
The swing angle to be optimized of the direction of motion；
Computing module, for according to deflection angle and swing angle to be optimized, calculating the actual swing angle of suspender.
The third aspect, the embodiment of the present invention additionally provide crane and prevent shaking method, include the suspender such as first aspect and swing
Angle acquisition methods, in addition to：
Carry out preventing shaking control according to the actual swing angle of suspender.
With reference to the third aspect, the embodiments of the invention provide the possible embodiment of the first of the third aspect, wherein, root
Carry out preventing that shaking control includes according to the actual swing angle of suspender：
According to the input speed of equation below counting of carriers motor：Vc=vx+k1 (sx-sx ')+k2 (vx-vx ')+k3 (A)
+k4(E)；Wherein, K1-K4 is closed loop feedback coefficient, and Vc is the input speed of vehicle motor；Sx is that suspender moves in trolley platform
The planned position in direction；Sx ' is physical location of the suspender in the trolley platform direction of motion；Vx is suspender in moving of car direction
Plan speed；Vx ' is physical location of the suspender in moving of car direction；A is the actual swing angle of suspender；E swings for suspender
The magnitude of angular velocity that angular transducer measures；
Input speed according to vehicle motor carries out preventing shaking control.
Second aspect, the embodiment of the present invention additionally provide crane anti-roll device, include the suspender angle of oscillation of second aspect
Acquisition device is spent, in addition to：
It is anti-to shake module, for carrying out preventing shaking control according to the actual swing angle of suspender.
Suspender swing angle acquisition methods provided in an embodiment of the present invention, examined when calculating suspender actual swing angle
Consider the change of track amount of deflection, and then get trolley platform deflection angle vertically and suspender along trolley platform
After the swing angle to be optimized of the direction of motion, the actual swing angle of suspender is calculated according to the two parameters, so as to certain
It ensure that the actual swing angle calculated is accurate in degree, and then the actual swing angle for be calculated using this is entered
Row prevents that it is highly efficient to shake control.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows the basic flow sheet for the suspender swing angle acquisition methods that the embodiment of the present invention is provided；
Fig. 2 shows first principle analysis in the suspender swing angle acquisition methods that the embodiment of the present invention is provided
Figure；
Fig. 3 shows second principle analysis in the suspender swing angle acquisition methods that the embodiment of the present invention is provided
Figure；
Fig. 4 shows the module frame figure for the suspender swing angle acquisition device that the embodiment of the present invention is provided.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
The problem of being shaken for crane gear is anti-, in correlation technique, there are some anti-swinging technologies, these have occurred
Anti-swinging technology when in use, it is necessary first to (location parameter includes suspender to the location parameter of suspender for first determining on crane gear
The angle parameter and spreader height parameter of swing, wherein typically directly measuring the angle that suspender is swung), such as swing angle.It is related
In technology, it will usually the swing angle of suspender is obtained using mode measured directly, this operating mode is for driver in equipment
Can substantially meet requirement when manually operated, but under automation operating mode, for suspender it is anti-shake propose it is higher
It is required that system needs to carry out preventing shaking by way of negative-feedback, this just needs to obtain accurate swing angle.
But inventors herein have recognized that in the anti-swinging technology occurred in correlation technique, the suspender got is swung
Angle is not accurate enough.Test and analyze by inventor, it is believed that in actual use, directly obtained and hung using some detection device
If the height or swing angle of tool, the precision of the numerical value got is inadequate, and this also directly results in subsequently using these numbers
It is undesirable that value carries out the anti-effect for shaking processing.
For this kind of problem, this application provides suspender swing angle acquisition methods, as shown in figure 1, this method is included such as
Lower step：
S101, the deflection angle of trolley platform vertically is obtained, and, suspender is obtained along the trolley platform direction of motion
Swing angle to be optimized；
S102, according to deflection angle and swing angle to be optimized, calculate the actual swing angle of suspender.
That is, the calculating actual swing angle of the task is completed by step S101 and step S102.As shown in Fig. 2 show
The theory analysis figure of method provided herein.Below, illustrate that (11 are in figure to the scheme of the application with reference to Fig. 2
Suspender；12 be trolley track in the case where not considering amount of deflection, horizontal line as parallel with earth's surface；13 be consideration amount of deflection
In the case of trolley track, an as curve；14 be trolley platform, and the tangent line L1 in figure refers to trolley platform position
Trolley track tangent line, horizontal line L 2 refers to the horizontal line of trolley platform position, in suspender center and sensor
Heart line is that the plumb line of L3 trolley platforms position is L4, and the axis of sensor is L5；H is suspender actual height, i.e., small
The distance between horizontal line where horizontal line and suspender where the peak in track road, dL are that trolley platform is (preferably small
Car Platform center point) position track amount of deflection).
As shown in Figure 2, the mode that the increase angular transducer on trolley platform is usually taken in correlation technique is directly surveyed
Measure the swing angle of suspender, but using this measurement mode actually measures is angle D, it can be seen that angle D is sensing
(swing angle to be optimized in namely step S101, the angle can be passed by angle for device axis and the angle of target link
Sensor directly measures), target link herein is that suspender center (measures the sensor of swing angle to be optimized with center sensor
Center) line.Directly using angle D as the actual swing angle of suspender participate in it is anti-shake control be it is not accurate enough, this
It is due to not account for the influence of track amount of deflection (amount of deflection is mainly the active force in track self gravitation and suspender to track
Under the influence of caused by).Thus, in order to determine the actual swing angle of accurate suspender, it is necessary to reference to track vertically inclined
Gyration calculates, and because suspender is hung directly from trolley platform, therefore the angle that should be measured is trolley platform edge
The deflection angle of vertical direction.As shown in Figure 2, the measuring instrument (such as spirit level) of the angle using measurement vertically can
Direct measurement goes out angle B (deflection angle of trolley platform vertically, caused angle, Ke Yitong due to track amount of deflection
Spirit level direct measurement is crossed to obtain), and then, according to geometrical relationship, (angle C is sensor axis and vertical to angle B with angle C
The angle of line, or perhaps the angle of sensor axis and gravity vertical) it is equal, meanwhile, angle A is equal to angle with angle C sums
D, it is possible to which (suspender is along the trolley platform direction of motion according to angle B (deflection angle of trolley platform vertically) and angle D
Swing angle to be optimized) directly calculate angle A (the actual swing angle of suspender), such as can be according to equation below meter
Calculate angle A：A=D-B.
And then by such scheme, after amount of deflection caused by track is considered, it may be determined that go out more accurate pendulum
Dynamic angle, and then, carry out preventing shaking control using the angle A, then can obtain more preferably control effect.
On such scheme basis, method provided herein additionally provides the computational methods of suspender actual height,
After step s 102, this method also includes：
The track amount of deflection of track and the actual swing angle of suspender according to where trolley platform, calculate suspender actual height.
Herein, directly participate in calculating is the amount of deflection of orbital position where trolley platform, and the acquisition modes of the amount of deflection have more
Kind, it can hereinafter be specifically described.
More specifically, can be calculated when calculating the actual height of suspender using equation below：
H=Lcos (A)+dL；
Wherein, H be suspender actual height, L be suspender pendulum length (or perhaps the straight line between trolley platform and suspender away from
From a typically predetermined definite value), A is the actual swing angle of suspender accessed in step S102, and dL is rail
Road amount of deflection (more precisely, being the track amount of deflection of orbital position where trolley platform).
So as to after the actual height of actual swing angle and suspender of accurate suspender is determined, it is possible to according to this
Two parameters carry out more accurate anti-shake and controlled.
The acquisition process of data in above-mentioned steps is specifically described below.
In step S101, two angle values are obtained, are the deflection angle and suspender of trolley platform vertically respectively
Along the swing angle to be optimized of the trolley platform direction of motion.Wherein, the deflection angle (angle B) of trolley platform vertically has
Two kinds of acquisition modes, below, both modes are introduced respectively：
Mode 1 (obtains the deflection angle of trolley platform vertically)：
It can be obtained by the measuring instrument direct measurement of a kind of vertical direction angle of spirit level.Usual measuring instrument is direct
It is arranged on trolley platform, the angle so measured is more direct and accurate.That is, trolley platform is obtained vertically
Deflection angle, including：
By the vertical direction angel measuring instrument direct measurement trolley platform that is arranged on trolley platform vertically
Deflection angle.
Wherein, the vertical direction angel measuring instrument is preferably provided at the center of trolley platform, or trolley platform up/down
The center position on surface.
Mode 2 (obtains the deflection angle of trolley platform vertically), and (11 be suspender in figure as shown in Figure 3；12 be
The trolley track in the case of amount of deflection, horizontal line as parallel with earth's surface are not considered；13 is small in the case of amount of deflection to consider
Track road, as a curve；14 be trolley platform, and the tangent line L1 in figure refers to the trolley track of trolley platform position
Tangent line, horizontal line L 2 refers to the horizontal line of trolley platform position, and the line of centres of suspender center and sensor is L3
The plumb line of trolley platform position is L4, and the axis of sensor measurement is L5；H is suspender actual height, i.e. trolley track
Peak where horizontal line and suspender where the distance between horizontal line；DL1 is to be arranged on plane on trolley platform
The amount of deflection of one acceleration transducer position, dL2 are another acceleration transducer for being arranged on plane on trolley platform
The amount of deflection of position, dL are the track amount of deflection of trolley platform central point position, and remaining parameter contains with the parameter in Fig. 2
Justice is identical, is not illustrating excessively herein)：
The deflection angle can be calculated by way of two or more 5th acceleration transducers are set.Specifically
, the two the 5th acceleration transducers are typically each provided on trolley platform, also, the two the 5th acceleration sensings
Device be the direction sequence interval moved along trolley platform set (that is, the two the 5th acceleration transducers move along trolley platform
Position on dynamic direction is different).And then the two the 5th acceleration transducers are getting acceleration magnitude (a respectively1
And a2) after, it is possible to calculate deflection angle using the two acceleration magnitudes.Due to two the 5th acceleration transducers it
Between distance it is relatively small, can be approximately straight line in the line of writing music of disturbing of the track of the trolley platform position, it is specifically used
Calculation formula is as follows：
Wherein, B is the deflection angle (angle B) of trolley platform vertically, and ML is two the 5th acceleration transducers
The distance between (be more precisely two the 5th acceleration transducers along the distance on trolley platform moving direction), dL1=∫
∫a1Dt, dL2=∫ ∫ a2Dt, a1The acceleration magnitude of the vertical direction measured for the 5th acceleration transducer, a2For another
The acceleration magnitude for the vertical direction that five acceleration transducers measure.Namely surveyed getting two the 5th acceleration transducers
After the acceleration magnitude measured, the mode of double integral is respectively adopted to try to achieve dL1And dL2.The two the 5th acceleration transducers
It is preferred that the upper surface of trolley platform is arranged at, or lower surface.dL1And dL2Respectively where the two the 5th acceleration transducers
The track amount of deflection of position.Preferably, two the 5th acceleration transducers are more than 3.2 along the distance on trolley platform moving direction
Rice.
When specifically used, the distance between the two acceleration transducers are more remote better, the two acceleration transducers it
Between distance it is more remote, the difference of the two obtained acceleration magnitude for detecting to obtain is bigger, and what is so calculated is final inclined
Gyration is more accurate.
The mode calculated using two acceleration transducers is introduced in the above, uses the acceleration of three or more
The mode that degree sensor is calculated is similar to the mode calculated using two acceleration transducers, for example can first use
Acceleration magnitude measured by acceleration transducer 1 and 2 calculates a deflection angle, is surveyed using acceleration transducer 1 and 3
The acceleration magnitude obtained calculates another deflection angle, then, inclined using two obtained according still further to the mode that weighting is averaging
Gyration calculates final deflection angle.But no matter participate in calculating using how many individual acceleration transducers, its Computing Principle is all
It is similar (as mode that preceding both ends are provided), therefore, the mode calculated using more acceleration transducers is not
Repeat again.
Obtain mode of the suspender along the swing angle to be optimized of the trolley platform direction of motion and typically directly pass through angle of oscillation
It is measured directly to spend measuring instrument.The swing angle measuring instrument is normally located on trolley platform, also, its sensor axis
Under being directed towards.
Step the track amount of deflection of track and actual swing angle of suspender according to where trolley platform, it is actual high to calculate suspender
In degree, track is different with position according to the quantity for the acceleration transducer being arranged on trolley platform in the amount of deflection of vertical direction,
Also there are different acquisition modes.The acquisition modes different to this illustrate (the acceleration in following each case separately below
Sensor is arranged on trolley platform).
The first situation, when only setting first acceleration transducer on trolley platform, can directly using this
Acceleration magnitude measured by one acceleration transducer is integrated to obtain.It can specifically be calculated using equation below：
dL5=∫ ∫ a5dt；
In formula, dL5It is track amount of deflection, a5It is the acceleration magnitude obtained measured by the first acceleration transducer.It is,
Track amount of deflection can just be obtained by carrying out double integral to acceleration magnitude.First acceleration transducer is preferably provided at trolley platform
Center, or be provided in the center on trolley platform up/down surface.
Second of situation, when being provided with 2 or more the second acceleration transducers on trolley platform, then in order to ensure to count
The degree of accuracy of calculation, should the chosen distance trolley platform center center line can be understood as what steel wire rope was in contact with trolley platform
Point) numerical value detected by nearest the second acceleration transducer participates in calculating.I.e. should chosen distance steel wire rope (steel wire rope
It is the rope for being suspended on suspender on trolley platform) second acceleration transducer nearest with the target intersection point of trolley platform
Scratched as aimed acceleration sensor, and using the acceleration magnitude measured by aimed acceleration sensor to calculate track
Degree.Specific calculation is identical with the calculation of the first situation.When steel wire rope is multiple, target intersection point herein
It is then to be obtained according to the intersection point calculation of each steel wire rope and trolley platform, the coordinate of target intersection point is general intersecting point coordinate (steel
The coordinate of the intersection point of cord and trolley platform) average value.
Specifically, track amount of deflection can determine as follows：
The distance of each second acceleration transducer distance objective position is obtained, target location is the center institute of trolley platform
Position；Second acceleration transducer is multiple；
Track amount of deflection is calculated using equation below：
dL6=∫ ∫ a6dt；
In formula, dL6It is track amount of deflection, a6It is the acceleration magnitude obtained measured by aimed acceleration sensor；Target accelerates
Degree sensor is that all second acceleration transducer mid-range objectives positions are nearest.Wherein, the second acceleration transducer is preferred
It is arranged on trolley platform.
The third situation, when being provided with 2 or more three acceleration transducers on trolley platform, then in order to ensure to count
The degree of accuracy of calculation, track amount of deflection can be calculated by the way of weighting is averaging.Specifically, it is then according to the first situation
Mode, the acceleration magnitude for detecting to obtain using each 3rd acceleration transducer, calculate and refer to amount of deflection accordingly；Then,
In the way of weighting and being averaging, final track amount of deflection is calculated.
Specifically, track amount of deflection can determine as follows：
The reference amount of deflection corresponding to each 3rd acceleration transducer is calculated using equation below：
dL7=∫ ∫ a7dt；
In formula, dL7It is to refer to amount of deflection, a7It is the acceleration magnitude obtained measured by the 3rd acceleration transducer specified；
In the way of weighting and being averaging, track amount of deflection is calculated according to reference to amount of deflection.
I.e., it is possible to it is used as track amount of deflection using the average value for the whole amounts of deflection being calculated.
4th kind of situation, second and third kind of situation is combined.It is as follows to perform step：
The distance of each 4th acceleration transducer distance objective position is obtained, target location is the center institute of trolley platform
Position；4th acceleration transducer is multiple；
Judge whether reference distance is less than default distance；Reference distance be apart from the center of trolley platform it is nearest the 4th
The distance between acceleration transducer and trolley platform center；
If so, then calculate track amount of deflection using equation below：
dL3=∫ ∫ a3dt；
In formula, dL3It is track amount of deflection, a3It is the acceleration magnitude obtained measured by aimed acceleration sensor；Target accelerates
Degree sensor is that all 4th acceleration transducer mid-range objectives positions are nearest；
If it is not, the reference amount of deflection corresponding to each 4th acceleration transducer is then calculated using equation below：
dL4=∫ ∫ a4dt；
In formula, dL4It is to refer to amount of deflection, a4It is the acceleration magnitude obtained measured by the 4th acceleration transducer specified；
In the way of weighting and being averaging, track amount of deflection is calculated according to reference to amount of deflection.
That is, in the 4th kind of situation, determine distance and after, first judge in aimed acceleration sensor and trolley platform
Whether heart distance is near enough, enough closely, is then calculated in the way of second of situation, otherwise, just according to the third
The mode of situation is calculated.
The above describe calculate suspender actual swing angle and calculate suspender actual height mode, it is determined that
After actual swing angle (after the actual height for preferably calculating suspender), it is possible to prevent shaking control using the two parameters
System.
Specifically, prevent shaking method present invention also provides crane, after step S102, in addition to：
Carry out preventing shaking control according to the actual swing angle of suspender.
, can also be actual according further to suspender except carrying out preventing shaking control according to actual swing angle during concrete operations
Highly carry out it is anti-shake control, and then, step prevent shaking control according to the actual swing angle of suspender can be as follows
Operation：
(it can be used for adjusting motion of the trolley platform along track according to the input speed of equation below counting of carriers motor
Speed)：
Vc=vx+k1 (sx-sx ')+k2 (vx-vx ')+k3 (A)+k4 (E)；
Wherein, K1-K4 is closed loop feedback coefficient, and its determination mode refers to patent CN106829740, and (a kind of crane is prevented
Shake control method and system), this four parameters are feedback factor, and concrete numerical value can be adjusted according to particular condition in use
Whole, Vc is the input speed of vehicle motor；Sx is planned position of the suspender in the trolley platform direction of motion；Sx ' is suspender small
The physical location of the car platform direction of motion；Vx is planning speed of the suspender in moving of car direction；Vx ' is suspender in moving of car
The physical location in direction；A is the actual swing angle of suspender；E is the magnitude of angular velocity that suspender swing angle sensor measures.
And the input speed for rising motor (being used for adjusting spreader height) can be calculated according to equation below：
Vl=VC+k5 (sz-sz ')+k6 (vz-vz ')；
Wherein, K5, k6 are regulation coefficient, are PI setting parameters；Sz is the planned position of suspender raising direction；Sz ' is to hang
Has the physical location of raising direction；Vz is the planning speed of suspender raising direction；Vz ' is physical location of the suspender in raising direction
(i.e. the actual height of suspender)；Vl is the input speed of lifting motor；Vz '=dH/dt；
Input speed according to the input speed of vehicle motor, and/or rise motor is controlled.
That is, the movement of trolley platform is controlled according to the input speed of vehicle motor, and, according to the input speed of provincial motor
Degree control is risen motor and rotated.
It is corresponding with preceding method, present invention also provides suspender swing angle acquisition device, as shown in figure 4, including：
Acquisition module 401, for obtaining the deflection angle of trolley platform vertically, and, suspender is obtained along dolly
The swing angle to be optimized of the platform direction of motion；
Computing module 402, for according to deflection angle and swing angle to be optimized, calculating the actual swing angle of suspender.
It is corresponding with preceding method, present invention also provides crane anti-roll device, including：
It is anti-to shake module, for carrying out preventing shaking control according to the actual swing angle of suspender.
Prevent that shaking module specifically includes：
First computing unit, for the input speed according to equation below counting of carriers motor：
Vc=vx+k1 (sx-sx ')+k2 (vx-vx ')+k3 (A)+k4 (E)；
Wherein, K1-K4 is closed loop feedback coefficient, and its determination mode refers to patent CN106829740, and (a kind of crane is prevented
Shake control method and system), this four parameters are feedback factor, and concrete numerical value can be adjusted according to particular condition in use
Whole, Vc is the input speed of vehicle motor；Sx is planned position of the suspender in the trolley platform direction of motion；Sx ' is suspender small
The physical location of the car platform direction of motion；Vx is planning speed of the suspender in the trolley platform direction of motion；Vx ' is suspender in dolly
The physical location of the platform direction of motion；A is the actual swing angle of suspender；E is the angle speed that suspender swing angle sensor measures
Angle value；
Second computing unit, the input speed of motor (being used for adjusting spreader height) is risen for being calculated according to equation below
Degree：
Vl=VC+k5 (sz-sz ')+k6 (vz-vz ')；
Wherein, K5, k6 are regulation coefficient, are PI setting parameters；Sz is the planned position of suspender raising direction；Sz ' is to hang
Has the physical location of raising direction；Vz is the planning speed of suspender raising direction；Vz ' is physical location of the suspender in raising direction
(i.e. the actual height of suspender)；Vl is the input speed of lifting motor；Vz '=dH/dt；
Control unit, for exporting the input speed of vehicle motor, and/or the input speed of motor is risen in output.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, can be with
Realize by another way.Device embodiment described above is only schematical, for example, the division of the unit,
Only a kind of division of logic function, can there is other dividing mode when actually realizing, in another example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or beg for
The mutual coupling of opinion or direct-coupling or communication connection can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. suspender swing angle acquisition methods, it is characterised in that including：
The deflection angle of trolley platform vertically is obtained, and, suspender is obtained along the to be optimized of the trolley platform direction of motion
Swing angle；
According to deflection angle and swing angle to be optimized, the actual swing angle of suspender is calculated.
2. according to the method for claim 1, it is characterised in that step obtains the deflection angle of trolley platform vertically
Degree, including：
Pass through the deflection of vertical direction angel measuring instrument direct measurement trolley platform vertically being arranged on trolley platform
Angle.
3. according to the method for claim 1, it is characterised in that counting of carriers platform is vertically as follows
Deflection angle：
<mrow>
<mi>B</mi>
<mo>=</mo>
<mi>a</mi>
<mi>c</mi>
<mi>r</mi>
<mi>cos</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mrow>
<msub>
<mi>dL</mi>
<mn>2</mn>
</msub>
<mo>-</mo>
<msub>
<mi>dL</mi>
<mn>1</mn>
</msub>
</mrow>
<mrow>
<mi>M</mi>
<mi>L</mi>
</mrow>
</mfrac>
<mo>)</mo>
</mrow>
<mo>;</mo>
</mrow>
Wherein, B is the deflection angle of trolley platform vertically, and ML is that two the 5th acceleration transducers move along trolley platform
Distance on dynamic direction, dL1=∫ ∫ a1Dt, dL2=∫ ∫ a2Dt, a1The vertical direction measured for the 5th acceleration transducer
Acceleration magnitude, a2The acceleration magnitude of the vertical direction measured for another the 5th acceleration transducer；Two the 5th acceleration pass
Sensor is arranged on trolley platform.
4. according to the method for claim 3, it is characterised in that two the 5th acceleration transducers are along the trolley platform side of movement
Upward distance is more than 3.2 meters.
5. according to the method for claim 2, it is characterised in that the track amount of deflection of track is according to following public affairs where trolley platform
Formula calculates：
dL5=∫ ∫ a5dt；
dL5It is track amount of deflection, a5It is the acceleration magnitude obtained measured by the first acceleration transducer, first acceleration sensing
Device is arranged on trolley platform.
6. according to the method for claim 2, it is characterised in that the track amount of deflection of track is according to such as lower section where trolley platform
Formula determines：
The distance of each second acceleration transducer distance objective position is obtained, the target location is the center institute of trolley platform
Position；Second acceleration transducer is multiple；
Track amount of deflection is calculated using equation below：
dL6=∫ ∫ a6dt；
In formula, dL6It is track amount of deflection, a6It is the acceleration magnitude obtained measured by aimed acceleration sensor；Aimed acceleration passes
Sensor is that all second acceleration transducer mid-range objectives positions are nearest.
7. suspender swing angle acquisition device, it is characterised in that including：
Acquisition module, for obtaining the deflection angle of trolley platform vertically, and, obtain suspender and moved along trolley platform
The swing angle to be optimized in direction；
Computing module, for according to deflection angle and swing angle to be optimized, calculating the actual swing angle of suspender.
8. crane is anti-to shake method, including the suspender swing angle acquisition methods as described in claim any one of 1-6, its feature
It is, in addition to：
Carry out preventing shaking control according to the actual swing angle of suspender.
9. crane according to claim 8 is anti-to shake method, it is characterised in that is carried out according to the actual swing angle of suspender
Prevent that shaking control includes：
According to the input speed of equation below counting of carriers motor：Vc=vx+k1 (sx-sx ')+k2 (vx-vx ')+k3 (A)+k4
(E)；Wherein, K1-K4 is closed loop feedback coefficient, and Vc is the input speed of vehicle motor；Sx is suspender in trolley platform motion side
To planned position；Sx ' is physical location of the suspender in the trolley platform direction of motion；Vx is rule of the suspender in moving of car direction
Draw speed；Vx ' is physical location of the suspender in moving of car direction；A is the actual swing angle of suspender；E is suspender angle of oscillation
The magnitude of angular velocity that degree sensor measures；
Input speed according to vehicle motor carries out preventing shaking control.
10. crane anti-roll device, including suspender swing angle acquisition device as claimed in claim 7, it is characterised in that also
Including：
It is anti-to shake module, for carrying out preventing shaking control according to the actual swing angle of suspender.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710936379.0A CN107473092B (en) | 2017-10-10 | 2017-10-10 | Suspender swing angle acquisition methods and device and crane are prevented shaking method and device |
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| CN201710936379.0A CN107473092B (en) | 2017-10-10 | 2017-10-10 | Suspender swing angle acquisition methods and device and crane are prevented shaking method and device |
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Cited By (1)
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|---|---|---|---|---|
| CN112340603A (en) * | 2020-02-27 | 2021-02-09 | 徐州建机工程机械有限公司 | Anti-swing control system for tower crane lifting hook |
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| CN107473092B (en) | 2019-06-14 |
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