CN109019346A - A kind of embedded intelligence crane amplitude variation speed regulating method and control crank - Google Patents
A kind of embedded intelligence crane amplitude variation speed regulating method and control crank Download PDFInfo
- Publication number
- CN109019346A CN109019346A CN201811157367.9A CN201811157367A CN109019346A CN 109019346 A CN109019346 A CN 109019346A CN 201811157367 A CN201811157367 A CN 201811157367A CN 109019346 A CN109019346 A CN 109019346A
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- Prior art keywords
- control
- amplitude
- speed
- crane
- embedded
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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
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/82—Luffing gear
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of embedded intelligence crane amplitude variation speed regulating method and control cranks, it will be associated with the real-time luffing amplitude of jib lubbing mechanism with the process of luffing control crank control Converting frequency & amplitude motor speed, it is simultaneously that the computing unit compensated according to real-time status to handle input signal is independent from the control system of crane, it is encapsulated among an embedded module and is made of one the module in structure with control crank.Embedded module obtains the original input signal of control crank and specific compensated control Converting frequency & amplitude motor speed signal is calculated after receiving Converting frequency & amplitude motor corner information, and the control signal is transferred to PLC, PLC controls the revolving speed of Converting frequency & amplitude motor.The defect for overcoming crane amplitude variation system " gained is non-set ", can guarantee that crane is directly run according to derricking speed set by driver in amplitude changing process, and reduce the requirement to driver control technology and dramatically reduce the labor intensity of driver.
Description
Technical field
The invention belongs to technical field of crane control, in particular to a kind of embedded intelligence crane amplitude variation speed regulation side
Method and control crank.
Technical background
Common crane amplitude variation speed-adjusting and control system is a kind of control system of standard-sized sheet ring.Its control crank, either
There is the still stepless of grade, what the control signal of output directly controlled is the revolving speed of Converting frequency & amplitude motor.But due in luffing
In the process, motor speed and derricking speed are not a constant linear proportionate relationships, and jib lubbing mechanism is the equal of one
The speed changer of variable ratio, transmission ratio can change with the change of amplitude.Therefore, the control crank manipulation of driver in this way
When such changing-breadth system, if wanting to guarantee that amplitude changing process is steadily safe and efficient, current amplitude must be just observed at any time, and according to
The non-linearity drive of jib lubbing mechanism suitably adjusts control crank than the changing rule with amplitude, changes motor speed, to obtain
Ideal derricking speed.This requires the manipulation technology of driver high, and labor intensity is very big, general driver would rather select to endure compared with
The luffing performance of difference.
The speed regulating control of existing variable amplitude mechanism for crane is the system of a complete open loop, as shown in Figure 2.Under the mode,
Since jib lubbing mechanism is equal to a non-linear speed changer, although driver can control luffing motor speed constant, but luffing
Speed but changes in the variation with luffing amplitude, is not able to satisfy the requirement of at the uniform velocity luffing.
Intelligent semiclosed loop speed-adjusting and control system shown in Fig. 3 using conventional handle, based on real-time luffing state
Optimizing derricking speed Controlling model is an approximate inverse dynamic model, which carried out according to specific model given parameters
Numerical value calculates, and the uniform branch sampling in the tolerance band of θ, sampling number is as more as possible, then by form deposit PLC storage
In device.After driver control handle sets derricking speed, θ value combination driver institute that PLC controller is fed back according to rotary encoder
The derricking speed V of settingh0Look into the revolving speed that the table stored in PLC calculates the desired luffing motor that this moment should issue
n0, PLC receive the signal control luffing motor increase or reduce revolving speed.It can only realize under the speed-regulating mode and approximately at the uniform velocity become
Width.
Summary of the invention
The present invention provides a kind of embedded intelligence crane amplitude variation speed regulating method and control cranks, solve above-mentioned
The defect of heavy-duty machine changing-breadth system " gained is non-set ", can guarantee crane in amplitude changing process directly according to set by driver
Derricking speed operation, and reduce the requirement to driver control technology and dramatically reduce the labor intensity of driver.
To achieve the goals above, the embedded intelligence crane amplitude variation speed regulating method designed by the present invention, feature
It is: will be related to the real-time luffing amplitude of jib lubbing mechanism with the process of luffing control crank control Converting frequency & amplitude motor speed
Connection, at the same the computing unit compensated according to real-time status to handle input signal is independent from the control system of crane
Out, it is encapsulated among an embedded module and is made of one the module in structure with control crank.It is described embedded
Module obtains the original input signal of control crank and receives Converting frequency & amplitude motor corner information and (is equivalent to and sensed luffing machine
The real-time luffing amplitude of structure) after specific desired Converting frequency & amplitude motor speed signal is calculated, and the control signal is passed
It is defeated by the PLC control system of crane, the revolving speed of the PLC control system control Converting frequency & amplitude motor.
Further, the specific calculation criterion of the embedded module are as follows: when handle exports a constant signal to realize
At the uniform velocity luffing is optimization aim.
A kind of control crank of embedded intelligence crane amplitude variation speed regulating structure, special character has also been devised in the present invention
It is: including control stick and embedded module；
The embedded module passes through the encoder on the luffing variable-frequency electric arbor of cable and crane, PLC control system
It is connected with control stick, obtain the original input signal of control crank and tool is calculated after receiving Converting frequency & amplitude motor corner information
The desired Converting frequency & amplitude motor speed signal of body, and the control signal is transferred to PLC control system；
Debugging interface is additionally provided on the embedded module；
Further, the embedded module mainly includes 8 single-chip microcontrollers, input signal shaping circuit, voltage and current inspection
Slowdown monitoring circuit and output amplifier.
Further, the control crank can be also possible to master controller formula with for stepless speed regulation formula.Of the invention
Advantage is:
1) a kind of embedded intelligence crane amplitude variation speed regulating method of the present invention, the command signal of control crank output, can
To allow the revolving speed of luffing variable-frequency motor to automatically adjust with the variation of luffing amplitude, to guarantee the derricking speed of jib lubbing mechanism output
Strictly setting value is followed linearly to change, when setting value is invariable, derricking speed will not change with the variation of amplitude.
It is greatly improved using the handling of crane amplitude variation system, stability and the safety of this control crank.
2) present invention is by Embedded mode the optimization derricking speed Controlling model pair based on real-time luffing state
The control logic that input instruction signal compensates is encapsulated into control crank, and original control system can almost be kept not
Become, this modular system structure design scheme, which has, to be easily achieved, is easy to debug, be easily installed, is easy to spread, being easy to more
The advantages that new.
3) optimize in the luffing speed-regulating system of derricking speed control according to real-time luffing state, common realization side
Formula is that optimized control model is written in PLC program, keeps the structure and function of handle constant, to handle input signal into
Row compensation is completed in PLC, and by the function restriction of PLC, which will carry out approximate processing, thus cause certain error,
And the control performance of such system is extremely sensitive to modeling accuracy, so control performance can using speed-regulating system of the invention
With more excellent, it is eager to excel among much bigger embedded module because optimal model is encapsulated in real-time computing ratio PLC by the present invention,
The approximate modeling for carrying out that large error can be caused is not needed to handle.
4) present invention can be not only used on the following new product, and control crank need to be only replaced i.e. by old product
Can, without thoroughly being updated, being transformed to original system and program re-writing, thus there is great practicability.
5) the optimization derricking speed Controlling model based on real-time luffing state is a more complicated nonlinear mathematics
Model needs to carry out floating-point operation, and PLC lays particular emphasis on logical operation, and floating-point operation ability is very low, which needs specially treated
It could be programmed in PLC.The present invention decomposites this task from PLC control program by lower-cost embedded module
It undertakes, gives full play to PLC and the respective advantage of embedded system, be also beneficial to optimize derricking speed Controlling model in the future into one
Step upgrading is to have the ability of electronic anti-swinging.
Detailed description of the invention
Fig. 1 is the system connection schematic diagram that a kind of embedded intelligence crane amplitude variation adjusts the speed control crank.
Fig. 2 is common variable amplitude mechanism for crane open loop luffing speed-adjusting and control system figure.
Fig. 3 is the intelligent semiclosed loop luffing speed-adjusting and control system using conventional control crank.
Fig. 4 is the crane amplitude variation speed-adjusting and control system that control crank is adjusted the speed using embedded intelligence luffing.
Fig. 5 is the speed-regulating system working principle diagram that control crank is adjusted the speed using embedded intelligence crane amplitude variation.
In figure: control stick 1-1, debugging interface 1-2, embedded module 1-3, power interface 1-4.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
Embedded intelligence crane amplitude variation speed regulating method designed by the present invention will control frequency conversion with luffing control crank
The process of luffing motor speed is associated with the real-time luffing amplitude of jib lubbing mechanism, while will be inputted according to real-time status to handle
The computing unit that signal compensates is independent from the control system of crane, is encapsulated into an embedded module, and
The module and control crank are formed into integral structure；The embedded module obtains the original input signal and reception of control crank
It is calculated specific compensated control Converting frequency & amplitude motor speed signal after Converting frequency & amplitude motor corner information, and by the control
Signal processed is transferred to the PLC control system of crane system, the revolving speed of the PLC control system control Converting frequency & amplitude motor.
A kind of embedded intelligence crane amplitude variation as shown in Figure 1 adjusts the speed control crank, comprising: control stick 1-1, debugging
Interface 1-2, embedded module 1-3, power interface 1-4 and cable.Control stick 1-1 passes through connecting cable and the embedded mould
The input terminal of block 1-3 is connected and inputs desired derricking speed signal, and the embedded module 1-3 passes through cable and crane
PLC control system and the rotary encoder that is mounted on luffing variable-frequency electric arbor be connected.
The embedded module 1-3 is the core control portions for adjusting the speed control crank, mainly includes 8 single-chip microcontrollers, defeated
Enter signal transformation circuit, voltage and current detection circuit and output amplifier etc.；And it is written in single-chip microcontroller according to based on real
The embedded operation program that the optimization derricking speed Controlling model of time-varying web state is write.
Wherein, the optimization derricking speed Controlling model based on real-time luffing state can be established using any way,
Form is:
n0=f (Vh0, θ)
In formula, n0For desired motor speed, Vh0For desired derricking speed value, θ is the absolute corner of motor.Reflection
Be how the desired derricking speed value V according to corresponding to the original input signal of luffing control crankh0With the absolute rotational angle theta of motor
Find out desired motor speed n0.The absolute rotational angle theta of Converting frequency & amplitude motor is the rotation by being mounted on Converting frequency & amplitude motor shaft
Turn encoder real-time monitoring to obtain and this signal is fed back to embedded module.
Embedded operation program is acquired desired by the absolute corner of motor real-time monitored and desired derricking speed
Converting frequency & amplitude motor speed, and the desired tach signal acquired is passed into PLC control system.As long as desired during this
No change has taken place for derricking speed, and the trunk beam-ends point of crane is just traveled at the uniform speed with the speed.This desired derricking speed
It is determined completely by the gear of the location of luffing speed adjusting lever or selection.
The computer that the debugging interface 1-2 is carried in system development, debugging or maintenance with technical staff is connected.
The power interface 1-4 is connected with regulated power supply.
The rotary encoder is connect by connecting cable with the input terminal of embedded module 1-3, exhausted by what is measured in real time
Embedded module 1-3 is transferred to angular signal.
The PLC control system is connected with the output end of embedded module 1-3, and embedded module 1-3 will be through embedded
Operation program calculates the desired tach signal acquired and is transferred to PLC control system, and PLC control system receives after this signal
It controls Converting frequency & amplitude motor and increases or reduce revolving speed.
Control crank both can be stepless speed regulation formula in the present invention, be also possible to master controller formula.When control crank is
When stepless speed regulation formula, derricking speed is determined by the location of control crank completely；When control crank is master controller formula, change
Amplitude velocity degree is determined by the selected gear of control crank completely.When the location of driver's holding control crank is constant or selection
When gear remains unchanged, crane maintains at the uniform velocity luffing in amplitude changing process.
It can very freely using the crane of embedded intelligence luffing provided by the invention speed regulation control crank
Achieve the purpose that at the uniform velocity luffing, as shown in Figure 4.What is encapsulated in variable amplitude mechanism for crane speed regulation control crank under the control model writes
Embedded operation module derricking speed V according to set by driver of accurate inverse dynamic model is enteredh0Be mounted on luffing motor
The absolute rotational angle theta of rotary encoder feedback on axis calculates real-time desired luffing motor speed value n0, this is transferred to
The n of PLC controller0Value can change with the variation of luffing amplitude, final defeated as long as the desired speed of input does not change
Derricking speed out will be a constant value.
As shown in figure 5, the specific working principle is as follows for embedded intelligence crane amplitude variation speed regulation control crank of the present invention:
1): driver sets a certain desired crane amplitude variation speed on speed regulation control crank according to production requirement；
2): derricking speed and rotation in the embedded module read step 1 of speed regulation control crank provided by the present invention
The real-time corner of motor measured by encoder；
3): the embedded operation program according to the exploitation of accurate inverse dynamic model being written in embedded module utilizes step 2
In two item datas solve and the current absolutely corresponding desired motor speed of corner；
4): the obtained desired motor speed signal of step 3 is passed to the PLC control system of variable amplitude mechanism for crane
System.PLC control system controls the increase of Converting frequency & amplitude motor or reduction revolving speed after receiving this signal.
As long as the position of handle or the gear of selection are constant in whole process, derricking speed will not change.
The above description is only an embodiment of the present invention, is not intended to limit the range of the invention patent, all to utilize this hair
Equivalent structure made by bright specification and Detailed description of the invention is applied directly or indirectly in other relevant technical fields, similarly
Including in the range of patent protection of the invention.
Claims (5)
1. a kind of embedded intelligence crane amplitude variation speed regulating method, it is characterised in that:
Will be associated with the real-time luffing amplitude of jib lubbing mechanism with the process of luffing control crank control Converting frequency & amplitude motor speed,
The computing unit that handle input signal compensates will independently be gone out from the control system of crane according to real-time status simultaneously
Come, be encapsulated into an embedded module, and the module and control crank are formed into integral structure；The embedded module obtains
Specific compensated control is calculated after the original input signal and reception Converting frequency & amplitude motor corner information of control crank
Converting frequency & amplitude motor speed signal, and the control signal is transferred to the PLC control system of crane system, the PLC control
The revolving speed of system control Converting frequency & amplitude motor.
2. embedded intelligence crane amplitude variation speed regulating method according to claim 1, it is characterised in that: described embedded
The specific calculation criterion of module are as follows: when handle exports a constant signal to realize that at the uniform velocity luffing is optimization aim.
3. a kind of control crank of embedded intelligence crane amplitude variation speed regulating structure as described in claim 1, feature exist
In: including control stick and embedded module；
The embedded module passes through encoder, PLC control system and the behaviour on the luffing variable-frequency electric arbor of cable and crane
Vertical pole connection obtains the original input signal generated when control stick work and calculates after receiving Converting frequency & amplitude motor corner information
Specific desired Converting frequency & amplitude motor speed signal out, and the control signal is transferred to PLC control system；
Debugging interface is additionally provided on the embedded module.
4. embedded intelligence crane amplitude variation speed regulating structure according to claim 3, it is characterised in that: described embedded
Module mainly includes 8 single-chip microcontrollers, input signal shaping circuit, voltage and current detection circuit and output amplifier.
5. embedded intelligence crane amplitude variation speed-regulating system according to claim 3, it is characterised in that: behaviour of the invention
Vertical handle can be also possible to master controller formula with for stepless speed regulation formula.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157367.9A CN109019346B (en) | 2018-09-30 | 2018-09-30 | Amplitude-changing speed-regulating method and control handle of embedded intelligent crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811157367.9A CN109019346B (en) | 2018-09-30 | 2018-09-30 | Amplitude-changing speed-regulating method and control handle of embedded intelligent crane |
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| Publication Number | Publication Date |
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| CN109019346A true CN109019346A (en) | 2018-12-18 |
| CN109019346B CN109019346B (en) | 2023-04-25 |
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| CN201811157367.9A Active CN109019346B (en) | 2018-09-30 | 2018-09-30 | Amplitude-changing speed-regulating method and control handle of embedded intelligent crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115203864A (en) * | 2022-09-19 | 2022-10-18 | 江苏苏港智能装备产业创新中心有限公司 | Luffing mechanism building method and device applied to gantry crane |
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Cited By (1)
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| CN115203864A (en) * | 2022-09-19 | 2022-10-18 | 江苏苏港智能装备产业创新中心有限公司 | Luffing mechanism building method and device applied to gantry crane |
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| CN109019346B (en) | 2023-04-25 |
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