CN109795954B - Computer control method for crane hook stabilization and crane - Google Patents
Computer control method for crane hook stabilization and crane Download PDFInfo
- Publication number
- CN109795954B CN109795954B CN201910098901.1A CN201910098901A CN109795954B CN 109795954 B CN109795954 B CN 109795954B CN 201910098901 A CN201910098901 A CN 201910098901A CN 109795954 B CN109795954 B CN 109795954B
- Authority
- CN
- China
- Prior art keywords
- crane
- speed
- hook
- article
- horizontal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention relates to a computer control method for crane hook stabilization and a crane. The invention controls the horizontal carrying speed and time of the crane through the computer, so that the crane keeps a stable state in the horizontal carrying starting and braking processes, and the swinging phenomenon of a lifting hook and an article is effectively avoided. The safety is improved, the working efficiency is improved, the operation difficulty is reduced, and the labor intensity is reduced. The impact on the crane is reduced by the speed reduction starting and braking.
Description
Technical Field
The invention relates to the technical field of hoisting machinery, in particular to a computer control method for a crane hook stabilization and a crane.
Background
A crane refers to a multi-action hoisting machine that vertically lifts and horizontally carries an object within a certain range, and is also called a crown block, a traveling crane, a crane, or the like. With the continuous development of economy, the continuous update of scientific technology, the expansion of industrial production scale and the improvement of automation degree, the application of the crane in the modern production process is wider and wider, the effect is larger and larger, the requirement on the crane is higher and higher, and the basic requirements on all cranes are stable, accurate, fast, safe and reasonable.
The crane is characterized by intermittent movement, and the basic operation is as follows: the article is lifted from the pick-up location and then horizontally transported to a designated location for lowering the article. When the crane is horizontally transported and started, the lifting hook and the articles deviate from the balance position relative to the crane due to inertia, and swing similar to single pendulum is inevitably generated; similarly, when the crane is used for horizontal conveying and braking, the lifting hook and the articles swing. The lifting hook and the object swing hide the great unsafe factors, and the swing also directly influences the working quality and the production efficiency of the crane. Stability is a basic requirement for the crane, and after stability is guaranteed, accuracy and quickness can be guaranteed, and the working efficiency of the crane can be exerted.
The crane keeps a stable state in the horizontal carrying starting and braking processes, and the operation of avoiding the swinging of the lifting hook and the articles is called hook stabilizing and also called swinging pursuit, which is one of the necessary skills of a crane driver and needs the long-term practice of the crane driver to grope and accumulate experience. The requirement on the stable hook of the crane increases the operation difficulty, increases the labor intensity, reduces the working efficiency and has higher danger coefficient.
Based on this, the prior art still remains to be improved.
Disclosure of Invention
The invention aims to solve the problems and provides a computer control method for crane hook stabilization and a crane, which can solve the technical problems of high difficulty, high labor intensity, low working efficiency and high risk coefficient of crane hook stabilization operation in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
on one hand, the embodiment of the invention discloses a computer control method for crane hook stabilization, which realizes the hook stabilization through the control of a computer on the carrying distance, the carrying speed and the acceleration in the starting stage and the braking stage of the horizontal carrying of a crane.
Further, the air conditioner is provided with a fan,
in the horizontal carrying and starting stage of the crane, the crane runs forwards at the speed of kxv for nxT time;
in the horizontal carrying and braking stage of the crane, the crane runs at the speed of kxv within the time of nxT;
where k is a velocity coefficient, v is a transport velocity, n is a time coefficient, and T is a swing period.
Further, in the uniform speed operation stage of horizontal transportation of the crane, the speed and the displacement of the crane and the lifting hook are the same, and the speed is equal to the transportation speed.
Further, the swing period is related to boom height, boom radius, hoist cable length, object weight, handling speed and acceleration.
Further, the velocity coefficients, the time coefficients are related to boom height, boom radius, boom cable length, object weight, handling speed and acceleration.
Further, in the horizontal transportation starting stage of the crane, the running speed formula of the crane is as follows:
in the stage of uniform-speed operation of horizontal transportation of the crane, the operation speed of the crane is as follows:
v1＝v
in the horizontal handling and braking stage of the crane, the running speed formula of the crane is as follows:
wherein the content of the first and second substances,
v1the current speed of the crane is taken as the speed,
a1(t) crane acceleration function,
v is the speed of the conveyance and,
a2(t) crane deceleration function.
Further, the velocity of the hook is calculated by the formula:
where k is the velocity coefficient, T is the period of oscillation, v1Is the current speed, v, of the crane2Is the current speed of the hook.
Further, the displacement formula of the crane is as follows:
wherein L is1Is the displacement distance, v, of the crane1The current speed of the crane is taken as the speed,
further, the displacement formula of the hook is as follows:
wherein L is2Is the displacement distance of the hook, v2Is the current speed of the hook.
On the other hand, the embodiment of the invention also discloses a crane which adopts the computer control method.
The invention has the beneficial effects that:
the invention realizes the control of the stable hook through the computer, and controls the horizontal carrying speed and time of the crane through the computer, so that the crane keeps a stable state in the processes of horizontal carrying starting and braking, and the phenomena of the swinging of a lifting hook and an article are effectively avoided. The safety is improved, the working efficiency is improved, the operation difficulty is reduced, and the labor intensity is reduced. The impact on the crane is reduced by the speed reduction starting and braking.
Drawings
FIG. 1 is a schematic diagram of a crane model with and without a hook chasing function;
fig. 2 is a schematic diagram of a hook stabilizing control method in a starting stage of horizontal handling of a crane according to an embodiment of the invention;
fig. 3 is a schematic diagram of a hook stabilizing control method during a braking stage of horizontal handling of a crane according to an embodiment of the invention;
fig. 4 is a schematic diagram of the motion law of the hook and the crane according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the invention discloses a computer control method for crane hook stabilization, which realizes hook stabilization through controlling a conveying distance, a conveying speed and acceleration by a computer at a starting stage and a braking stage of horizontal conveying of a crane.
The embodiment controls the horizontal carrying speed and time of the crane through the computer, so that the crane keeps a stable state in the horizontal carrying starting and braking process, and the swinging phenomenon of a lifting hook and an article is effectively avoided. The stable hook of the crane does not depend on the technology of an operator any more, the operation difficulty of hoisting of the crane is greatly reduced, the working efficiency is improved, the labor intensity is reduced, the working safety is improved, and meanwhile, the stable hook design controlled by a computer can effectively reduce the impact on the crane in the starting and braking processes and prolong the service life of the crane. Fig. 1 shows a crane model after the computer control method for crane hook stabilization according to the invention and a crane model without a hook-following function.
In some preferred embodiments of the present invention, in the horizontal transportation starting stage of the crane, as shown in the simulation working condition shown in fig. 2, the crane runs forward at a speed of k × v for n × T time;
in the horizontal handling and braking stage of the crane, under the simulation working condition shown in fig. 3, the crane runs at the speed of kxv within the time of nxt;
where k is a velocity coefficient, v is a transport velocity, n is a time coefficient, and T is a swing period.
Wherein the swing period is related to boom height, boom radius, hoist cable length, object weight, handling speed and acceleration; the speed coefficient, the time coefficient is related to boom height, boom radius, hoist cable length, object weight, handling speed and acceleration.
Specifically, as shown in fig. 2, at the stage of horizontal transportation starting of the crane, the gyration radius of the simulation working condition is 32000m, the hoisting height is 32000mm (rope length is 32000mm), the gyration speed is 1rpm, the gyration linear speed is 3351mm/s, and the hoisting weight is 7800 kg; the results are as follows: in the crane without the hook chasing function, the speed fluctuation of the lifting hook and the heavy object is 6.7m/s, the speed fluctuation of the lifting hook and the heavy object with the hook chasing function is 0.7m/s, the fluctuation speed is reduced by 90%, and the result can be further optimized by adjusting parameters.
As shown in fig. 3, in the horizontal carrying and braking stage of the crane, the gyration radius of the simulation working condition is 32000m, the hoisting height is 32000mm (the rope length is 32000mm), the gyration speed is 0.5rpm, the gyration linear speed is 1676mm/s, and the hoisting weight is 7800 kg; the results are as follows: in the crane without the hook chasing function, the speed fluctuation of the lifting hook and the heavy object is 1.676m/s, the speed fluctuation of the lifting hook and the heavy object with the hook chasing function is 0.153m/s, the fluctuation speed is reduced by 90%, and the result can be further optimized by adjusting parameters.
According to the embodiment of the invention, the swing period of a lifting hook and an article is calculated according to the height of the lifting arm, the radius of the lifting arm, the length of a lifting cable (hook), the weight of the article, the carrying speed, the acceleration and other factors; the speed and time of horizontal carrying of the crane are controlled by a computer, so that the purpose of stabilizing the hook is achieved. When the horizontal conveying of the crane is started, the crane is firstly enabled to move forwards by n multiplied by T (n is a time coefficient, and T is a swing period) by k multiplied by v (k is a speed coefficient, and v is a conveying speed). When the horizontal running distance of the crane is equal to the horizontal running distance of the lifting hook and the article, the potential energy of the lifting hook and the article is converted into kinetic energy, and the horizontal running speed v is equal to the horizontal running speed v2When the speed is v, the crane runs at the carrying speed, and runs at the same speed with the hook and the articles. Thereby eliminating the swinging phenomenon of the lifting hook and the articles when starting. Similarly, when the crane is horizontally carried and braked, the crane is firstly led to run at the speed of kxv in advance at nxt, the lifting hook and the articles swing like a single pendulum, and kinetic energy is gradually converted into potential energy. When the kinetic energy of the lifting hook and the article disappears, the horizontal running speed is 0, and the crane is arranged right above the lifting hook and the article, the crane is immediately braked, at the moment, the speeds of the lifting hook, the article and the crane are all 0, and the crane stops moving together, so that the swinging phenomenon of the lifting hook and the article during braking is eliminated.
In the embodiment of the invention, the crane speed refers to the running speed of a crane boom, namely the running speed of the uppermost end of a lifting rope, and the speed of a hook refers to the common speed of the hook and a lifted object, and in the running process of the crane, the speeds of the hook and the lifted object are the same.
In some preferred embodiments of the present invention, based on the above embodiments, in the uniform speed operation stage of horizontal transportation of the crane, the speeds and displacements of the crane and the hook are the same, and the speed is equal to the transportation speed.
In another embodiment of the invention, the hook and the article deviate from the balance position relative to the crane due to inertia, and the motion of the hook and the article to the crane conforms to the motion law of a simple pendulum. Based on this, as shown in fig. 4, the speed law of the crane, the hook and the article is obtained as follows:
in the horizontal carrying starting stage (acceleration stage) of the crane, the running speed formula of the crane is as follows:
in the stage of uniform-speed operation of horizontal transportation of the crane, the operation speed of the crane is as follows:
v1＝v
in the horizontal carrying braking stage (deceleration stage) of the crane, the running speed formula of the crane is as follows:
wherein the content of the first and second substances,
v1the current speed of the crane is taken as the speed,
a1(t) crane acceleration function,
v is the speed of the conveyance and,
a2(t) crane deceleration function.
The velocity of the hook is calculated by the formula:
where k is the velocity coefficient, T is the period of oscillation, v1Is the current speed, v, of the crane2Is the current speed of the hook.
The displacement formula of the crane is as follows:
wherein L is1Is the displacement distance, v, of the crane1The current speed of the crane is taken as the speed,
the displacement formula of the lifting hook is as follows:
wherein L is2Is the displacement distance of the hook, v2Is the current speed of the hook.
Firstly, calculating the swing period of a lifting hook and an article according to the height of a lifting arm, the radius of the lifting arm, the length of a lifting cable, the weight of the article, the carrying speed, the acceleration and other factors:
(L is the length of the hoist cable, g is the local gravitational acceleration, and is suitably corrected according to other factors), and then the crane is controlled by the computerSpeed and time of horizontal conveyance of the machine. When the crane is started to carry horizontally, the crane is made to move forward at k × v (k is a speed coefficient, v is a carrying speed) by n × T (n is a time coefficient, and T is a swing period), at this time, the lifting hook and the article swing like a simple pendulum due to traction of the crane, the movement speed is in accordance with the movement speed of the simple pendulum and the speed of the crane is superposed, and as shown in fig. 4, potential energy and kinetic energy of the lifting hook and the article are converted mutually in the swing process. When the horizontal running distance of the crane is as follows: l is1The horizontal travel distance of the hook and the article is k multiplied by v multiplied by n multiplied by T
The potential energy of the hook and the article is converted into kinetic energy, at the moment, the horizontal running speed of the hook and the article reaches the maximum, and v2V. The final speed of the crane reaches the carrying speed v to run, and at the moment, the hook and the article run at the same speed with the crane at the carrying speed v, so that the swinging phenomenon of the hook and the article during starting can be eliminated. Similarly, when the crane is horizontally carried and braked, the crane is firstly enabled to run by nxt in advance and kxv, at the moment, the lifting hook and the article generate swing similar to a single pendulum due to the traction of the crane, and the kinetic energy is gradually converted into potential energy. When the kinetic energy of the lifting hook and the article disappears, the horizontal running speed is 0, and the crane is arranged right above the lifting hook and the article, the crane is immediately braked, at the moment, the speeds of the lifting hook, the article and the crane are all 0, and the crane stops moving together, so that the swinging phenomenon of the lifting hook and the article during braking is eliminated.
In conclusion, when the computer control method for stabilizing the hook of the crane is used in the crane, the crane is kept in a stable state in the horizontal transportation starting and braking processes, and the swinging phenomenon of the hook and an article is effectively avoided. The safety is improved, the working efficiency is improved, the operation difficulty is reduced, and the labor intensity is reduced. The impact on the crane is reduced by the speed reduction starting and braking.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention; it is intended that the following claims be interpreted as including all such alterations, modifications, and equivalents as fall within the true spirit and scope of the invention.
Claims (3)
1. A computer control method for crane hook stabilization is characterized in that in the starting stage and the braking stage of horizontal conveying of a crane, the hook stabilization is realized by controlling the conveying distance, the conveying speed and the acceleration through a computer, and the method comprises the following three stages:
horizontal transport start-up stage: firstly, the crane runs forwards at the speed of k multiplied by v for n multiplied by T time, and the running speed formula of the crane at the stage is as follows:
at the moment, the lifting hook and the article generate movement similar to a simple pendulum due to the traction of the crane, the movement speed accords with the movement speed of the simple pendulum and is superposed with the speed of the crane, and the speed calculation formula of the lifting hook is as follows:
potential energy and kinetic energy are mutually converted in the swinging process of the lifting hook and the article;
horizontal conveying constant-speed operation stage: the horizontal travel distance of the crane and the lifting hook is measured in the horizontal carrying starting process, and the displacement formula of the crane is as follows:
the displacement formula of the hook is:
when the horizontal running distance of the crane is equal to the horizontal running distance of the lifting hook and the article, the potential energy of the lifting hook and the article is completely converted into kinetic energy, the horizontal running speed of the lifting hook reaches the maximum, and at the moment, v is2V; at this time, the crane is controlled and regulated by the computer to move according to the conveying speed, i.e. order v1If the speed is v, the crane, the lifting hook and the article run at the same speed and at the same speed;
and (3) horizontal conveying braking stage: the running speed of the crane at the stage is
The hook and the article swing like a single pendulum, the kinetic energy is gradually converted into potential energy, and when the kinetic energy of the hook and the article disappears, the horizontal running speed v2When the crane is right above the hook and the article, immediately braking the crane, wherein the speeds of the hook, the article and the crane are all 0;
in the above, k is a velocity coefficient, v is a transport velocity, n is a time coefficient, T is a sweep period, a1(t) is the crane acceleration function, a2(t) is the crane deceleration function, v1Is the current speed, v, of the crane2Is the current speed of the hook, L1Is the displacement distance, L, of the crane2The displacement distance of the lifting hook; wherein the swing period T is related to the boom height, the boom radius, the hoist cable length, the object weight, the handling speed and the acceleration,
l is the hoist cable length and g is the local gravitational acceleration.
2. The computer-controlled method of claim 1, wherein the speed coefficient and the time coefficient are related to boom height, boom radius, hoist cable length, object weight, handling speed and acceleration.
3. A crane, characterized in that a computer control method of a crane hook according to any one of claims 1-2 is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910098901.1A CN109795954B (en) | 2019-01-31 | 2019-01-31 | Computer control method for crane hook stabilization and crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910098901.1A CN109795954B (en) | 2019-01-31 | 2019-01-31 | Computer control method for crane hook stabilization and crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109795954A CN109795954A (en) | 2019-05-24 |
| CN109795954B true CN109795954B (en) | 2021-09-03 |
Family
ID=66560874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910098901.1A Active CN109795954B (en) | 2019-01-31 | 2019-01-31 | Computer control method for crane hook stabilization and crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109795954B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111320079B (en) * | 2020-02-24 | 2021-04-06 | 湖南天桥嘉成智能科技有限公司 | Positioning and anti-swing unmanned vehicle control method |
| CN111348550B (en) * | 2020-02-24 | 2022-01-07 | 湖南天桥嘉成智能科技有限公司 | Unmanned vehicle anti-swing control method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4025749A1 (en) * | 1990-08-14 | 1992-02-20 | Siemens Ag | Automatic operation of revolving crane without load swings - involves controlled timing of grab acceleration and retardation adjusted to period of natural frequency of oscillation |
| CN105883616B (en) * | 2016-06-13 | 2017-06-16 | 南开大学 | Overhead crane shortest time anti-sway track Real-time Generation |
| CN108050970A (en) * | 2018-01-29 | 2018-05-18 | 上海应用技术大学 | A kind of crane brake downslide amount detection method and device |
-
2019
- 2019-01-31 CN CN201910098901.1A patent/CN109795954B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109795954A (en) | 2019-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107215777B (en) | A kind of anti-swing control system of crane intelligent and its accurate positioning method | |
| CN107572373B (en) | The anti-oblique pull control system of Novel crane active and its control method based on machine vision | |
| CN109795954B (en) | Computer control method for crane hook stabilization and crane | |
| CN110775818B (en) | Crane anti-swing control method based on machine vision | |
| CN110228754B (en) | Industrial crane control method and system capable of achieving self-adaptive speed planning | |
| CN111302222B (en) | Bridge crane positioning anti-swing control method capable of realizing random position parking | |
| CN111320079B (en) | Positioning and anti-swing unmanned vehicle control method | |
| CN1313353C (en) | Loading control method and apparatus for crane | |
| CN110467109A (en) | A kind of crane time optimal is anti-to shake control method and system | |
| CN104495585A (en) | Intelligent vertical traction machine | |
| CN112429640B (en) | Method for controlling anti-swing of crown block | |
| CN113321122A (en) | Layered nonsingular terminal sliding mode control method for double-pendulum system of crane | |
| CN111348550B (en) | Unmanned vehicle anti-swing control method | |
| CN105905807A (en) | Positioning and anti-swing control method for bridge crane based on fuzziness | |
| CN106563790A (en) | Beam box beating manipulator and box beating method thereof | |
| CN110950241A (en) | Electronic anti-swing method of intelligent crane | |
| CN103058059B (en) | Synchronous control device for double-flat-boom tower crane and crane carriages thereof | |
| CN114890313B (en) | Grab bucket anti-shake method based on fuzzy control | |
| CN205953358U (en) | RTG electron anti -swing system based on machine vision | |
| CN112209236A (en) | Anti-swing control method for unmanned vehicle with variable rope length | |
| CN204490352U (en) | Anti roll device on hoisting crane | |
| CN110775819A (en) | Anti-swing control method and system for tower crane | |
| CN111153326B (en) | Crown block swing prevention and positioning control system and acceleration and deceleration curve calculation method thereof | |
| TWI687366B (en) | Method for reducing swing of a workpiece hoisted by an overhead crane and overhead crane operable by the method | |
| CN111392591B (en) | Embedded anti-swing method for bridge crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |