CN110294428A - A kind of closed rotary control system and crane - Google Patents
A kind of closed rotary control system and crane Download PDFInfo
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- CN110294428A CN110294428A CN201910597886.5A CN201910597886A CN110294428A CN 110294428 A CN110294428 A CN 110294428A CN 201910597886 A CN201910597886 A CN 201910597886A CN 110294428 A CN110294428 A CN 110294428A
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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
- B66C13/18—Control systems or devices
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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
- 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
- B66C23/84—Slewing gear
- B66C23/86—Slewing gear hydraulically actuated
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a kind of closed rotary control system and cranes to realize the stabilization start and stop of rotary system by dynamic buffering control valve and dynamic brake；According to loading moment percentage, revolution maximum speed is limited, while realizing rotational speed journey still linear change after control handle, is improved handling during rate limitation；Pumpage swinging angle control valve electric current is compensated according to handle angle change rate, engine speed or pumpage swinging angle control valve electric current are compensated according to gas pedal change rate, realize the stability contorting of control process；Free rotary velocity compensation is carried out according to boom reach, realizes the stability contorting of free rotary；Heavy duty and high-speed working condition compensate rotational speed variation response process, realize stabilized speed variation；Pumpage pivot angle is monitored, realizes security control, after preventing handle return, pumpage pivot angle does not return to zero position, and dynamic brake damage or system is caused to be in high pressure kicks state.
Description
Technical field
The invention belongs to technical field of engineering machinery, in particular to a kind of closed rotary control system and crane.
Background technique
The crane function of tonic chord mainly includes elevator, flexible, luffing and revolution, and elevator and revolution are crane practical applications
The highest two kinds of movements of frequency especially when start and stop are turned round in heavy duty, easily cause shock problem since crane inertia is big, because
This revolution movement not only influences the stability of crane, while having larger impact to crane safety, and user usually requires that revolution
Speed is matched with current load situation, fine motion is good, revolution accelerates and steady, free rotary process of slowing down is not impacted, therefore
Suitable control loop is needed, while matching suitable control strategy, realizes the stability contorting of turning course.
Currently, crane rotation system is broadly divided into open type rotary system and closed rotary system.
Open type rotary system is used primarily in medium and small tonnage crane, generallys use quantitative drum pump, is controlled by means of revolution
Valve realizes the control to rotary motor, and the usual rotary control valve is integrated with revolution commutation (by means of reversal valve), motor repairing
The functions such as (by check valve), revolution start and stop buffering (by overflow valve), free rotary (by switch valve).
For middle hoister in large tonnage, rotary system generallys use closed system, by means of independent two-way electric control enclosed
Variable pump, direct output hydraulic pressure oil are applied to rotary motor, set overflow valve in pump discharge, carry out operating pressure setting, simultaneously
It is individually integrated by means of electric-controlled switch valve to realize free rotary function, usually automatically controlled variable pumpage swinging angle control is realized back
The control of rotary speed and gyratory directions works as front for revolution start and stop buffering and process stable control, closed rotary system
Divide technical solution to be realized by means of buffer overflow valve to buffer, or the working state signal current according to crane, be reflected using default
It penetrates relation table and show that corresponding current regulation coefficient, the electric current of comparative example solenoid valve adjust accordingly under the working condition, with
Guarantee that crane rotation speed does not exceed the limitation of the maximum rotational speed under current working status；Or it is turned round by real-time monitoring
The situation of change of speed and engine speed carries out rotational speed adjusting；Or revolution acceleration is controlled, realize hoist phase
The revolution acceleration of adaptation；For free rotary, realize the connection of motor both ends generally by means of switch valve, or by speed governing valve into
Row is adjusted, and realizes the velocity variations of free rotary.
The prior art has the following deficiencies:
(1) for closed system, if buffered by means of overflow valve, it is very fast to easily cause oil liquid temperature rise, reduces system effect
Rate；
(2) free rotary is realized by means of switch valve or speed governing valve, do not account for different working conditions (such as different boom reaches)
Rate process limitation, free rotary process be easy shake；
(3) carry out maximum rotational speed limitation only according to current working, not can solve revolution accelerate and moderating process in tremble
Dynamic problem；Maximum speed is only limited according to operating condition simultaneously, then handle control interval can be caused to reduce, handle the second half angle occur
Degree changes and the constant situation of speed, poor user experience；Or the control interval of compensation is mapped from former control interval, calculation amount
It is larger；
(4) rotational speed control is carried out according on revolution acceleration, rotational speed change rate or engine speed change rate, do not had
It is compensated during manipulator's manipulation, because of the inertia of different loads, shake carries out stability contorting when having generated again, surely
Qualitative difference；
(5) it does not account for realizing the stability contorting of revolution under different loads operating condition (such as heavy load starting or revolution at a high speed reduction of speed)
And response problem.
(6) when rotary handle return, variable pumpage pivot angle is not monitored, if handle return, and pumpage is put
Angle does not return to zero a section, easily causes safety problem.
Summary of the invention
Purpose: in order to overcome the deficiencies in the prior art, the present invention provides a kind of closed rotary control system and rises
Heavy-duty machine.
Technical solution: in order to solve the above technical problems, the technical solution adopted by the present invention are as follows:
A kind of closed rotary control system, comprising: automatically controlled variable pump, pumpage angle sensor, returns at pumpage swinging angle control valve
Turn motor, rotary speed sensor, free rotary control valve, dynamic brake, dynamic buffering control valve, pilot system, state
Information module, gas pedal, control crank, buffering pedal, force limited control device, crane controller；
The gas pedal, control crank, buffering pedal, pumpage angle sensor, rotary speed sensor respectively with lifting
The connection of machine controller signal input part, crane controller signal output end are connected with pilot system；
The status information module of crane is connect with force limited control device signal input part, force limited control device signal output end respectively with
Pumpage swinging angle control valve, free rotary control valve, dynamic buffering control valve are connected；
The crane controller and the force limited control device are connected with each other, and realize information exchange；The pilot system hydraulic oil
It is connected by dynamic buffering control valve with dynamic brake.
Further, the status information module of the crane includes boom reach information module, change angle information mould
Block, chassis tilt angle information module, angle of revolution information module, supporting leg status information module, matches reconfiguration at hoist information module
Status information module is set, is connected respectively with force limited control device.
On the other hand, the present invention also provides a kind of closed rotary control methods, comprising:
The current state information of crane is obtained, loading capacity, change angle, boom reach duty parameter are hung in determination, according to current
Duty parameter obtains handle angle change rate preset value corresponding to current working；
Control crank angle change information is obtained, handle angle change rate is calculated；
The current state information of crane is obtained, loading capacity, change angle, boom reach duty parameter are hung in determination, according to current
Duty parameter obtains handle angle change rate preset value corresponding to current working；
Control crank angle change information is obtained, handle angle change rate is calculated；
When handle angle change rate is more than handle angle change rate preset value corresponding to current working, force limited control device is to most
The change procedure for being input to pumpage swinging angle control valve electric current eventually compensates control, makes to be input to pumpage swinging angle control valve
It is slowly varying to control electric current, penalty function are as follows: y=k1Kx+b, x are that handle angle corresponds to numerical value, and y is pumpage swinging angle control valve
Electric current, k are that handle angle corresponds to numerical value and pumpage swinging angle control valve electric current coefficient of correspondence, k1For penalty coefficient, set interval
For [0.3,1], b is that handle triggers pumpage swinging angle control valve current value corresponding to pumpage variation starting point, force limited control
Device, beyond section where preset value ratio, sets corresponding penalty coefficient k according to front handle rate of change value1, front handle change
The bigger rate value the bigger beyond preset value ratio, then k1Value selection is smaller, closer to 0.3；
Or extend in pumpage swinging angle control curent change process time, i.e., when handle angle change rate exceeds preset value, into
The compensation of numerical value change process corresponding to row handle angle signal, penalty function are as follows: y1=k3k2x1, y1Numerical value is corresponded to for handle angle,
x1For handle angle, k2Numerical value and handle angle coefficient, k are corresponded to for handle angle3Numerical compensation coefficient is corresponded to for handle angle,
Set interval is section where [0.5,1] exceeds preset value ratio according to handle rate of change value, sets corresponding penalty coefficient k3；
If front handle angle variable rate is lower than current working corresponding handle angle change rate preset value, force limited control
Device directly exports corresponding electric current according to the control of front handle angle information, is applied to pumpage swinging angle control valve.
A kind of closed rotary control method, comprising:
The current state information for obtaining crane determines present load torque according to the current state information of crane；
Specified hoisting moment percentage shared by present load torque is calculated, the specified hoisting moment percentage shared by the loading moment is super
When crossing preset value, then the maximum limitation rotational speed under respective load torque accounting is set, while setting and compensating to control interval
Function；The handle angle signal that force limited control device is inputted according to crane controller carries out being input to pumpage swinging angle control automatically
Valve current compensation makes entirely to manipulate section and is output to the reduction of pumpage swinging angle control valve equal current proportion；
Specific compensation method: after limiting maximum rotational speed, penalty function, y are set2=k4Kx+b, y2To be input to after compensation
Pumpage swinging angle control valve current value, k4For velocity compensation coefficient, k4Coefficient is set as under present load torque percentage
The ratio of maximum limitation rotational speed and design maximum rotational speed.
A kind of closed rotary control method, comprising: when carrying out revolution heavy load starting or revolving high-speed movement deceleration-operation,
Response time is compensated:
When carrying out heavy duty revolution starting, since moment of inertia is big, then steering resistance is big, and rotary motor entrance needs to establish larger
Pressure driven, be to be kept for the response time not by load effect, matching builds the pressure time to adapt to current moment of inertia, i.e. root
Response time compensation is carried out according to loading condition, the penalty function is y3=k5k2x1, y3Numerical value is corresponded to for compensation back handle angle,
k5For the penalty coefficient of section [1,2], moment of inertia is bigger, then penalty coefficient k5Value is bigger, closer to 2；
When carrying out the revolution deceleration under larger speed, because of biggish moment of inertia, to keep gyrostabilized platform, corresponding sound
It needs to lengthen between seasonable, upper-part rotation deceleration time lengthens, and the penalty function is y4=k6k2x1, y4To compensate back handle angle
Corresponding numerical value, k6For the penalty coefficient in [0.3,1] section, speed is bigger, then penalty coefficient k6Be worth it is smaller, closer to 0.3.
A kind of closed rotary control method, comprising:
During revolution movement, gas pedal movement is carried out, then accelerator pedal angle changes；
Crane controller obtains engine throttle pedal angle change information, and calculation of throttle pedal angle change rate, works as institute
Calculation of throttle pedal angle change rate is not up to preset value, then current rotational speed increases gradually with the increase of engine speed
Add；If calculation of throttle pedal angle change rate is more than preset value, crane controller is according to more than preset value ratio location
Between, the compensation of engine speed change procedure is carried out, slows down engine speed change procedure, penalty function are as follows: y5=k8k7x2+
b1, y5For engine speed, k7For engine speed and accelerator pedal angle coefficient, k8For engine speed penalty coefficient, setting
Interval range is [0.5,1], x2For accelerator pedal angle, b1For engine idling setting value；
Or when accelerator pedal angle change rate be more than preset value when, force limited control device according to be more than preset value ratio place section,
The compensation of pumpage swinging angle control valve input current change procedure is carried out, sets penalty function are as follows: y6=k9Kx+b, y6To be pumped after compensation
Discharge capacity swinging angle control valve electric current, k9For penalty coefficient, numerical value is set as [0.3,1].
A kind of closed rotary control method, when carrying out revolution start-stop, by means of dynamic buffering control valve and dynamic
Brake realizes the gentle start and stop of revolution, comprising:
Before turning round start-up course, crane controller controls pilot system, to dynamic buffering control valve fuel feeding, force limited control device
According to buffering pedal angle, control is input to the electric current of dynamic buffering control valve, and the output of dynamic buffering control valve is made to be adapted pressure
Power hydraulic oil is applied to dynamic brake；
When carrying out revolution start-up operation, buffering pedal movement, while control handle is carried out, and exit buffering pedal gradually, made
Buffering pedal return gradually reduces the buffering torque formed in dynamic brake, is overcoming ever-increasing driving moment
After moment of inertia and buffering torque, make to turn round smooth starting gradually；
When carrying out crane rotation stopping, control handle return, force limited control device is according to crane state information, setting revolution
Buffer speed limit value carries out buffering pedal movement after rotational speed is reduced to buffer speed limit value or less, makes revolution gradually
Gradually steadily slows down and stop；When rotational speed is greater than buffering limit value, if buffering pedal movement is carried out, even if buffering pedal
Angle change, force limited control device control dynamic buffering control valve, export it and are adapted pressurized hydraulic oil to dynamic brake, no
Allow to carry out dynamic buffering, to protect dynamic brake.
A kind of closed rotary control method, comprising:
Free rotary control valve left position when crane is opened works under normality, i.e., rotary motor both ends are closed；
When needing to carry out the operation of crane free rotary before operator hangs load, then free rotary control valve is controlled, while power limits
Controller carries out free rotary velocity compensation according to current crane state information；
Different boom reach sections, then corresponding corresponding maximum limitation free rotary speed, force limited control device is from status information
Boom reach is obtained, section where judging, so that maximum limitation free rotary speed is set, to open free rotary control valve
Mouth degree is defined, i.e., is defined to being input to free rotary control valve current value, crane is enable to stablize free rotary,
Penalty function are as follows: y7=k11k10x3+b2, y7For electric current after free rotary control valve compensation, x3It is corresponding that signal is controlled for free rotary
Numerical value, k10Signal, which is controlled, for free rotary corresponds to numerical value and free rotary control valve current coefficient, b2For free rotary control
Initial current value after valve events triggering, k11It is maximum limitation free rotary under different boom reaches for semi-girder rate limitation coefficient
The ratio between speed and the maximum rotational speed of design, boom reach is longer, then coefficient is smaller；
Or free rotary control valve current changing rate is output to the control of force limited control device and is calculated, if current changing rate is super
Current state preset value out is then output to free rotary control valve electric current to the control of force limited control device and compensates, makes its electric current
Change procedure slows down, it is ensured that free rotary is steady, penalty function are as follows: y8=k12k10x3+b2, y8After controlling valve compensation for free rotary
Electric current, k12For penalty coefficient, it is set as [0.5,1].
A kind of closed rotary control method, comprising:
Pumpage angle sensor acquires automatically controlled variable pumpage pivot angle information, is transmitted to crane controller, crane control
Device carries out judging rotary system state according to front handle angle, if handle return, i.e. handle angle are corresponding numerical value
It is 0, and pumpage pivot angle does not return to zero a section, then determines exception, then crane controller controls engine, it is ensured that electricity
Control variable revolution speed returns to zero.
A kind of closed rotary control system, including closed rotary control device, the closed rotary control device include
Memory and processor, for storing instruction, described instruction is operated for controlling the processor to execute memory
The closed rotary control method stated.
On the other hand, the present invention also provides a kind of cranes, including above-mentioned closed rotary control system.
The utility model has the advantages that closed rotary control system provided by the invention and crane, have the advantage that
(1) the closed rotary control system can make crane under different loads operating condition, carry out revolution maximum speed limitation, simultaneously
It realizes rotational speed journey still linear change after control handle, improves handling during rate limitation；
(2) operator's operating process is compensated, i.e., according to handle angle change rate to automatically controlled variable pump displacement control process
It compensates, while according to gas pedal change rate, engine speed is compensated or to automatically controlled variable pump displacement control mistake
Journey compensates, and realizes the stability contorting of control process；
(3) under heavy duty and high-speed working condition, revolution acceleration or deceleration response process is compensated, realizes that velocity variations stablize control
System；
(4) by means of dynamic buffering control valve and dynamic proportion brake, realize that stablizing for rotary system opens and stop；
(5) by means of electric ratio free rotary control valve, and process control compensation is carried out according to crane semi-girder state, realized
The stability contorting of heavy-duty machine free rotary process；
(6) by means of the monitoring to revolution pumpage pivot angle, prevention handle has returned to zero-bit, and pumpage pivot angle does not return to zero
Position continues to output flow to hydraulic motor, causes brake damage or rotary system to be in high pressure kicks state, realize safety control
System.
Detailed description of the invention
Fig. 1 is the closed rotary control system schematic diagram of embodiment；
Fig. 2 is the closed rotary control strategy schematic diagram of embodiment；
Fig. 3 is the crane free rotary control strategy schematic diagram of embodiment.
In figure: automatically controlled variable pump 1, pumpage swinging angle control valve 2, pumpage angle sensor 3, rotary motor 4, dynamic are made
Dynamic device 5, rotary speed sensor 6, free rotary control valve 7, dynamic buffering control valve 8, status information module 9, force limited control
Device 10, pilot system 11, crane controller 12, gas pedal 13, control crank 14, buffering pedal 15.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment 1
In some embodiments, as shown in Figure 1, a kind of closed rotary control system, comprising: automatically controlled variable pump 1, pumpage pivot angle
Control valve 2, pumpage angle sensor 3, rotary motor 4, rotary speed sensor 6, status information module 9, gas pedal 13,
Control crank 14, buffering pedal 15, dynamic brake 5, dynamic buffering control valve 8, pilot system 11, force limited control device 10, from
By Slip control valve 7, crane controller 12；
The gas pedal 13, control crank 14, buffering pedal 15, pumpage angle sensor 3, rotary speed sensor 6 divide
It is not connect with 12 signal input part of crane controller, 12 signal output end of crane controller is connected with pilot system 11；
The status information module 9 of crane is connect with 10 signal input part of force limited control device, 10 signal output end of force limited control device
It is connected respectively with pumpage swinging angle control valve 2, free rotary control valve 7, dynamic buffering control valve 8；
The crane controller 12 is connected with each other with the force limited control device 10, realizes information exchange；The pilot system 11
Hydraulic oil is connected by dynamic buffering control valve 8 with dynamic brake 5.
Further, the status information module 9 of the crane includes boom reach information module, change angle information mould
Block, chassis tilt angle information module, angle of revolution information module, supporting leg status information module, matches reconfiguration at hoist information module
Status information module is set, is connected respectively with force limited control device 10.
On the other hand, the present invention also provides a kind of cranes, including above-mentioned closed rotary control system.
Embodiment 2
A kind of closed rotary control method, comprising:
As depicted in figs. 1 and 2, when operator's control crank carries out revolution movement, force limited control device 10 obtains crane at this time
Current state information, determination hangs the duty parameters such as loading capacity, change angle, boom reach, and passes to crane controller,
Crane controller obtains corresponding handle angle change rate preset value according to current working parameter, such as in a certain duty parameter
When handle angle change rate preset value be 0.01 °/ms, while crane controller according to operator's control crank angle change believe
Breath, is calculated front handle angle actual rate of change, if front handle angle actual rate of change is more than 0.01 °/ms, power
Limit controller 10 compensates control to the change procedure for being input to 2 electric current of pumpage swinging angle control valve, makes to be input to pumpage
The control electric current of swinging angle control valve 2 is slowly varying, penalty function are as follows: y=k1Kx+b, x are that handle angle corresponds to numerical value, are usually set
It is set to [0,1000], y is pumpage swinging angle control valve electric current, and k is that handle angle corresponds to numerical value and pumpage swinging angle control valve electricity
Flow coefficient of correspondence, k1For penalty coefficient, set interval is [0.3,1], and b is that handle triggers corresponding to pumpage variation starting point
Pumpage swinging angle control valve current value, usually 200 mA or 300mA.Force limited control device 10 is super according to front handle rate of change value
Preset value ratio out sets corresponding coefficient, and such as current handle change rate that calculates is 0.015 °/ms, then exceeds preset value ratio
It is 50%, then corresponding penalty coefficient, such as k is then set with beyond preset value ratio section relationship according to the coefficient prestored1For
0.6, then k bigger beyond ratio1Value setting is smaller, closer to 0.3；
Or time extension during pumpage swinging angle control curent change, i.e., when handle angle change rate exceeds preset value,
Carry out the compensation of numerical value change process corresponding to handle angle signal, penalty function are as follows: y1=k3k2x1, y1Number is corresponded to for handle angle
Value, x1For handle angle, usually 0-20 °, k2Numerical value and handle angle coefficient, k are corresponded to for handle angle3For handle angle pair
Answer numerical compensation coefficient, set interval is [0.5,1], be more than 0.01 ° when crane controller 12 calculates handle angle change rate/
When ms, according to handle rate of change value beyond section where preset value ratio, corresponding penalty coefficient k is set3；
If front handle angle variable rate is lower than current working corresponding handle angle change rate preset value, force limited control
Device 10 directly exports corresponding electric current according to the control of front handle angle information, is applied to pumpage swinging angle control valve 2.
Simultaneously during operator carries out revolution movement, force limited control device is believed according to the current state of the crane of acquisition
It ceases (hoist information, warp information, change angle information, counterweight information, leg location information), calculates present load torque, together
When calculate specified hoisting moment percentage shared by present load torque, the specified hoisting moment percentage shared by the loading moment is more than
When preset value, then the maximum limitation rotational speed under respective load torque accounting is set, loading moment percentage 80% is such as reached,
Then start to carry out maximum rotational speed limitation, if rotary system design maximum rotational speed is 2r/min, shared by loading moment
When specified hoisting moment percentage reaches 80%, limiting maximum rotational speed is 1.6r/min, the specified lifting shared by the loading moment
When torque percentage reaches 90%, limiting maximum rotational speed is 1.2r/min, while limiting rotational speed according to maximum, to control
Section processed sets penalty function: the handle angle signal that force limited control device 10 is inputted according to crane controller 12 carries out defeated automatically
Enter to pumpage swinging angle control valve current compensation, makes entirely to manipulate section and be input to pumpage swinging angle control valve equal current proportion drop
It is low, guarantee from manipulation initial position to final position, speed linearity increases to maximum limitation rotational speed, specific compensation method
Are as follows: former handle angle corresponds to numerical value and discharge of main pump swinging angle control valve current relationship is y=kx+b, when the maximum rotational speed of restriction
Afterwards, penalty function, y are set2=k4Kx+b, y2To be input to pumpage swinging angle control valve electric current, k after compensation4For velocity compensation system
Number, k4Coefficient is set as the ratio of maximum limitation rotational speed and design maximum rotational speed under present load torque percentage
Value, if loading moment accounting reaches 90%, limiting maximum rotational speed is 1.2r/mim, and revolution design maximum speed is 2r/min,
Then velocity compensation coefficient is k4=1.2/2=0.6.
When operator carries out heavy duty revolution starting, since moment of inertia is big, then steering resistance is big, and rotary motor entrance needs
It establishes biggish pressure to be driven, to be kept for the response time not by load effect, it is currently used to adapt to that the pressure time is built in matching
Property torque, i.e., according to loading condition carry out response time compensation, the penalty function be y3=k5k2x1, y3To compensate back handle angle
Spend corresponding numerical value, k5For the penalty coefficient of section [1,2], loading moment is bigger, then penalty coefficient k5Value is bigger, main closer to 2
It realizes the quick variation of handle angle to corresponding numerical value, quicklys increase pumpage swinging angle control valve electric current, thus quick shape
At changes in flow rate, motor inlet faster establishes higher driving pressure；
When revolution when operator carries out fair speed is slowed down, because of biggish moment of inertia, to keep gyrostabilized platform, institute is right
The response time answered needs to lengthen, and upper-part rotation deceleration time lengthens, and the penalty function is y4=k6k2x1, y4To compensate defensive position
Handle angle corresponds to numerical value, k6For the penalty coefficient in [0.3,1] section, speed is bigger, then penalty coefficient k6Be worth it is smaller, it is closer
0.3, it is main to realize that handle angle to the slowly varying of corresponding numerical value, is slowly increased pumpage swinging angle control valve electric current, thus
It is slowly formed pump discharge variation, then rotational speed is slowly varying.
During revolution movement, carries out gas pedal 13 and act, then accelerator pedal angle changes, crane controller 12
13 angle change information of engine throttle pedal, and calculation of throttle pedal angle change rate are obtained, while in crane controller
Accelerator pedal angle change rate preset value has been set, if default settings are 0.01 °/ms, if calculation of throttle pedal angle becomes
Rate is not up to preset value, then rotational speed increases gradually as accelerator pedal angle variation causes the increase of engine speed
Add；If accelerator pedal angle change rate is more than preset value, according to more than preset value ratio location if crane controller 12
Between carry out the compensation of engine speed change procedure, slow down engine speed change procedure, penalty function: y5=k8k7x2+b1, y5
For engine speed, k7For engine speed and accelerator pedal angle coefficient, k8For engine speed penalty coefficient, set interval
Range is [0.5,1], x2For accelerator pedal angle, b1For engine idling setting value, it is typically set at 800r/min, such as at this time
12 calculation of throttle angle variable rate of crane controller is 0.015 °/ms, then is more than preset value ratio 50%, then basis prestores
Coefficient sets corresponding coefficient, such as k with more than preset value proportionate relationship8It is set as 0.7；
Or when accelerator pedal angle change rate is more than preset value, force limited control device 10 is then according to more than preset value ratio location
Between, the compensation of pumpage swinging angle control valve input current change procedure is carried out, sets penalty function are as follows: y6=k9Kx+b, y6For compensation
Pumpage swinging angle control valve electric current afterwards, k9For penalty coefficient, set interval is [0.3,1].
Rotary system forms final 2 electric current of pumpage swinging angle control valve according to handle angle at this time, forms corresponding pump row
Amount is designed by certain speed ratio under the setting of engine speed, corresponding revolution speed is formed, thus together with pumpage
Corresponding pump discharge is formed, leads to rotary motor 4, establishes driving moment, overcomes the resistances such as revolution moment of inertia and buffering torque
After torque, driving revolution movement.
For the stability contorting for realizing revolution start and stop, reduce start/stop impact, this patent is by means of dynamic buffering control valve 8 and moves
State brake 5 realizes the gentle start and stop of revolution:
Before turning round start-up course, crane controller 12 controls pilot system 11, supplies that guide oil to dynamic buffering control valve 8
Oil, force limited control device 10 are input to the electric current of dynamic buffering control valve 8, make dynamic buffering control according to buffering pedal angle, control
Valve 8 processed exports adaptable pressurized hydraulic oil and is applied to dynamic brake 5
When carrying out revolution start-up operation, carries out buffering pedal 15 and act, while control handle 14, and exit buffering pedal gradually
15, make the return gradually of buffering pedal 15, that is, reduces the buffering torque formed in dynamic brake, make ever-increasing driving moment
After overcoming moment of inertia and buffering torque, make to turn round smooth starting gradually；
When carrying out crane rotation stopping, 14 return of control crank, force limited control device 10 is according to crane state information, setting
Buffer speed limit value is turned round, after rotational speed is reduced to buffer speed limit value or less, as rotational speed is less than 0.2r/
When min or less, carries out buffering pedal 15 and act, revolution is made steadily to slow down and stop gradually；When rotational speed is greater than speed-buffering
When limit value, if carrying out buffering pedal movement, even if buffering pedal angle change is larger, the control dynamic of force limited control device 10 is slow
Control valve 8 is rushed, it is exported and is adapted pressurized hydraulic oil to dynamic brake 5, do not allow to carry out dynamic buffering, to protect dynamic
Brake.
Before hanging load, operator needs to carry out free rotary movement, is extended vertically with ensuring to hang loading center of gravity with lifting rope
Point is consistent, and control principle and control strategy are as shown in figures 1 and 3: free rotary control valve 7 is opened in crane under normality
Shi Zuowei work, i.e. 4 both ends of rotary motor are closed, when needing to carry out the operation of crane free rotary before operator hangs load, then
Free rotary control valve 7 is controlled, while force limited control device 10 carries out free rotary speed benefit according to current crane state information
It repays, specific compensation method is as follows:
Different boom reach sections, then corresponding corresponding maximum limitation free rotary speed, force limited control device 10 are believed from state
Breath obtains boom reach, section where judging, so that maximum free rotary speed is set, to be open to free rotary control valve
Degree is defined, i.e., is defined to being input to free rotary control valve current value, crane is enable to stablize free rotary, is mended
Repaying function is y7=k11k10x3+b2, y7For electric current after free rotary control valve velocity compensation, x3It is corresponding that signal is controlled for free rotary
Numerical value, k10Signal, which is controlled, for free rotary corresponds to numerical value and free rotary control valve current coefficient, b2For free rotary control valve
Initial current value after action triggers, k11For semi-girder rate limitation coefficient: for limitation free rotary speed maximum under different boom reaches
The ratio between degree and the maximum rotational speed of design, boom reach is longer, then coefficient is smaller,.
Or free rotary control valve current changing rate is output to the control of force limited control device 10 and is calculated, if electric current becomes
Rate exceeds current state preset value, then is output to free rotary control valve electric current to the control of force limited control device and compensates, make
Its curent change process slows down, it is ensured that free rotary is steady, penalty function are as follows: y8=k12k10x3+b2, y8For free rotary control valve
Electric current after compensation, k12For penalty coefficient, it is set as [0.5,1].
To realize rotary system security control, when acting without revolution, pumpage angle sensor 3 acquires automatically controlled change
Amount 1 discharge capacity pivot angle information of pump, and it is transmitted to crane controller 12, crane controller 12 judges back according to front handle angle
Turn system mode, if it is 0 that handle return, i.e. handle angle, which correspond to numerical value, and pumpage pivot angle does not return to zero a section, then
Determine exception, to prevent automatically controlled variable pump from continuing to output flow to hydraulic motor, causes dynamic brake damage or closed rotary
System is in maximum working pressure (MWP) underflow stream, causes safety problem, then crane controller 12 controls engine, it is ensured that
Automatically controlled variable revolution speed is zero.
In the description of the present application, it is to be understood that the orientation or positional relationship of the instructions such as term "left", "right" is
It is based on the orientation or positional relationship shown in the drawings, is only the present invention and simplified description for ease of description, rather than indicates or imply
Signified device or element must have a particular orientation, construct and operate for specific orientation, thus should not be understood as to this
The limitation of invention protection content.
The above is only a preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (11)
1. a kind of closed rotary control system, which is characterized in that
The closed rotary control system includes: automatically controlled variable pump (1), pumpage swinging angle control valve (2), pumpage pivot angle sensing
Device (3), rotary motor (4), rotary speed sensor (6), free rotary control valve (7), dynamic brake (5), dynamic buffering
Control valve (8), pilot system (11), status information module (9), gas pedal (13), control crank (14), buffering pedal
(15), force limited control device (10), crane controller (12)；
The gas pedal (13), control crank (14), buffering pedal (15), pumpage angle sensor (3), rotational speed pass
Sensor (6) is connect with crane controller (12) signal input part respectively, crane controller (12) signal output end and guide
System (11) is connected；
The status information module (9) of crane is connect with force limited control device (10) signal input part, force limited control device (10) signal
Output end is connected with pumpage swinging angle control valve (2), free rotary control valve (7), dynamic buffering control valve (8) respectively；
The crane controller (12) and the force limited control device (10) are connected with each other, and realize information exchange；The guide system
System (11) hydraulic oil is connected by dynamic buffering control valve (8) with dynamic brake (5).
2. closed rotary control system according to claim 1, which is characterized in that
The status information module (9) of the crane includes boom reach information module, change angle information module, hoist information
Module, angle of revolution information module, supporting leg status information module, matches reconfiguration status information at chassis tilt angle information module
Module is connected with force limited control device (10) respectively.
3. a kind of closed rotary control method characterized by comprising
The current state information of crane is obtained, loading capacity, change angle, boom reach duty parameter are hung in determination, according to current
Duty parameter obtains handle angle change rate preset value corresponding to current working；
Control crank angle change information is obtained, handle angle change rate is calculated；
When handle angle change rate is more than handle angle change rate preset value corresponding to current working, force limited control device (10)
Control is compensated to the change procedure for finally entering pumpage swinging angle control valve (2) electric current, makes to be input to pumpage pivot angle
The control electric current of control valve (2) is slowly varying, penalty function are as follows: y=k1Kx+b, x are that handle angle corresponds to numerical value, and y is pumpage
Swinging angle control valve electric current, k are that handle angle corresponds to numerical value and pumpage swinging angle control valve electric current coefficient of correspondence, k1For compensation system
Number, set interval are [0.3,1], and b is that handle triggers pumpage swinging angle control valve electric current corresponding to pumpage variation starting point
Value, force limited control device (10), beyond section where preset value ratio, set corresponding benefit according to front handle angle variable rate value
Repay coefficient k1, front handle rate of change value is bigger beyond preset value ratio, then k1Value selection is smaller, closer to 0.3；
Or extend in pumpage swinging angle control curent change process time, i.e., when handle angle change rate exceeds preset value, into
The compensation of numerical value change process corresponding to row handle angle signal, penalty function are as follows: y1=k3k2x1, y1Numerical value is corresponded to for handle angle,
x1For handle angle, k2Numerical value and handle angle coefficient, k are corresponded to for handle angle3Numerical compensation coefficient is corresponded to for handle angle,
Set interval is [0.5,1], according to handle rate of change value beyond preset value ratio place section, sets corresponding penalty coefficient k3；
If front handle angle variable rate is lower than current working corresponding handle angle change rate preset value, force limited control
Device (10) directly exports corresponding electric current according to the control of front handle angle information, is applied to pumpage swinging angle control valve (2).
4. a kind of closed rotary control method characterized by comprising
The current state information for obtaining crane determines present load torque according to the current state information of crane；
Specified hoisting moment percentage shared by present load torque is calculated, the specified hoisting moment percentage shared by the loading moment is super
When crossing preset value, then the maximum limitation rotational speed under respective load torque accounting is set, while setting and compensating to control interval
Function；Force limited control device (10) carries out being input to pumpage automatically according to the handle angle signal that crane controller (12) inputs
Swinging angle control valve current compensation makes entirely to manipulate section and is output to the reduction of pumpage swinging angle control valve equal current proportion；
Specific compensation method: after limiting maximum rotational speed, penalty function, y are set2=k4Kx+b, y2To be input to after compensation
Pumpage swinging angle control valve current value, k4For velocity compensation coefficient, k4Coefficient is set as under present load torque percentage
The ratio of maximum limitation rotational speed and design maximum rotational speed.
5. a kind of closed rotary control method characterized by comprising when carry out revolution heavy load starting or revolving high-speed movement subtract
When speed operation, the response time is compensated:
When carrying out heavy duty revolution starting, since moment of inertia is big, then steering resistance is big, and rotary motor entrance needs to establish larger
Pressure driven, be to be kept for the response time not by load effect, matching builds the pressure time to adapt to current moment of inertia, i.e. root
Response time compensation is carried out according to loading condition, the penalty function is y3=k5k2x1, y3Numerical value is corresponded to for compensation back handle angle,
k5For the penalty coefficient of section [1,2], moment of inertia is bigger, then penalty coefficient k5Value is bigger, closer to 2；
When carrying out the revolution deceleration under larger speed, because of biggish moment of inertia, to keep gyrostabilized platform, corresponding sound
It needs to lengthen between seasonable, upper-part rotation deceleration time lengthens, and the penalty function is y4=k6k2x1, y4To compensate back handle angle
Corresponding numerical value, k6For the penalty coefficient in [0.3,1] section, speed is bigger, then penalty coefficient k6Be worth it is smaller, closer to 0.3.
6. a kind of closed rotary control method characterized by comprising
During revolution movement, gas pedal (13) movement is carried out, then accelerator pedal angle changes；
Crane controller (12) obtains engine throttle pedal (13) angle change information, and calculation of throttle pedal angle changes
Rate, when institute's calculation of throttle pedal angle change rate is not up to preset value, then current rotational speed with engine speed increase
And it is gradually increased；If calculation of throttle pedal angle change rate is more than preset value, crane controller (12) is according to more than default
Section where value ratio carries out the compensation of engine speed change procedure, slows down engine speed change procedure, penalty function
Are as follows: y5=k8k7x2+b1, y5For engine speed, k7For engine speed and accelerator pedal angle coefficient, k8For engine speed
Penalty coefficient, set interval range are [0.5,1], x2For accelerator pedal angle, b1For engine idling setting value；
Or when accelerator pedal angle change rate is more than preset value, force limited control device (10) is according to more than preset value ratio location
Between, the compensation of pumpage swinging angle control valve input current change procedure is carried out, sets penalty function are as follows: y6=k9Kx+b, y6For compensation
Pumpage swinging angle control valve electric current afterwards, k9For penalty coefficient, numerical value is set as [0.3,1].
7. a kind of closed rotary control method, which is characterized in that when carrying out revolution start-stop, controlled by means of dynamic buffering
Valve (8) and dynamic brake (5), realize the gentle start and stop of revolution, comprising:
Before turning round start-up course, crane controller (12) controls pilot system (11), supplies to dynamic buffering control valve (8)
Oil, force limited control device (10) are input to the electric current of dynamic buffering control valve (8) according to buffering pedal angle, control, keep dynamic slow
It rushes the adaptable pressurized hydraulic oil of control valve (8) output and is applied to dynamic brake (5)；
When carrying out revolution start-up operation, buffering pedal (15) movement, while control handle (14) are carried out, and exit buffering gradually
Pedal (15) makes buffering pedal (15) return gradually, that is, reduces the buffering torque formed in dynamic brake, make ever-increasing
Driving moment makes to turn round smooth starting gradually after overcoming moment of inertia and buffering torque；
When carrying out crane rotation stopping, control handle (14) return, force limited control device (10) according to crane state information,
Setting revolution buffer speed limit value carries out buffering pedal (15) after rotational speed is reduced to buffer speed limit value or less
Movement makes revolution steadily slow down and stop gradually；When rotational speed is greater than buffering limit value, if it is dynamic to carry out buffering pedal
Make, even if buffering pedal angle change, force limited control device (10) controls dynamic buffering control valve (8), its output is made to be adapted pressure
Power hydraulic oil does not allow to carry out dynamic buffering, to protect dynamic brake (5) to dynamic brake (5).
8. a kind of closed rotary control method characterized by comprising
Free rotary control valve (7) left position when crane is opened works under normality, i.e., rotary motor (4) both ends are closed；
When needing to carry out the operation of crane free rotary before operator hangs load, then control free rotary control valve (7), while power
Controller (10) are limited according to current crane state information, carry out free rotary velocity compensation；
Different boom reach sections, then corresponding corresponding maximum limitation free rotary speed, force limited control device (10) is from state
Acquisition of information boom reach, section where judging, so that maximum free rotary speed is set, to open free rotary control valve
Mouth degree is defined, i.e., is defined to being input to free rotary control valve current value, crane is enable to stablize free rotary,
Penalty function are as follows: y7=k11k10x3+b2, y7For electric current after free rotary control valve compensation, x3It is corresponding that signal is controlled for free rotary
Numerical value, k10Signal, which is controlled, for free rotary corresponds to numerical value and free rotary control valve current coefficient, b2For free rotary control valve
Initial current value after action triggers, k11It is maximum limitation free rotary speed under different boom reaches for semi-girder rate limitation coefficient
The ratio between degree and the maximum rotational speed of design, boom reach is longer, then coefficient is smaller；
Or free rotary control valve current changing rate is output to force limited control device (10) control and is calculated, if curent change
Rate exceeds current state preset value, then is output to free rotary control valve electric current to the control of force limited control device and compensates, make it
Curent change process slows down, it is ensured that free rotary is steady, penalty function are as follows: y8=k12k10x3+b2, y8For free rotary control valve benefit
Repay rear electric current, k12For penalty coefficient, set interval is [0.5,1].
9. a kind of closed rotary control method characterized by comprising
Pumpage angle sensor (3) acquires automatically controlled variable pump (1) discharge capacity pivot angle information, is transmitted to crane controller (12),
Crane controller (12) carries out judging rotary system state according to front handle angle, if handle return, i.e. handle
Angle is that corresponding numerical value is 0, and pumpage pivot angle does not return to zero a section, then determines exception, then crane controller (12) is to hair
Motivation is controlled, it is ensured that automatically controlled variable pump (1) revolving speed returns to zero.
10. a kind of closed rotary control system, which is characterized in that including closed rotary control device, the closed rotary control
Device processed includes memory and processor, and memory for storing instruction, grasped for controlling the processor by described instruction
Make, to execute according to the described in any item closed rotary control methods of claim 3-9.
11. a kind of crane, it is characterised in that: including closed rotary control system described in claim 1,2,10.
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| CN112576567A (en) * | 2020-12-09 | 2021-03-30 | 三一汽车起重机械有限公司 | Electric control multi-mode hydraulic control method and system and engineering machinery |
| CN113697696A (en) * | 2021-08-27 | 2021-11-26 | 浙江三一装备有限公司 | Crane rotation control method and system and crane |
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Application publication date: 20191001 Assignee: Xuzhou Heavy Machinery Co.,Ltd. Assignor: JIANGSU XUGONG ENGINEERING MACHINERY RESEARCH INSTITUTE Co.,Ltd. Contract record no.: X2022980019352 Denomination of invention: Closed slewing control system and crane Granted publication date: 20210507 License type: Common License Record date: 20221024 |