CN111039180B - Control system and control method based on distributed tower crane - Google Patents
Control system and control method based on distributed tower crane Download PDFInfo
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- CN111039180B CN111039180B CN201911369233.8A CN201911369233A CN111039180B CN 111039180 B CN111039180 B CN 111039180B CN 201911369233 A CN201911369233 A CN 201911369233A CN 111039180 B CN111039180 B CN 111039180B
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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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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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
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to the technical field of tower cranes, in particular to a control system and a control method based on a distributed tower crane, wherein the control system comprises: the CAN operation console is used for coding the gear of the command action of the handle of the tower crane to generate a gear signal and converting the gear signal into a message command signal; the input end of the CAN bus controller is connected with the output end of the CAN console so as to receive the message command signal; the input end of each frequency converter is connected with the output end of the CAN bus controller and used for driving electrical equipment of the tower crane according to the message command signal to generate running state information; the CAN bus controller reads the running state information to control the working state of the electrical equipment. The technical scheme of the invention has the beneficial effects that: the working state of the electrical equipment is controlled through the expansion of the CAN bus controller, the transmission and fault diagnosis of message command signals between the CAN operating platform and each frequency converter CAN be realized without a large number of hard wires, and the construction workload is reduced.
Description
Technical Field
The invention relates to the technical field of tower cranes, in particular to a control system and a control method based on a distributed tower crane.
Background
The tower crane, namely the tower crane for short, is a hoisting device used in building construction, the control system of the tower crane is a key device of the tower crane, the operation console and the frequency converter in the control system of the tower crane in the prior art are all based on a conventional hard-wire signal transmission mode, the manufacture is complicated, the error rate is high in the line construction process, and a large amount of manual construction resources are occupied.
Therefore, the above problems are difficult problems to be solved by those skilled in the art.
Disclosure of Invention
Aiming at the problems in the prior art, a control system and a control method based on a distributed tower crane are provided.
The specific technical scheme is as follows:
the invention provides a control system based on a distributed tower crane, which comprises a signal interface, wherein the control system comprises:
a CAN (Controller Area Network) console, which is used for carrying out gear coding on a handle of the tower crane through a command action, generating a gear signal and converting the gear signal into a message command signal;
the input end of the CAN bus controller is connected with the output end of the CAN operating platform, is connected to the output end of the tower crane through the signal interface and is used for receiving the message command signal;
the input end of each frequency converter is connected with the output end of the CAN bus controller and used for driving the electrical equipment of the tower crane according to the message command signal to generate running state information of the electrical equipment;
and the CAN bus controller reads the running state information to control the working state of the electrical equipment.
Preferably, the command action comprises a lifting action, a luffing action and a slewing action.
Preferably, the CAN console includes:
the coding unit is used for coding the gear of the handle of the tower crane through the command action to generate the gear signal;
the conversion unit is connected with the coding unit and used for converting the gear signal into the message command signal;
and the transmission unit is connected with the conversion unit and is used for transmitting the message command signal to the CAN bus controller.
Preferably, the CAN bus controller includes:
the acquisition unit is used for acquiring the message command signal;
the processing unit is connected with the acquisition unit and is used for processing the message command signal;
the generating unit is connected with the processing unit and used for generating the message command signal into the animation interface;
a reading unit for reading the running state information;
and the control unit is respectively connected with the generating unit and the reading unit and is used for controlling the working state of the electrical equipment according to the animation interface and the running state information.
Preferably, each of the frequency converters includes:
the receiving unit is used for receiving the message command signal transmitted by the CAN bus controller;
the driving unit is connected with the receiving unit and used for driving the electrical equipment of the tower crane according to the message command signal to generate the running state information of the electrical equipment;
and the feedback unit is connected with the driving unit and used for feeding the running state information back to the CAN bus controller so as to be read by the CAN bus controller.
Preferably, at least three frequency converters comprise a lifting frequency converter, a rotary frequency converter and a variable-amplitude frequency converter.
The invention also provides a control method based on the distributed tower crane, wherein the control method is applied to the control system based on the distributed tower crane, and specifically comprises the following steps:
step S1, through a CAN console, gear coding is carried out on the handle of the tower crane through a command action, a gear signal is generated, and the gear signal is converted into a message command signal;
step S2, receiving the message command signal through a CAN bus controller;
step S3, driving the electrical equipment of the tower crane according to the message command signal through at least three frequency converters to generate the running state information of the electrical equipment;
and step S4, the CAN bus controller reads the running state information to control the working state of the electrical equipment.
Preferably, the step S2 includes:
and step S20, adopting a collecting unit to collect the message command signal.
Preferably, the step S4 includes:
step S40, processing the message command signal by a processing unit;
step S41, generating the animation interface by the message command by a generating unit;
step S42, a reading unit is adopted to read the operating status information;
and step S43, a control unit is adopted to control the working state of the electrical equipment according to the animation interface and the running state information.
Preferably, the step S3 includes:
step S30, a receiving unit is adopted to receive the message command signal transmitted by the CAN bus controller;
step S31, a driving unit is adopted to drive the electrical equipment of the tower crane according to the message command signal, and the running state information of the electrical equipment is generated;
and step S31, a feedback unit is adopted to feed the running state information back to the CAN bus controller for the CAN bus controller to read.
The technical scheme of the invention has the beneficial effects that: through the expansion of the CAN bus controller, the transmission and fault diagnosis of message command signals between the CAN operation platform and each frequency converter CAN be realized without a large amount of hard wiring, the working state of the electrical equipment CAN be controlled by the CAN bus controller, the intermediate links and the construction workload are reduced, and the control mode is superior to the control mode of the traditional circuit.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
Fig. 1 is a schematic diagram of the overall structure of a control system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a CAN console of the control system in an embodiment of the present invention;
FIG. 3 is a block diagram of a CAN bus controller of the control system in an embodiment of the present invention;
FIG. 4 is a block diagram of each frequency converter of the control system in an embodiment of the present invention;
FIG. 5 is a step diagram of a control method in an embodiment of the invention;
fig. 6 is a diagram of step S2 of the control method in the embodiment of the present invention;
fig. 7 is a diagram of step S4 of the control method in the embodiment of the present invention;
fig. 8 is a diagram of step S3 of the control method in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The invention provides a control system based on a distributed tower crane, which comprises a signal interface 1 and is characterized in that the control system comprises:
the CAN operating platform 2 is used for carrying out gear coding on a handle (not shown in the figure) of the tower crane 3 through a command action, generating a gear signal and converting the gear signal into a message command signal;
the input end of the CAN bus controller 4 is connected with the output end of the CAN operating platform 2, is connected to the output end of the tower crane 3 through a signal interface 1 and is used for receiving message command signals;
the input end of each frequency converter 5 is connected with the output end of the CAN bus controller 4 and used for driving electrical equipment (not shown in the figure) of the tower crane 3 according to the message command signal to generate running state information of the electrical equipment (not shown in the figure);
the CAN bus controller 4 reads the operation state information to control the operation state of the electrical device (not shown).
The command action comprises a lifting action, a variable amplitude action and a rotation action.
With the control system provided above, as shown in fig. 1, the control system in this embodiment includes a CAN console 2, a CAN bus controller 4, and at least three frequency converters 5, wherein the CAN console 2 performs gear coding on a handle (not shown in the figure) of the tower crane 3 through a command action, and the command action is a lifting command, a luffing command, and a slewing command, respectively, to generate 15 gear signals, and converts the 15 gear signals into message command signals.
Further, the message command signal is transmitted to the CAN bus controller 4, the CAN bus controller 4 receives the message command signal and then transmits the message command signal to each frequency converter 5, and each frequency converter 5 drives an electrical device (not shown in the figure) of the tower crane 3 according to the message command signal and generates running state information of the electrical device (not shown in the figure).
Furthermore, after the CAN bus controller 4 reads the running state information of each frequency converter 5, the working state of the electrical equipment (not shown in the figure) is controlled, in the embodiment, through the expansion of the CAN bus controller 4, the transmission and fault diagnosis of the message command signal between the CAN console 2 and each frequency converter 5 CAN be realized without a large amount of hard wiring, the intermediate link and the construction workload are reduced, and the control mode is superior to the control mode of the traditional circuit.
In a preferred embodiment, the CAN console 2 comprises:
the coding unit 20 is used for coding the gear of a handle (not shown in the figure) of the tower crane 3 through command action to generate a gear signal;
a conversion unit 21, connected to the encoding unit 20, for converting the gear signal into a message command signal;
and the transmission unit 22 is connected with the conversion unit 21 and is used for transmitting the message command signal to the CAN bus controller 4.
Specifically, as shown in fig. 2, the CAN console 2 includes an encoding unit 20, a converting unit 21 and a transmitting unit 22, and first, the encoding unit 20 performs gear encoding on a handle (not shown in the figure) of the tower crane 3 sequentially through a lifting command, a luffing command and a slewing command to generate 15 gear signals.
Furthermore, the 15 gear signals are converted into message command signals by the conversion unit 21, and the message command signals are transmitted to the CAN bus controller 4.
In a preferred embodiment, the CAN-bus controller 4 comprises:
a collecting unit 40 for collecting message command signals;
the processing unit 41 is connected with the acquisition unit 40 and is used for processing the message command signal;
a generating unit 42, connected to the processing unit 41, for generating an animation interface from the message command signal;
a reading unit 43 for reading the operation status information;
and the control unit 44 is respectively connected with the generating unit 42 and the reading unit 43 and is used for controlling the working state of the electrical equipment (not shown in the figure) according to the animation interface and the running state information.
Specifically, as shown in fig. 3, the CAN bus controller 4 includes an acquisition unit 40, a processing unit 41, a generation unit 42, a reading unit 43, and a control unit 44, wherein a message command signal in the CAN console 2 is acquired by the acquisition unit 40, and then the message command signal is logically processed by the processing unit 41.
Further, an animation interface is generated by the generating unit 42 according to the message command signal, so as to realize human-computer interaction.
In this embodiment, the reading unit 43 reads the running state information, and the control unit 44 controls the operating state of the electrical device (not shown) according to the animation interface and the running state information.
In a preferred embodiment, each frequency converter 5 comprises:
a receiving unit 50, configured to receive a message command signal transmitted by the CAN bus controller 4;
the driving unit 51 is connected with the receiving unit 50 and is used for driving the electrical equipment (not shown in the figure) of the tower crane 3 according to the message command signal and generating the running state information of the electrical equipment (not shown in the figure);
and the feedback unit 52 is connected with the driving unit 51 and is used for feeding back the running state information to the CAN bus controller 4 for the CAN bus controller 4 to read.
Specifically, as shown in fig. 4, each frequency converter 5 includes a receiving unit 50, a driving unit 51, and a feedback unit 52, and first receives a message command signal transmitted by the CAN bus controller 4 through the receiving unit 50, and then drives an electrical device (not shown in the figure) of the tower crane 3 through the driving unit 51 according to the message command signal to generate running state information of the electrical device (not shown in the figure).
Further, the running state information is fed back to the CAN bus controller 4 through the feedback unit 52 for the CAN bus controller 4 to read.
In a preferred embodiment, the at least three frequency converters 5 comprise a hoisting frequency converter 53, a slewing frequency converter 54 and a luffing frequency converter 55.
The invention also provides a control method based on the distributed tower crane, wherein the control method is applied to the control system based on the distributed tower crane, and the control method specifically comprises the following steps:
step S1, through a CAN console 2, gear coding is carried out on a handle (not shown in the figure) of the tower crane 3 through a command action, a gear signal is generated, and the gear signal is converted into a message command signal;
step S2, receiving message command signals through a CAN bus controller 4;
step S3, driving the electrical equipment (not shown in the figure) of the tower crane 3 according to the message command signal through at least three frequency converters 5 to generate the running state information of the electrical equipment (not shown in the figure);
in step S4, the CAN bus controller 4 reads the operation status information to control the operation status of the electrical device (not shown).
Through the control method provided by the above, as shown in fig. 5, the handle (not shown in the figure) of the tower crane 3 is subjected to gear coding through a command action by the CAN console 2, the command action is a lifting command, a variable amplitude command and a rotation command respectively to generate 15 gear signals, and the 15 gear signals are converted into message command signals.
Further, the message command signal is transmitted to the CAN bus controller 4, the CAN bus controller 4 receives the message command signal and then transmits the message command signal to each frequency converter 5, and each frequency converter 5 drives an electrical device (not shown in the figure) of the tower crane 3 according to the message command signal and generates running state information of the electrical device (not shown in the figure).
Furthermore, after the CAN bus controller 4 reads the running state information of each frequency converter 5, the working state of the electrical equipment (not shown in the figure) is controlled, in the embodiment, through the expansion of the CAN bus controller 4, the transmission and fault diagnosis of the message command signal between the CAN console 2 and each frequency converter 5 CAN be realized without a large amount of hard wiring, the intermediate link and the construction workload are reduced, and the control mode is superior to the control mode of the traditional circuit.
In a preferred embodiment, as shown in fig. 6, step S2 includes:
step S20, a collecting unit 40 is used to collect the message command signal transmitted by the CAN console 2.
In a preferred embodiment, as shown in fig. 7, step S4 includes:
step S40, processing the message command signal by using a processing unit 41;
step S41, generating an animation interface for the message command by using a generating unit 42;
step S42, using a reading unit 43 to read the operation status information;
step S43, a control unit 44 is used to control the operating status of the electrical device according to the animation interface and the operating status information.
Specifically, in step S4, the processing unit 41 performs logic processing on the message command signal, and the generating unit 42 generates an animation interface according to the message command signal, so as to implement human-computer interaction.
In this embodiment, the reading unit 43 reads the running state information, and the control unit 44 controls the operating state of the electrical device (not shown) according to the animation interface and the running state information.
In a preferred embodiment, as shown in fig. 8, step S3 includes:
step S30, using a receiving unit 50 to receive the message command signal transmitted by the CAN bus controller 4;
step S31, a driving unit 51 is adopted to drive the electrical equipment (not shown in the figure) of the tower crane according to the message command signal, and the running state information of the electrical equipment (not shown in the figure) is generated;
step S31, a feedback unit 52 is adopted to feed back the operation status information to the CAN bus control 4 for the CAN bus control 4 to read.
Specifically, the receiving unit 50 receives a message command signal transmitted by the CAN bus controller 4, and the driving unit 51 drives an electrical device (not shown in the figure) of the tower crane 3 according to the message command signal to generate running state information of the electrical device (not shown in the figure).
Further, the running state information is fed back to the CAN bus controller 4 through the feedback unit 52 for the CAN bus controller 4 to read.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (7)
1. A control system based on distributed tower machine, includes a signal interface, its characterized in that, control system includes:
the CAN operation console is used for carrying out gear coding on a handle of the tower crane through a command action, generating a gear signal and converting the gear signal into a message command signal;
the input end of the CAN bus controller is connected with the output end of the CAN operating platform, is connected to the output end of the tower crane through the signal interface and is used for receiving the message command signal;
the input end of each frequency converter is connected with the output end of the CAN bus controller and used for driving the electrical equipment of the tower crane according to the message command signal to generate running state information of the electrical equipment;
the CAN bus controller controls the working state of the electrical equipment by reading the running state information;
the CAN bus controller includes:
the acquisition unit is used for acquiring the message command signal;
the processing unit is connected with the acquisition unit and is used for processing the message command signal;
the generating unit is connected with the processing unit and used for generating an animation interface from the message command signal, and the animation interface is used for providing a human-computer interaction function;
a reading unit for reading the running state information;
the control unit is respectively connected with the generating unit and the reading unit and is used for controlling the working state of the electrical equipment according to the animation interface and the running state information;
the CAN operation panel comprises:
the coding unit is used for coding the gear of the handle of the tower crane through the command action to generate the gear signal;
the conversion unit is connected with the coding unit and used for converting the gear signal into the message command signal;
the transmission unit is connected with the conversion unit and is used for transmitting the message command signal to the CAN bus controller;
each of the frequency converters includes:
the receiving unit is used for receiving the message command signal transmitted by the CAN bus controller;
the driving unit is connected with the receiving unit and used for driving the electrical equipment of the tower crane according to the message command signal to generate the running state information of the electrical equipment;
and the feedback unit is connected with the driving unit and used for feeding the running state information back to the CAN bus controller so as to be read by the CAN bus controller.
2. The distributed tower crane-based control system as claimed in claim 1, wherein the command actions include a lifting action, a luffing action, and a slewing action.
3. The control system based on the distributed tower crane as claimed in claim 1, wherein at least three frequency converters comprise a lifting frequency converter, a slewing frequency converter and a luffing frequency converter.
4. A control method based on a distributed tower crane is applied to the control system based on the distributed tower crane as claimed in any one of the claims 1 to 3, and comprises the following steps:
step S1, through a CAN console, gear coding is carried out on the handle of the tower crane through a command action, a gear signal is generated, and the gear signal is converted into a message command signal;
step S2, receiving the message command signal through a CAN bus controller;
step S3, driving the electrical equipment of the tower crane according to the message command signal through at least three frequency converters to generate the running state information of the electrical equipment;
and step S4, the CAN bus controller reads the running state information to control the working state of the electrical equipment.
5. The distributed tower crane-based control method according to claim 4, wherein the step S2 comprises:
and step S20, adopting a collecting unit to collect the message command signal.
6. The distributed tower crane-based control method according to claim 5, wherein the step S4 comprises:
step S40, processing the message command signal by a processing unit;
step S41, generating the animation interface by the message command signal by a generating unit;
step S42, a reading unit is adopted to read the operating status information;
and step S43, a control unit is adopted to control the working state of the electrical equipment according to the animation interface and the running state information.
7. The distributed tower crane-based control method according to claim 4, wherein the step S3 comprises:
step S30, a receiving unit is adopted to receive the message command signal transmitted by the CAN bus controller;
step S31, a driving unit is adopted to drive the electrical equipment of the tower crane according to the message command signal, and the running state information of the electrical equipment is generated;
and step S31, a feedback unit is adopted to feed the running state information back to the CAN bus controller for the CAN bus controller to read.
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| CN111813085B (en) * | 2020-07-10 | 2024-04-26 | 浙江恒邦电气科技有限公司 | Tower crane frequency conversion module identification device and method |
| CN115361254B (en) * | 2022-08-03 | 2024-01-19 | 杭州大杰智能传动科技有限公司 | Intelligent master station communication method and control system for three major mechanisms of tower crane |
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| GB822187A (en) * | 1955-07-28 | 1959-10-21 | Maschf Augsburg Nuernberg Ag | Improvements in motor-driven travelling revolving cranes |
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