CN111422746A - Synchronous control system of crane - Google Patents
Synchronous control system of crane Download PDFInfo
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- CN111422746A CN111422746A CN201910022092.6A CN201910022092A CN111422746A CN 111422746 A CN111422746 A CN 111422746A CN 201910022092 A CN201910022092 A CN 201910022092A CN 111422746 A CN111422746 A CN 111422746A
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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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Abstract
The embodiment of the application provides a synchronous control system of a crane, which utilizes a programmable logic controller to obtain the weight of a hoisting object of each winch according to a load instrument and calculate the torque value of a steel wire rope of each winch according to the frequency of a frequency converter corresponding to each winch, compares the torque value of the steel wire rope of each winch and/or the height of the hoisting object with the set torque value of the operation of a reference winch and/or the height of the hoisting object respectively, and adjusts the working frequency of the frequency converter corresponding to each winch according to the comparison result so as to control the operation speed of each winch except the reference winch, so that the heights of the winches are in the same parallel line. And the synchronous control system of the crane performs PID control to adjust the output of the frequency converters of the winches except the base point winch through the compared error value, thereby realizing synchronous operation of the winches during hoisting.
Description
Technical Field
The embodiment of the application relates to the field of hoisting machinery, in particular to a synchronous control system of a crane.
Background
The crane is a multi-action hoisting machine for vertically lifting and horizontally carrying heavy objects within a certain range, and is also called a crown block, a navigation crane and a crane.
The hoisting machinery used in bridge construction engineering can be generally divided into four categories, namely light and small hoisting equipment, bridge type hoisting machinery, jib type cranes and cable type cranes, according to the difference of the structure and the performance of the hoisting machinery. Light and small-sized hoisting equipment such as: jacks, pneumatic hoists, electric hoists, balance hoists (balance hoists), winches and the like. Gantry type hoisting machines such as beam cranes and the like. Boom-type cranes such as fixed slewing cranes, tower cranes, truck cranes, tyre cranes, crawler cranes, etc. Cable hoists such as elevators and the like.
With the high-speed development of society, nowadays, the demands of industries such as harbors, high-speed railways and the like on hoisting equipment are more and more urgent, and the requirements on the precision of the hoisting equipment are more and more accurate. With the requirements for hoisting goods and hoisting height, the market of large-scale hoisting equipment is increasing day by day, and the hoisting equipment provided with a single hydraulic winch cannot meet the requirement for hoisting large objects due to the single-rope tension and torque value, so that the large-scale hoisting equipment is provided with two or more hydraulic winches.
The performance of the hoisting mechanism is one of the most important indexes for measuring the performance of large-scale hoisting equipment, however, when a plurality of hoists work simultaneously, the synchronization of hoisting height and moment is difficult to achieve due to the influence of a mechanical structure, an electrical system and a hydraulic system, so that hoisting goods incline and hoisting steel wire ropes are stressed unevenly, the safety factor of hoisting operation is greatly influenced, and the hoisting advantages of the multiple hoist systems are difficult to embody.
Therefore, two or more hydraulic winch systems need a synchronous lifting control system to control and coordinate the hydraulic winches so that the hydraulic winches can synchronously and stably operate, and therefore the lifting efficiency and the operation safety factor are improved.
The closed-loop control system is established based on a feedback principle, namely, the output quantity is compared with a base point, and the deviation of comparison is eliminated according to the control of the system, so that the synchronization between the output quantity and the base point is achieved. In a feedback control system, a signal forward path from an input to an output and a signal feedback path from the output to the input are both present, and form a closed loop. The closed-loop control system is a type of control system and has the characteristics of interference resistance, small error, high precision and the like.
As shown in fig. 1, a typical closed-loop control system in the prior art adopts a PID control method, where the PID control includes three parts of proportion (contribution), integral (integral), and differential (differential), a PID controller calculates a control quantity according to a deviation of the system by using the proportion, the integral, and the differential, and a relationship between an output and an input (deviation) of the PID controller can be represented by the following formula (1) in a time domain:
where e represents the input (offset) of the controller, u (t) is the output of the controller0Is the initial value of the control quantity, K is the proportionality coefficient, TiFor integration time, TdIs the differential time.
In the prior art described above, a feedback signal of the winch is acquired based on a multi-turn absolute value encoder, the signal is transmitted to a controller, and after operation of a PID algorithm in an internal program of the controller, a current value for controlling a winch motor valve is adjusted, so that the winch is synchronized.
However, the above prior art is too limited, has too high precision requirements for electrical and hydraulic components, has too high interference, and is not suitable for complex nonlinear systems.
Disclosure of Invention
In various aspects, the present disclosure provides a synchronous control system for a crane, which communicates with an encoder and a frequency converter through a Programmable logic Controller (Programmable L g Controller, P L C), after the P L C Controller collects and receives information of each hoist through an ethernet, the information is compared with a height and/or a torque value of a base-point hoist, and PID control is performed through a comparison error value to adjust an output of the frequency converter of each hoist except the base-point hoist, thereby implementing synchronous operation when the plurality of hoists are hoisted.
One aspect of the present application provides a synchronous control system of a crane, the synchronous control system of the crane: the system comprises a programmable logic controller, a plurality of encoders and a plurality of frequency converters, wherein the programmable logic controller is respectively communicated with the encoders and the frequency converters through Ethernet, each encoder in the encoders corresponds to one winch of the crane, each frequency converter in the frequency converters corresponds to one winch of the crane, and one encoder and one frequency converter are matched and correspond to one winch;
the programmable logic controller is used for acquiring the weight of the object hoisted by the crane through the hoist from the load instrument;
each encoder is used for calculating the height of the object lifted by the corresponding winch;
each frequency converter is used for outputting working frequency to the corresponding winch;
the programmable logic controller is further used for calculating the torque value of the steel wire rope of each winch according to the weight of the object hoisted by each winch obtained by the load meter and the frequency of the frequency converter corresponding to each winch, comparing the torque value of the steel wire rope of each winch and/or the height of the hoisted object with the set torque value of the operation of a reference winch and/or the height of the hoisted object respectively, and adjusting the working frequency of the frequency converter corresponding to each winch according to the comparison result to control the operation speed of each winch except the reference winch so that the heights of the winches are in the same parallel line.
Optionally, the programmable logic controller further comprises:
the height judgment module is used for judging whether the height of the ith winch in the rising process is higher than that of the reference winch or not for any ith winch in the winches, wherein i is an even number which is more than or equal to 2;
the height control module is used for controlling the frequency of the frequency converter of the ith winch to be reduced if the height of the ith winch in the rising process is higher than the height of the reference winch, and controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the height value of the ith winch is consistent with the height of the reference winch; or if the height of the ith winch in the rising process is lower than that of the reference winch, controlling the frequency of the frequency converter of the ith winch to increase, and when the height value of the ith winch is consistent with that of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with that of the frequency converter of the reference winch.
Optionally, the programmable logic controller further comprises:
the height judgment module is used for judging whether the height of any ith winch in the winches when the ith winch descends is higher than that of the reference winch;
the height control module is used for controlling the frequency of the frequency converter of the ith winch to increase if the height of the ith winch when descending is higher than the height of the reference winch, and controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the height value of the ith winch is consistent with the height of the reference winch; or, if the height of the ith winch when descending is lower than the height of the reference winch, controlling the frequency of the frequency converter of the ith winch to be reduced, and when the height value of the ith winch is consistent with the height of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch.
Optionally, the programmable logic controller further comprises:
the torque value judging module is used for judging whether the torque value of any ith winch in the winches when the ith winch rises is higher than the torque value of the reference winch;
the torque control module is used for controlling the frequency of the frequency converter of the ith winch to be reduced if the torque value of the ith winch during rising is higher than the torque value of the reference winch, and controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the torque value of the ith winch is consistent with the torque value of the reference winch; and if the torque value of the ith winch in the rising process is lower than the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to increase, and when the torque value of the ith winch is consistent with the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch.
Optionally, the programmable logic controller further comprises:
the torque value judging module is used for judging whether the torque value of any ith winch in the winches when the ith winch descends is higher than the torque value of the reference winch;
the torque control module is used for controlling the frequency of the frequency converter of the ith winch to increase if the torque value of the ith winch during descending is higher than the torque value of the reference winch, and controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the torque value of the ith winch is consistent with the torque value of the reference winch; and if the torque value of the ith winch in the descending process is lower than the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to be reduced, and when the torque value of the ith winch is consistent with the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch.
Optionally, the programmable logic controller is configured with an address, and the programmable logic controller further includes: the sending module is used for sending the address of the programmable logic controller to each encoder and each frequency converter;
each encoder is further used for sending the height value calculated by the encoder to the programmable logic controller according to the address;
and each frequency converter is also used for sending the working frequency of the frequency converter to the programmable logic controller according to the address.
Optionally, the programmable logic controller calculates a control variable for controlling a frequency converter of the winch according to the following formula:
wherein CV is a control variable, PV is a process variable, E is a calculated height difference or torque value difference between the hoist and the reference hoist, BIAS is an offset, K is a proportionality coefficient, T is a proportional coefficient, andifor integration time, TdI represents the i-th winding machine as a differential time.
Optionally, when the height difference or the torque difference between the winch and the reference winch is greater than or equal to a threshold, the programmable logic controller starts to calculate a control variable of a frequency converter for controlling the winch according to the formula.
Optionally, the number of winches is an even number.
Optionally, the number of winches is 4.
The synchronous control system of the crane described above may particularly have at least one of the following advantages:
the principle is simple and easy to operate, and the device has strong adaptability to variable environments.
2, the crane is suitable for most hoisting industries and has a range with strong capacity for hoisting weight.
3, no pause and frustration are caused correspondingly and timely in the operation process.
Drawings
Fig. 1 is a schematic diagram of a typical closed-loop control system of the prior art.
Fig. 2 is a schematic structural diagram of a synchronous control system of a crane according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a programmable logic controller according to another embodiment of the present application.
Fig. 4 is a schematic diagram of a computation process of a programmable logic controller according to another embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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 application.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. Additionally, the terms "system" and "network" are often used interchangeably herein.
As shown in fig. 2, which is a schematic structural diagram of a synchronous control system of a crane according to an embodiment of the present disclosure, the synchronous control system of the crane includes a programmable logic controller 21, a plurality of encoders 22 and a plurality of frequency converters 23, the programmable logic controller 21 communicates with the plurality of encoders 22 and the plurality of frequency converters 23 through an ethernet switch 24, each encoder of the plurality of encoders 22 corresponds to a hoisting machine of the crane, each frequency converter of the plurality of frequency converters 23 corresponds to a hoisting machine of the crane, and one encoder and one frequency converter are paired to correspond to one hoisting machine.
Wherein, the synchronous control system of the crane is powered by a power supply 26, and the programmable logic controller 21 is connected with a load meter 25.
The programmable logic controller 21 is configured to obtain the weight of the object lifted by the crane through the hoist from the load meter 25.
And each encoder is used for calculating the height of the object lifted by the corresponding winch.
And each frequency converter is used for outputting the working frequency to the corresponding winch.
The programmable logic controller 21 is further configured to calculate a torque value of a steel wire rope of each hoist according to the weight of the object lifted by each hoist obtained by the load meter 25 and the frequency of the frequency converter corresponding to each hoist, compare the torque value of the steel wire rope of each hoist and/or the height of the lifted object with a set torque value of a reference hoist in operation and/or the height of the lifted object, and adjust the operating frequency of the frequency converter corresponding to each hoist according to the comparison result to control the operating speed of each hoist except the reference hoist, so that the heights of the hoists are in the same parallel line.
In another embodiment of the present application, as shown in fig. 3, which is a schematic structural diagram of a programmable logic controller according to another embodiment of the present application, the programmable logic controller 21 may include: the height judging module 211 and the height control module 212 are connected to each other, wherein the height judging module 211 and the height control module 212 are further connected to the ethernet switch 24 respectively; alternatively, the programmable logic controller 21 may include: a torque value judgment module 213 and a torque control module 214 connected to each other, wherein the torque value judgment module 213 and the torque control module 214 are further connected to the ethernet switch 24 respectively; alternatively, the programmable logic controller 21 may include: the height control system comprises a height judgment module 211 and a height control module 212 which are connected with each other, and a torque value judgment module 213 and a torque control module 214 which are connected with each other, wherein the height judgment module 211 and the height control module 212 are also respectively connected with the Ethernet switch 24, and the torque value judgment module 213 and the torque control module 214 are also respectively connected with the Ethernet switch 24.
When the programmable logic controller 21 includes the height determining module 211 and the height controlling module 212, the programmable logic controller 21 compares the height of the object lifted by each hoist with the height of the object lifted by the reference hoist, and adjusts the operating frequency of the frequency converter corresponding to each hoist according to the comparison result to control the operating speed of each hoist except the reference hoist, so that the heights of the hoists are on the same parallel line.
For example, the height determining module 211 is configured to determine, for any ith hoist in the hoists, whether a height of the ith hoist when the ith hoist is lifted is higher than a height of the reference hoist, where i is an even number greater than or equal to 2, and for example, i is 4.
The height control module 212 is configured to control the frequency of the frequency converter of the ith winch to decrease if the height of the ith winch during rising is higher than the height of the reference winch, and control the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the height value of the ith winch is consistent with the height of the reference winch; or if the height of the ith winch in the rising process is lower than that of the reference winch, controlling the frequency of the frequency converter of the ith winch to increase, and when the height value of the ith winch is consistent with that of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with that of the frequency converter of the reference winch.
In another embodiment of the present application, the height determining module 211 is configured to determine, for any ith winch in the winches, whether a height of the ith winch when descending is higher than a height of the reference winch, where i is an even number greater than or equal to 2, and for example, i is 4.
The height control module 212 is configured to control the frequency of the frequency converter of the ith winch to increase if the height of the ith winch when the ith winch descends is higher than the height of the reference winch, and control the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the height value of the ith winch is consistent with the height of the reference winch; or, if the height of the ith winch when descending is lower than the height of the reference winch, controlling the frequency of the frequency converter of the ith winch to be reduced, and when the height value of the ith winch is consistent with the height of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch.
When the programmable logic controller 21 includes the torque value determining module 213 and the torque control module 214, the programmable logic controller 21 compares the torque value of the steel wire rope of each winch with the torque value of the steel wire rope of a reference winch, and adjusts the operating frequency of the frequency converter corresponding to each winch according to the comparison result to control the operating speed of each winch except for the reference winch, so that the heights of the winches are on the same parallel line.
For example, the torque value determining module 213 is configured to determine, for any ith winch in the winches, whether a torque value when the ith winch rises is higher than a torque value of the reference winch, where i is an even number greater than or equal to 2, and for example, i is 4.
The torque control module 214 is configured to control the frequency of the frequency converter of the ith winch to decrease if the torque value of the ith winch when the ith winch rises is higher than the torque value of the reference winch, and control the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the torque value of the ith winch and the torque value of the reference winch are consistent; and if the torque value of the ith winch in the rising process is lower than the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to increase, and when the torque value of the ith winch is consistent with the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch.
In another embodiment of the present application, the torque control module 214 is configured to determine, for any ith winch in the winches, whether a torque value of the ith winch at the time of descending is higher than a torque value of the reference winch, where i is an even number greater than or equal to 2, and for example, i is 4.
The torque control module 214 is configured to control the frequency of the frequency converter of the ith winch to increase if the torque value of the ith winch during descending is higher than the torque value of the reference winch, and control the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the torque value of the ith winch and the torque value of the reference winch are consistent; and if the torque value of the ith winch in the descending process is lower than the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to be reduced, and when the torque value of the ith winch is consistent with the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch.
When the programmable logic controller 21 includes a height determining module 211, a height controlling module 212, a torque value determining module 213, and a torque controlling module 214, the programmable logic controller 21 compares the torque value of the wire rope of each hoist with the height of the hoisted object with the torque value of the operation of the reference hoist and the height of the hoisted object, respectively, and adjusts the operating frequency of the frequency converter corresponding to each hoist according to the comparison result to control the operation rate of each hoist except the reference hoist, so that the heights of the hoisted objects are on the same parallel line.
For example, as shown in fig. 4, which is a schematic diagram of a calculation process of the programmable logic controller according to another embodiment of the present application, the programmable logic controller 21 calculates a control variable for controlling an inverter of a hoisting machine according to the following formula:
wherein CV is a control variableQuantity, PV is the process variable, E is the calculated difference in height or torque value of the hoist and the reference hoist, BIAS is the offset, K is the scaling factor, T is the torque valueiFor integration time, TdFor the differential time, i denotes the i-th hoisting machine, where i is an even number equal to or greater than 2, and is 4, for example.
In another embodiment of the present application, the programmable logic controller 21 is configured with an address, and the programmable logic controller 21 further includes: a sending module, configured to send the address of the programmable logic controller 21 to each encoder and each frequency converter; each encoder is further configured to send the height value calculated by the encoder to the programmable logic controller 21 according to the address; each frequency converter is further configured to send its operating frequency to the programmable logic controller 21 according to the address.
In another embodiment of the present application, when the difference between the height of the winch and the reference winch or the difference between the torque values of the winch and the reference winch is greater than or equal to a threshold value (i.e., a PID control ratio), the plc 21 starts to start the control variable for calculating the frequency converter for controlling the winch according to the formula.
In another embodiment of the present application, the number of hoists is an even number, for example, the number of hoists is 4.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Those skilled in the art will understand that: all or part of the steps of implementing the above method embodiments may be implemented by hardware related to program instructions, the program may be stored in a computer readable storage medium and executed by a processor inside the communication device, and the processor may execute all or part of the steps including the above method embodiments when the program is executed. Wherein the processor may be implemented as one or more processor chips or may be part of one or more Application Specific Integrated Circuits (ASICs); and the aforementioned storage media may include, but are not limited to, the following types of storage media: various media capable of storing program codes, such as a Flash Memory (Flash Memory), a Read-Only Memory (ROM), a Random Access Memory (RAM), a portable hard disk, a magnetic disk, or an optical disk.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A synchronous control system of a crane, characterized in that: the system comprises a programmable logic controller, a plurality of encoders and a plurality of frequency converters, wherein the programmable logic controller is respectively communicated with the encoders and the frequency converters through Ethernet, each encoder in the encoders corresponds to one winch of the crane, each frequency converter in the frequency converters corresponds to one winch of the crane, and one encoder and one frequency converter are matched and correspond to one winch;
the programmable logic controller is used for acquiring the weight of the object hoisted by the crane through the hoist from the load instrument;
each encoder is used for calculating the height of the object lifted by the corresponding winch;
each frequency converter is used for outputting working frequency to the corresponding winch;
the programmable logic controller is further used for calculating the torque value of the steel wire rope of each winch according to the weight of the object hoisted by each winch obtained by the load meter and the frequency of the frequency converter corresponding to each winch, comparing the torque value of the steel wire rope of each winch and/or the height of the hoisted object with the set torque value of the operation of a reference winch and/or the height of the hoisted object respectively, and adjusting the working frequency of the frequency converter corresponding to each winch according to the comparison result to control the operation speed of each winch except the reference winch so that the heights of the winches are in the same parallel line.
2. The system of claim 1, wherein the programmable logic controller further comprises:
the height judgment module is used for judging whether the height of any ith winch in the winches when the ith winch rises is higher than the height of the reference winch;
the height control module is used for controlling the frequency of the frequency converter of the ith winch to be reduced if the height of the ith winch in the rising process is higher than the height of the reference winch, and controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the height value of the ith winch is consistent with the height of the reference winch; or if the height of the ith winch in the rising process is lower than that of the reference winch, controlling the frequency of the frequency converter of the ith winch to increase, and when the height value of the ith winch is consistent with that of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with that of the frequency converter of the reference winch.
3. The system of claim 1, wherein the programmable logic controller further comprises:
the height judgment module is used for judging whether the height of any ith winch in the winches when the ith winch descends is higher than that of the reference winch;
the height control module is used for controlling the frequency of the frequency converter of the ith winch to increase if the height of the ith winch when descending is higher than the height of the reference winch, and controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the height value of the ith winch is consistent with the height of the reference winch; or, if the height of the ith winch when descending is lower than the height of the reference winch, controlling the frequency of the frequency converter of the ith winch to be reduced, and when the height value of the ith winch is consistent with the height of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch.
4. The system of claim 1, wherein the programmable logic controller further comprises:
the torque value judging module is used for judging whether the torque value of any ith winch in the winches when the ith winch rises is higher than the torque value of the reference winch;
the torque control module is used for controlling the frequency of the frequency converter of the ith winch to be reduced if the torque value of the ith winch during rising is higher than the torque value of the reference winch, and controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the torque value of the ith winch is consistent with the torque value of the reference winch; and if the torque value of the ith winch in the rising process is lower than the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to increase, and when the torque value of the ith winch is consistent with the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch.
5. The system of claim 1, wherein the programmable logic controller further comprises:
the torque value judging module is used for judging whether the torque value of any ith winch in the winches when the ith winch descends is higher than the torque value of the reference winch;
the torque control module is used for controlling the frequency of the frequency converter of the ith winch to increase if the torque value of the ith winch during descending is higher than the torque value of the reference winch, and controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch when the torque value of the ith winch is consistent with the torque value of the reference winch; and if the torque value of the ith winch in the descending process is lower than the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to be reduced, and when the torque value of the ith winch is consistent with the torque value of the reference winch, controlling the frequency of the frequency converter of the ith winch to be consistent with the frequency of the frequency converter of the reference winch.
6. The system of any of claims 1-6, wherein the programmable logic controller is configured with an address, the programmable logic controller further comprising: the sending module is used for sending the address of the programmable logic controller to each encoder and each frequency converter;
each encoder is further used for sending the height value calculated by the encoder to the programmable logic controller according to the address;
and each frequency converter is also used for sending the working frequency of the frequency converter to the programmable logic controller according to the address.
7. The system of any one of claims 1-6, wherein the programmable logic controller calculates a control variable for controlling a frequency converter of the hoist according to the following equation:
wherein CV is a control variable, PV is a process variable, E is a calculated height difference or torque value difference between the hoist and the reference hoist, BIAS is an offset, K is a proportionality coefficient, T is a proportional coefficient, andifor integration time, TdI represents the i-th winding machine as a differential time.
8. The system of claim 7, wherein the plc starts to start the control variable of the inverter for controlling the hoist according to the formula when a difference in height or a difference in torque value between the hoist and the reference hoist is equal to or greater than a threshold value.
9. The system as claimed in any one of claims 1 to 6, wherein the number of winches is an even number.
10. The system of claim 8, wherein the number of winches is 4.
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| US5732835A (en) * | 1993-12-28 | 1998-03-31 | Komatsu Ltd. | Crane control device |
| CN103414405A (en) * | 2013-08-28 | 2013-11-27 | 中国葛洲坝集团机械船舶有限公司 | Device for balancing bridge type hoist motor moment and control method |
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