CN111470425B - Self-adaptive weighing method for crane - Google Patents
Self-adaptive weighing method for crane Download PDFInfo
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- CN111470425B CN111470425B CN202010273602.XA CN202010273602A CN111470425B CN 111470425 B CN111470425 B CN 111470425B CN 202010273602 A CN202010273602 A CN 202010273602A CN 111470425 B CN111470425 B CN 111470425B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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Abstract
The invention relates to a self-adaptive weighing method of a crane, which comprises the following steps or methods: signal parameter setting, namely hoisting a standard weight load with known weight by a crane, respectively obtaining weight sensing signals of the standard weight load in static and dynamic processes, carrying out signal conversion and adaptive low-pass filtering processing on the weight sensing signals, carrying out static calibration or dynamic setting on parameters of the adaptive low-pass filtering of the signals by combining the weight of the standard weight load, and obtaining comparison data of the weighing process of the standard weight load to form a comparison queue; and (2) weighing, namely hoisting the load to be weighed by using a crane, acquiring a weight sensing signal of the load to be weighed, performing signal conversion and adaptive low-pass filtering on the weight sensing signal of the load to be weighed, acquiring data of the load to be weighed, comparing the data with a comparison queue, judging the motion state of the load to be weighed, and calculating the weighing value of the load to be weighed. The invention can ensure that the numerical deviation of the weighing value is within +/-3 percent.
Description
Technical Field
The invention relates to the technical field of weighing management in the running process of a crane, in particular to a self-adaptive weighing method of the crane.
Background
In the moment or load limiter of the existing crane, the weight of the load is larger. The main reasons are two, firstly, for safety consideration and more important technical reasons, the load is stressed with strong impact in the lifting process of the load, and the actual weight of the load is difficult to calculate accurately when the load does pendulum motion after lifting.
When the load swings according to a stress formula, the signal output by the weight sensor is the superposition of a sine signal and a direct current signal, and if the common filtering algorithms such as an average value, a median value and the like are used for calculation, the obtained load is larger than the actual weight; for moment protection, the measured weight is larger, the range is more deviated to the safe range, and in the weighing process of the crane (namely, in the process of hoisting the goods by the crane, the goods hoisted by the crane need to be weighed in order to count the accumulated workload of the crane), the goods (namely, the load to be weighed) are subjected to the lifting-stabilizing-falling process, and swing and vibration often occur in the process, so that the weighing is inaccurate, therefore, for weighing, the larger the obvious deviation is, the more inaccurate the weighing is, and the method is not favorable for counting the accumulated workload of the crane.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a self-adaptive weighing method for a crane, and solves the problems that the deviation of the measured weight is larger than the actual weight value when the crane is used for weighing in the running process, and the accumulated workload of the crane is not easy to count.
According to an embodiment of the invention, a crane adaptive weighing method is provided, which comprises the following steps or methods:
signal parameter setting, namely hoisting a standard weight load with known weight by a crane, respectively obtaining weight sensing signals of the standard weight load in static and dynamic processes, carrying out signal conversion and adaptive low-pass filtering processing on the weight sensing signals, carrying out static calibration or dynamic setting on parameters of the adaptive low-pass filtering of the signals by combining the weight of the standard weight load, and obtaining comparison data of the weighing process of the standard weight load to form a comparison queue;
and (2) weighing, namely hoisting the load to be weighed by using a crane, acquiring a weight sensing signal of the load to be weighed, performing signal conversion and adaptive low-pass filtering on the weight sensing signal of the load to be weighed, acquiring data of the load to be weighed, comparing the data with a comparison queue, judging the motion state of the load to be weighed, and calculating the weighing value of the load to be weighed.
Further, the motion state includes one of lifting-stabilizing-falling.
Further, the static calibration is to perform static weight signal calibration of the load with known weight on a sensing instrument for monitoring the weight of the load by the crane.
Further, the weight calibration load comprises a first weight calibration block and a second weight calibration block which have different weights;
and dynamically setting, namely hoisting the first weight calibration block and the second weight calibration block by the crane respectively to carry out load motion, and acquiring a weight sensing signal.
Further, the signal transformation includes acquiring a time domain signal by a sensor and then amplifying the time domain signal, transforming the amplified time domain signal into a frequency domain signal by fourier transform, and then performing adaptive low-pass filtering on the frequency domain signal to intercept a useful frequency domain signal and transform the useful frequency domain signal into the time domain signal again.
Further, in particular, when the load movement is judged to be lifting/falling, there is a weighing value; at this time, the signal value after the adaptive filtering processing is recorded as miThe weighting value b is calculated by the following formulaaAnd then:
wherein, when 0.83 × ba≤m′a≤1.27*baWhen b is greater thanaIs true value, and m 'at this time'aAnd storing the data into a comparison queue as new comparison data.
Otherwise, re-acquiring the signal until the latest acquired signal is equal to the acquired signal, wherein a swing period is formed, and a weighing value exists in the period; namely, it is
M'a＞1.27baOr m'a＜0.83baWhen m 'is the latest signal value'a+cAt this time, the value b is weightedaThe calculation formula of (2) is as follows:
Further, the weight of the first weight is not more than 30% of the rated weighing capacity of the crane, and the weight of the second weight is not less than 70% of the rated weighing capacity of the crane.
Furthermore, the weight sensing signal is collected by a column type pressure sensor or a plate ring tension sensor.
In the technical scheme, the method can be started after the installation of the crane instrument (namely equipment comprising a sensor) is finished, the collected time domain signals are converted into frequency domains through Fourier transformation (namely Fourier transformation is carried out on collected values), useless frequency band signals are removed or attenuated according to the characteristics of application occasions, then the useful frequency domain signals are converted into time domain signals, primary filtering (namely self-adaptive low-pass filtering) is carried out, and then the real load in the crane operation (namely lifting/falling/swinging/stabilizing) process is weighed in the subsequent operation.
Compared with the prior art, the invention has the following advantages:
1. the power taking is carried out under the condition that the structure of the crane is not changed, the improvement on old equipment is particularly beneficial, the accumulated workload of the crane is more favorably counted, and the working state of the crane is better judged;
2. the method is suitable for the use scenes of the tension sensor or the pressure sensor, reduces the design work of the force taking sensor, and has richer application scenes;
3. the numerical deviation of the weighing value (namely the weight obtained by weighing) can be ensured to be within +/-3 percent, and the crane can be further ensured to run safely and stably.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
When the load of the crane rises and falls, the amplitude of the weight sensor signal changes greatly in a short time, namely, the weight sensor signal is a high-frequency signal at the moment, and the specific frequency is related to the lifting speed.
When the load is suspended in the air, the signal amplitude changes little, and the fluctuation period is long, namely, the low-frequency signal is obtained. From the gravitational acceleration and the swing radius, the swing period, i.e. the period of the fluctuation of the signal, can be calculated, and the swing frequency is below about 0.3 HZ. Wherein the content of the first and second substances,
the formula of the swing period is as follows: t2 pi sqrt (r/g)
The pulling force is the component of centripetal force and load carrying force during swinging, and the formula is as follows: F-mV V/r + mgcos θ
m: weight;
g: acceleration of gravity;
r: a swing radius;
v: tangential linear velocity of the swing;
θ: the included angle between the pulling force and the vertical direction;
at the highest point, V is 0, F is mg cos theta, the tension is minimum, and the tension is smaller than the actual load;
at the lowest point, F is mg + mV V/r, and the tensile force is greater than the actual load; at this time, V is sqrt (2gh), and h is the height difference of the wobble.
The present embodiment provides a crane adaptive weighing method, which starts the following steps or methods after the installation of the crane instrument (i.e. the equipment including the sensor) is completed:
signal parameter setting, namely hoisting a standard weight load with known weight by a crane, respectively obtaining weight sensing signals of the standard weight load in static and dynamic processes, carrying out signal conversion and adaptive low-pass filtering processing on the weight sensing signals, carrying out static calibration or dynamic setting on parameters of the adaptive low-pass filtering of the signals by combining the weight of the standard weight load, and obtaining comparison data of the weighing process of the standard weight load to form a comparison queue;
and (2) weighing, namely hoisting the load to be weighed by using a crane, acquiring a weight sensing signal of the load to be weighed, performing signal conversion and adaptive low-pass filtering on the weight sensing signal of the load to be weighed, acquiring data of the load to be weighed, comparing the data with a comparison queue, judging the motion state of the load to be weighed, and calculating the weighing value of the load to be weighed.
Preferably, the motion state comprises one of lifting-stabilizing-falling. .
Preferably, the static calibration is to perform static weight signal calibration of the known weight load on a sensor instrument for monitoring the weight of the load by the crane.
Preferably, the weight calibration load comprises a first weight and a second weight which are different in weight;
and dynamically setting, namely hoisting the first weight calibration block and the second weight calibration block by the crane respectively to carry out load motion, and acquiring a weight sensing signal.
Preferably, the signal transformation includes acquiring a time domain signal by a sensor and then amplifying the time domain signal, transforming the amplified time domain signal into a frequency domain signal by fourier transform, and then performing adaptive low-pass filtering on the frequency domain signal to intercept a useful frequency domain signal and transform the useful frequency domain signal into the time domain signal again.
Preferably, in particular, when the load movement is judged to be lifting/falling, there is a weighing value; at this time, the signal value after the adaptive filtering processing is recorded as miThe weighting value b is calculated by the following formulaaAnd then:
wherein, when 0.83 × ba＜m′a＜1.27*baWhen b is greater thanaIs true value, and m 'at this time'aStoring the data into a comparison queue as new comparison data; m'a＝1.27baOr m'a＝0.83baWhen b is greater thanaIs true value, and m 'at this time'aStoring the data into a comparison queue as new comparison data; in particular, the deviation of the weighing value can be controlled within ± 3% at this time.
More preferably, when 0.87 abba≤ma≤1.27*baWhen b is greater thanaSpecifically, the deviation of the weighing value can be controlled within 2%.
Otherwise, re-acquiring the signal until the latest acquired signal is equal to the acquired signal, wherein a swing period is formed, and a weighing value exists in the period; namely, it is
M'a＞1.27baOr m'a＜0.83baWhen m 'is the latest signal value'a+cAt this time, the value b is weightedaThe calculation formula of (2) is as follows:
Preferably, the first weight has a weight not greater than 30% of the rated weight of the crane, and the second weight has a weight not less than 70% of the rated weight of the crane.
Preferably, the first weight is not more than 20% of the rated weighing capacity of the crane, and the second weight is not less than 80% of the rated weighing capacity of the crane.
Preferably, the weight sensing signal is collected by using a column type pressure sensor or a plate ring tension sensor.
In the above embodiment, the acquired time domain signal is converted into the frequency domain by fourier transform (i.e. fourier transform is performed on the acquired value), the useless frequency band signal is removed or attenuated according to the application field characteristics, then the useful frequency domain signal is converted into the time domain signal, so as to perform primary filtering (i.e. adaptive low-pass filtering), and then the real load in the crane operation (i.e. lifting/falling/swinging/stabilizing) process is weighed in the subsequent operation.
The weighing method provided in the above embodiment is applied to carry out actual weighing, and the conclusion statistics are as follows:
| actual weight value kg | m′a | Weight value kg | Deviation of |
| 998.87 | 0.83*ba≤m′a≤1.27*ba | 970.90kg～1025.85 | ＜2.8％ |
| 999.10 | 0.87*ba≤ma≤1.27*ba | 982.12kg～1008.71 | ＜1.7％ |
Meanwhile, the embodiment also has the following advantages:
1. the power take-off is carried out under the condition of not changing the structure of the crane, which is particularly beneficial to the reconstruction of old equipment;
2. the method is suitable for the use scenes of the tension sensor or the pressure sensor, reduces the design work of the force taking sensor, and has richer application scenes;
3. the numerical deviation of the weighing value (namely the weight obtained by weighing) can be ensured to be within +/-3 percent, and the crane can be further ensured to run safely and stably.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A self-adaptive weighing method of a crane is characterized by comprising the following steps:
signal parameter setting, namely hoisting a standard weight load with known weight by a crane, respectively obtaining weight sensing signals of the standard weight load in static and dynamic processes, carrying out signal conversion and adaptive low-pass filtering processing on the weight sensing signals, carrying out static calibration or dynamic setting on parameters of the adaptive low-pass filtering of the signals by combining the weight of the standard weight load, and obtaining comparison data of the weighing process of the standard weight load to form a comparison queue;
and (2) weighing, namely hoisting the load to be weighed by using a crane, acquiring a weight sensing signal of the load to be weighed, performing signal conversion and adaptive low-pass filtering on the weight sensing signal of the load to be weighed, acquiring data of the load to be weighed, comparing the data with a comparison queue, judging the motion state of the load to be weighed, and calculating the weighing value of the load to be weighed.
2. The adaptive crane weighing method according to claim 1, wherein the static calibration is a static weight signal calibration of a known weight load to a sensor instrument for monitoring the weight of the load by the crane.
3. The adaptive weighing method for cranes according to claim 1, wherein the calibration load comprises a first calibration weight and a second calibration weight which have different weights;
and dynamically setting, namely hoisting the first weight calibration block and the second weight calibration block by the crane respectively to carry out load motion, and acquiring a weight sensing signal.
4. The adaptive weighing method for the crane according to claim 1, wherein the signal transformation comprises amplification after a time domain signal is collected by a sensor.
5. The adaptive crane weighing method according to claim 4, wherein the adaptive low-pass filtering comprises converting the amplified time domain signal into a frequency domain signal and then filtering out signals above 1 HZ.
6. The adaptive crane weighing method as claimed in claim 1, wherein the adaptively filtered signal value is recorded as miThe weighting value b is calculated by the following formulaaAnd then:
wherein, when 0.83 × ba＜m′a＜1.27*baWhen b is greater thanaIs true value, and m 'at this time'aStoring the data into a comparison queue as new comparison data;
m'a＞1.27baOr m'a＜0.83baTime and memoryLatest signal value is m'a+cAt this time, the value b is weightedaThe calculation formula of (2) is as follows:
7. The crane adaptive weighing method according to claim 6, wherein m'a＝1.27baOr m'a＝0.83baWhen b is greater thanaIs true value, and m 'at this time'aAnd storing the data into a comparison queue as new comparison data.
8. The adaptive weighing method for cranes according to claim 3, wherein the weight of the first weight is not more than 30% of the rated weight of the crane, and the weight of the second weight is not less than 70% of the rated weight of the crane.
9. The adaptive weighing method for the crane according to claim 1, wherein the motion state comprises one of lifting, stabilizing and falling.
10. The self-adaptive weighing method for the crane according to claim 1, wherein the weight sensing signal is acquired by using a column type pressure sensor or a plate ring tension sensor.
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