CN111689397B - Truss hoisting and angle adjusting method - Google Patents
Truss hoisting and angle adjusting method Download PDFInfo
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- CN111689397B CN111689397B CN202010603871.8A CN202010603871A CN111689397B CN 111689397 B CN111689397 B CN 111689397B CN 202010603871 A CN202010603871 A CN 202010603871A CN 111689397 B CN111689397 B CN 111689397B
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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
- B66C13/22—Control systems or devices for electric drives
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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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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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
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
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Abstract
The invention discloses a truss hoisting and angle adjusting method, which relates to the technical field of truss hoisting, wherein in the process of hoisting a truss, if the deviation between the current horizontal angle of the truss and the target horizontal angle of the truss is out of the allowable range of horizontal angle error, the current horizontal angle of the truss and the target horizontal angle of the truss are taken as input through an angle adjusting system, the truss is driven to rotate in the horizontal direction by taking a lifting appliance as a center based on a PID control method, so that the horizontal angle adjustment of the truss is realized, and if the deviation between the current horizontal angle of the truss and the target horizontal angle of the truss is within the allowable range of horizontal angle error, the angle adjusting system does not drive the truss to rotate; the horizontal angle refers to the included angle between the horizontal plane of the truss and the horizontal reference direction. The method can eliminate the error between the current angle and the target angle of the truss, simplify the angle adjusting structure in the hoisting process, save the angle adjusting control time and reduce the labor cost.
Description
Technical Field
The invention relates to the technical field of truss hoisting, in particular to a truss hoisting and angle adjusting method.
Background
At present, in industrial production, a single-beam hoisting truss is hoisted to an expected height through a crane, and is rotated to a target inclination angle through a truss adjusting device to complete splicing, a long-stroke truss robot in the current market realizes adjustment of the truss, but the beam processing and mounting difficulty of the long-stroke truss robot is high, so that the long-stroke truss robot is high in manufacturing cost, the control state cannot be detected in real time, the control time and the labor cost are high, and the problems become a difficult problem to be solved by people.
Disclosure of Invention
The invention aims to provide a truss hoisting and angle adjusting method which can alleviate the problems.
In order to alleviate the above problems, the technical scheme adopted by the invention is as follows:
a truss hoisting and angle adjusting method is characterized in that a truss is connected to a hoisting tool of hoisting equipment, and hoisting of the truss is achieved through the hoisting equipment;
in the process of hoisting the truss, if the deviation between the current horizontal angle of the truss and the target horizontal angle of the truss is out of the allowable range of the horizontal angle error, the current horizontal angle of the truss and the target horizontal angle of the truss are used as input through an angle adjusting system, the truss is driven to rotate in the horizontal direction by taking a lifting appliance as a center based on a PID control method, the horizontal angle adjustment of the truss is realized, and if the deviation between the current horizontal angle of the truss and the target horizontal angle of the truss is within the allowable range of the horizontal angle error, the angle adjusting system does not drive the truss to rotate; the horizontal angle refers to the degree of an included angle between the horizontal plane of the truss and the horizontal reference direction.
The technical effect of the technical scheme is as follows: the truss is driven to rotate based on a PID control method, the horizontal angle of the truss is adjusted, errors between the current angle and the target angle of the truss can be eliminated, an angle adjusting structure in the hoisting process is simplified, the control process is strong in interference resistance and high in reliability, the angle adjusting control time is saved, and the labor cost is reduced.
Furthermore, the angle adjusting system comprises a control box and at least more than four fans in an even number, the fans are detachably fixed to the left section and the right section of the current hoisting truss, the control box is detachably fixed to the middle section of the current hoisting truss, and the control box is in wireless communication connection with a human-computer interaction terminal;
in the process of hoisting the truss, the control box receives a truss target horizontal angle from the human-computer interaction terminal, detects the current horizontal angle of the truss in real time, controls the fan to work based on a PID control method by taking the current horizontal angle of the truss as input, provides horizontal rotating torque for the truss through the fan, and drives the truss to rotate in the horizontal direction by taking the lifting appliance as a center, so that the deviation between the current horizontal angle of the truss and the truss target horizontal angle is within a horizontal angle error allowable range.
The technical effect of the technical scheme is as follows: the truss can be driven to rotate reversely by blowing through the fan, and the driving structure is simple; the current horizontal angle of the truss can be detected in real time, and the current state of the truss is obtained; the truss target horizontal angle can be remotely input into the control box through the human-computer interaction terminal, and the operation is convenient; the fan and the control box are detachably mounted on the truss, can be dismounted and mounted for countless times, improves the utilization rate, and is suitable for adjusting the truss and other hoisted objects.
Furthermore, the fan has four fans, two of which are distributed on the left and right sides of the control box and are used for providing clockwise rotation moment for the truss, and the other two of which are distributed on the left and right sides of the control box and are used for providing anticlockwise rotation moment for the truss.
The technical effect of the technical scheme is as follows: can install two in four fans in the left section of truss, other two install in the right section of truss, the opposite direction of blowing of two fans of homonymy then can realize the clockwise or anticlockwise rotation of truss through the fan, save equipment cost moreover.
Further, the single-cycle process of controlling the fan to work by the control box based on a PID control method comprises the following steps:
s1, reading the current horizontal angle and the target horizontal angle of the truss;
S2, setting the deviation between the target horizontal angle of the truss and the current horizontal angle of the truss as a system error;
s3, if the system error is within the horizontal angle error allowable range, ending the current control task of adjusting the horizontal angle of the truss, otherwise, continuing to execute the step S4;
s4, carrying out proportional, integral and differential operations on the system error through a PID control algorithm to obtain a truss horizontal angle adjusting signal;
and S5, converting the truss horizontal angle adjusting signal into a fan driving signal to drive the fan to work.
The technical effect of the technical scheme is as follows: by the PID control algorithm, stable and accurate control of the angle of the truss can be realized.
Further, in step S5, if the current horizontal position of the truss is located at the clockwise position of the target horizontal position of the truss, the truss is driven by the fan to rotate counterclockwise around the spreader in the horizontal direction, and if the current horizontal position of the truss is located at the counterclockwise position of the target horizontal position of the truss, the truss is driven by the fan to rotate clockwise around the spreader in the horizontal direction.
Still further, the horizontal reference direction refers to a north-south direction or a west-east direction.
Furthermore, the control box is characterized by comprising a power management unit, a main controller circuit unit, a wireless communication unit, an angle detection unit and a motor driving unit;
The power management unit is electrically connected with the main controller circuit unit and the motor driving unit and is used for providing electric energy for the main controller circuit unit and the motor driving unit;
the wireless communication unit is electrically connected with the main controller circuit unit and is used for realizing the communication between the main controller circuit unit and the human-computer interaction terminal;
the angle detection unit is electrically connected with the main controller circuit unit and is used for detecting the current horizontal angle of the truss and transmitting the current horizontal angle to the main controller circuit unit;
the motor driving unit is electrically connected with the main controller circuit unit and the fan and used for converting a truss horizontal angle adjusting signal from the main controller circuit unit into a fan driving signal and driving a motor of the fan to rotate.
The technical effect of the technical scheme is as follows: the control box is simple in structure, can detect the angle of the truss, outputs a truss angle adjusting signal, and drives the motor of the fan to rotate, so that the truss moves towards a target angle.
Furthermore, the main controller circuit unit is a PLC/single chip microcomputer/microprocessor/central processing unit with a storage unit.
Furthermore, the human-computer interaction terminal can directly add a plurality of control tasks comprising the truss target horizontal angle and display the control tasks on a display unit of the human-computer interaction terminal; and if the deviation between the current horizontal angle of the truss and the current target horizontal angle of the truss is within the allowable range of horizontal angle error, the main controller circuit unit transmits a control task completion signal to the human-computer interaction terminal through the wireless communication unit.
The technical effect of the technical scheme is as follows: the control interface of the human-computer interaction terminal has complete functions, a plurality of control tasks can be set, multiple adjustment operations can be realized, the workload of repeated hoisting is saved, and the construction efficiency is high.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of truss hoisting and angle adjustment according to an embodiment of the present invention;
FIG. 2 is a block diagram schematically illustrating the structure of a control box according to an embodiment of the present invention;
FIG. 3 is a schematic view of a stress analysis of the truss hoisting and adjusting system according to the embodiment of the invention;
fig. 4 is a flowchart based on a PID control algorithm in truss angle adjustment according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 4, an embodiment of the present invention discloses a method for hoisting a truss and adjusting an angle, wherein the truss is connected to a hoisting device 5 of a hoisting device 1, and the hoisting of the truss is realized by the hoisting device 1; in the process of hoisting the truss, an angle adjusting system is used for ensuring that the horizontal angle of the truss is kept stable and meets the symbol requirement. The horizontal angle refers to the degree of an included angle between the horizontal plane of the truss and the horizontal reference direction, and the horizontal reference direction refers to the north-south direction or the east-west direction.
The angle adjusting system comprises a control box 2 and at least more than four fans in an even number, the fans 3 are detachably fixed to the left section and the right section of the current hoisting truss, the control box 2 is detachably fixed to the middle section of the current hoisting truss, and a wireless communication channel can be established with the man-machine interaction terminal 4.
In this embodiment, the fan 3 can provide a rotation torque opposite to the blowing direction for the truss by blowing air in a reverse direction, wherein the adopted fan 3 has the characteristics of light self weight, small volume and sufficient wind power, and the motor of the fan 3 is a 24V brushless motor. In this embodiment, the number of the fans 3 is four, two of the fans are distributed on the left side and the right side of the control box 2 and used for providing a clockwise rotation moment for the truss, the other two fans are distributed on the left side and the right side of the control box 2 and used for providing an anticlockwise rotation moment for the truss, and the four fans 3 and the control box 2 are located on the same horizontal plane.
To facilitate further understanding of the present invention by those skilled in the art, a control box 2 according to an embodiment of the present invention is described below, and as shown in fig. 2, the control box 2 includes a power management unit, a main controller circuit unit, a wireless communication unit, an angle detection unit, and a motor driving unit.
The circuit unit of the main controller can select a PLC, a single chip microcomputer, a Microprocessor (MCU) or a Central Processing Unit (CPU), the STM32F4 is selected for use in the embodiment, the single chip microcomputer is an ARM4 core, the power consumption is low, the processing speed is high, and the chip has the advantages of high safety, high reliability and the like. The memory inside the main controller circuit unit is directly used as a storage unit of the system for relevant program and data information in the calibration process.
The power management unit of the control box 2 is electrically connected with the main controller circuit unit and the motor driving unit and is used for providing electric energy for the main controller circuit unit and the motor driving unit and implementing management, the power supply mode of the power management unit is that a lithium battery is powered, and the power supply voltage is 24V.
The wireless communication unit of control box 2 is connected with master controller circuit unit electricity for realize master controller circuit unit and human-computer interaction terminal 4's communication, and it uses NRF24L01 power enhancement version 2.4G wireless transceiver communication module, and this module has that transmission rate is fast, transmission distance is far away and information fidelity is high advantage.
The angle detection unit is electrically connected with the main controller circuit unit and used for detecting the current horizontal angle of the truss and transmitting the current horizontal angle to the main controller circuit unit, the MPU6050 angle detection module is selected and is a 6-axis gyroscope, errors possibly caused by a mechanism between the combined gyroscope and the accelerator are avoided, the data accuracy of angle conversion is good, the interference resistance is good, the IIC and the main controller can be used for realizing data transmission, and the transmission quality is high.
Motor drive unit is connected with master controller circuit unit and fan 3 electricity for to come from master controller circuit unit's truss horizontal angle adjustment signal, turn into 3 drive signal of fan, drive fan 3's motor rotates, and control its rotational speed size, motor drive circuit in this embodiment adopts the full-bridge drive circuit of H bridge, and chip operating current is big, and adjustable power range is wide, and is efficient.
In order to facilitate those skilled in the art to further understand the present invention, a man-machine interaction terminal 4 according to an embodiment of the present invention is described below, where the man-machine interaction terminal 4 includes a display unit, a key unit, a power management unit, a communication status indicator lamp, and a wireless communication unit.
The display unit is used for outputting and displaying information to a remote control person. The present embodiment adopts a tft lcd, which uses a dot matrix type gray-scale screen, and has the advantage of image distortion, and the display module communicates with the control unit through an I2C bus. The display unit is provided with a task adding window, a task execution window and a percentage numerical value display of the current task completion progress. And a plurality of control tasks including the truss target horizontal angle can be directly added in the task adding window, and when a certain control task is executed, if the deviation between the current horizontal angle of the truss and the current truss target horizontal angle is within the horizontal angle error allowable range, the main controller circuit unit transmits a control task completion signal to the man-machine interaction terminal 4 through the wireless communication unit and displays the control task completion signal on the display unit.
The wireless communication unit of the man-machine interaction terminal 4 is matched with the wireless communication unit of the control box 2 to construct a wireless data transmission channel for realizing information exchange between a man-machine interaction interface and the main controller circuit unit. In this embodiment, the NRF24L01 power-enhanced 2.4G wireless transceiving communication module is used, and has the advantages of fast transmission rate, long transmission distance and high information fidelity.
The key unit is used for a remote control person to input information to the main controller circuit unit of the control box 2 through the constructed wireless transmission channel. In the embodiment, the key unit is provided with a starting control button, an emergency stop button, a task adding button and a task deleting button, the task adding button is convenient for a user to set a plurality of control tasks, the emergency stop button can quickly close the power supply of the control box 2, and the control reliability is improved. The key unit is connected with the wireless communication unit of the man-machine interaction terminal 4 through a general input/output bus. The key unit and the display unit together provide a man-machine interaction function of the entire angle adjustment system.
The power management unit of the human-computer interaction terminal 4 is used for being electrically connected with other units and interfaces and managing and providing working power. The power supply voltage mainly has three power supply modes, namely USB power supply, lithium battery power supply and external power supply. In the embodiment, the 11.1V and 4000mah model airplane lithium batteries are adopted for power supply, and the initial estimation of the overall power consumption can be continuously used for more than 5 hours.
The communication state indicating lamp is used for displaying the connection state of wireless communication. This embodiment includes a green indicator light and a red indicator light. The green indicating lamp is on to indicate that the control box 2 is normally connected with the human-computer interaction terminal 4, and the red indicating lamp is on to indicate that the control box 2 is disconnected with the human-computer interaction terminal 4.
In this embodiment, when the angle adjusting system is installed on the truss to be hoisted and is ready to be hoisted, the power switch in the power management unit of the control box 2 is turned on, so that the angle adjusting system is ready, the angle detection unit is initialized, and the north-south direction or the east-west direction is automatically set as the horizontal reference direction. The power supply of the human-computer interaction terminal 4 is also turned on, the wireless communication unit of the human-computer interaction terminal 4 is automatically matched with the wireless communication unit of the control box 2, the green indicator light is turned on after the connection is successful, and after the wireless transmission channel is switched on, the target horizontal angle of the truss hoisted relative to the horizontal reference direction is set through the human-computer interaction terminal 4 and is set as a control task to be started. A plurality of control tasks including the truss target horizontal angle can be directly added in a task adding window of a display interface of the human-computer interaction terminal 4, and any task to be started can be started at will. Tasks that are already being performed may be stopped immediately, but may not be performed with a change in the truss target horizontal angle.
After the hoisting device 1 hoists the truss to the target height, the human-computer interaction terminal 4 may start a control task, transmit the truss target horizontal angle of the control task to the master controller circuit unit of the control box 2 through the wireless transmission channel, and prepare to adjust the horizontal angle of the truss, as shown in fig. 3 and 4, specifically as follows:
1) The main controller circuit unit controls the angle detection unit to detect the current horizontal angle of the truss in real time;
2) the main controller circuit unit reads a truss target horizontal angle r (kT) and a truss current horizontal angle in a current angle adjusting period, and sets the truss current horizontal angle as a system sampling signal y (kT);
3) setting the deviation between the target horizontal angle r (kT) of the truss and the current horizontal angle y (kT) of the truss as a system error e (kT) by the main control circuit unit;
4) if the system error e (kT) is within the horizontal angle error allowable range, the main controller circuit unit sends task completion information to the human-computer interaction terminal 4, the current control task for adjusting the horizontal angle of the truss is finished, and otherwise, the following steps are continuously executed;
5) the main controller circuit unit performs proportional, integral and differential operations on the system error e (kT) through a PID control algorithm to obtain a truss horizontal angle adjusting signal U (kT);
6) and the main controller circuit unit sends a truss horizontal angle adjusting signal U (kT) to the motor driving unit, the motor driving unit converts the truss horizontal angle adjusting signal U (kT) into a fan 3 driving signal to drive the fan 3 to work, if the current horizontal position of the truss is positioned in the clockwise direction of the truss target horizontal position, as shown in fig. 3(c), the truss is driven by the fan 3 to rotate anticlockwise in the horizontal direction by taking the lifting appliance 5 as the center, and if the current horizontal position of the truss is positioned in the anticlockwise direction of the truss target horizontal position, as shown in fig. 3(b), the truss is driven by the fan 3 to rotate clockwise in the horizontal direction by taking the lifting appliance 5 as the center.
In the angle adjusting process, the angle detecting unit detects the current horizontal angle of the truss in real time until the current system error e (kT) is within the horizontal angle error allowable range, and then the adjustment is finished.
And after the current truss is hoisted, the angle adjusting system is detached from the current truss so as to be used for hoisting the next truss.
The following describes in detail the stress analysis of the truss hoisting and angle adjusting system:
as shown in fig. 3(a), the truss is in a freely suspended and non-horizontal disturbance condition, and the force received by the truss is the gravity mg of the truss itself and the tension T of the spreader 5. In the case of fig. 3(b), 0 ° is set as the initial angle of the truss before adjustment, G is the target position of truss adjustment, the deviation Δ θ of the angle is greater than zero, in order to rapidly approach the target position, the truss is subjected to the same force F as the movement direction, and the horizontal speed direction is clockwise, in the case of fig. 3(c), the truss passes through the target angle, the deviation value of the angle is less than zero, in order to return to the target position, the truss is subjected to the opposite force to the movement direction, the truss speed v is rapidly reduced, and the speed direction is finally changed from clockwise to counterclockwise. Thus, the angle of the truss is converged and oscillated near the target position to gradually approach the target position.
The method adopts a PID control algorithm in order to eliminate the deviation, the input in the system is the deviation between the current angle and the target angle, the output is the rotating speed of the fan, and the feedback quantity is the current angle. The PID control algorithm is a processing and output proportion link for feedback quantity: the deviation e (kT) of the control system is reflected in real time in proportion, and once the deviation is generated, the controller immediately generates a control action to reduce the error. When the deviation e (kt) is 0, the control action is also 0. Thus, the proportional control is adjusted based on the deviation, i.e. there is a difference adjustment. And (3) an integration step: the error can be memorized, the method is mainly used for eliminating static error and improving the non-difference degree of a system, the strength of the integral action depends on an integral time constant Ti, the larger the Ti is, the weaker the integral action is, and the stronger the integral action is otherwise. And (3) differentiation: the change trend (change rate) of the deviation signal can be reflected, and an effective early correction signal can be introduced into the system before the value of the deviation signal becomes too large, so that the action speed of the system is accelerated, and the adjusting time is shortened. The angle detection unit feeds the current angle back to the main control circuit unit, and the main control circuit unit calculates the deviation according to the current angle and the target angle to obtain the output power of the fan, so that the rotating speed of the fan is changed, the angle of the truss is adjusted, and the angle of the truss gradually reaches the target angle. The power of the azimuth fan is controlled through the main control circuit unit, so that the yaw angle of the truss is changed, and meanwhile, the angle detection unit feeds the position back to the main control circuit unit, so that the closed-loop adjustment of the angle is realized, the control is quick, and the operation is convenient. The control interface of the human-computer interaction terminal is complete in function, multiple control tasks can be set, multiple times of adjustment operation can be achieved, the workload of repeated hoisting is saved, and the construction efficiency is high.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A method for hoisting and adjusting angles of a truss is characterized in that the truss is connected to a hoisting tool of hoisting equipment, and the hoisting of the truss is realized through the hoisting equipment,
in the process of hoisting the truss, if the deviation between the current horizontal angle of the truss and the target horizontal angle of the truss is out of the allowable range of the horizontal angle error, the current horizontal angle of the truss and the target horizontal angle of the truss are used as input through an angle adjusting system, the truss is driven to rotate in the horizontal direction by taking a lifting appliance as a center based on a PID control method, so that the horizontal angle adjustment of the truss is realized,
if the deviation between the current horizontal angle of the truss and the target horizontal angle of the truss is within the allowable range of the horizontal angle error, the angle adjusting system does not drive the truss to rotate;
the horizontal angle refers to the included angle degree between the horizontal plane of the truss and the horizontal reference direction;
The angle adjusting system comprises a control box and at least more than four fans in an even number, the fans are detachably fixed to the left section and the right section of the current hoisting truss, the control box is detachably fixed to the middle section of the current hoisting truss, and the control box is in wireless communication connection with a human-computer interaction terminal;
in the process of hoisting the truss, the control box receives a truss target horizontal angle from the human-computer interaction terminal, detects the current horizontal angle of the truss in real time, controls the fan to work based on a PID control method by taking the current horizontal angle of the truss as input, provides horizontal rotating torque for the truss through the fan, and drives the truss to rotate in the horizontal direction by taking the lifting appliance as a center, so that the deviation between the current horizontal angle of the truss and the truss target horizontal angle is within a horizontal angle error allowable range.
2. The method for hoisting and adjusting the angle of the truss according to claim 1, wherein the number of the fans is four, two of the fans are distributed on the left and right sides of the control box and are used for providing a clockwise turning moment for the truss, and the other two fans are distributed on the left and right sides of the control box and are used for providing a counterclockwise turning moment for the truss.
3. The truss hoisting and angle adjusting method according to claim 1, wherein the single-cycle process of controlling the fan to work by the control box based on a PID control method comprises:
s1, reading the current horizontal angle of the truss and the target horizontal angle of the truss;
s2, setting the deviation between the target horizontal angle of the truss and the current horizontal angle of the truss as a system error;
s3, if the system error is within the horizontal angle error allowable range, ending the current control task of adjusting the horizontal angle of the truss, otherwise, continuing to execute the step S4;
s4, carrying out proportional, integral and differential operations on the system error through a PID control algorithm to obtain a truss horizontal angle adjusting signal;
and S5, converting the truss horizontal angle adjusting signal into a fan driving signal to drive the fan to work.
4. The method for hoisting and adjusting the angle of the truss according to claim 3, wherein in step S5, if the current horizontal position of the truss is located clockwise of the target horizontal position of the truss, the truss is driven by the fan to rotate counterclockwise around the spreader in the horizontal direction, and if the current horizontal position of the truss is located counterclockwise of the target horizontal position of the truss, the truss is driven by the fan to rotate clockwise around the spreader in the horizontal direction.
5. The truss hoisting and angle adjusting method of claim 3, wherein the horizontal reference direction is north-south or east-west.
6. The truss hoisting and angle adjusting method as claimed in claim 3,
the control box comprises a power supply management unit, a main controller circuit unit, a wireless communication unit, an angle detection unit and a motor driving unit;
the power management unit is electrically connected with the main controller circuit unit and the motor driving unit and is used for providing electric energy for the main controller circuit unit and the motor driving unit;
the wireless communication unit is electrically connected with the main controller circuit unit and is used for realizing the communication between the main controller circuit unit and the human-computer interaction terminal;
the angle detection unit is electrically connected with the main controller circuit unit and is used for detecting the current horizontal angle of the truss and transmitting the current horizontal angle to the main controller circuit unit;
the motor driving unit is electrically connected with the main controller circuit unit and the fan and used for converting a truss horizontal angle adjusting signal from the main controller circuit unit into a fan driving signal and driving a motor of the fan to rotate.
7. The truss hoisting and angle adjusting method according to claim 6, wherein the main controller circuit unit is a PLC/singlechip/microprocessor/central processing unit with a storage unit.
8. The method for hoisting and adjusting the angle of the truss according to claim 6, wherein the human-computer interaction terminal can directly add a plurality of control tasks including the target horizontal angle of the truss and display the control tasks on a display unit of the human-computer interaction terminal; and if the deviation between the current horizontal angle of the truss and the current target horizontal angle of the truss is within the allowable range of horizontal angle error, the main controller circuit unit transmits a control task completion signal to the human-computer interaction terminal through the wireless communication unit.
9. The truss hoisting and angle adjusting method of claim 1, wherein after the current truss is hoisted, the angle adjusting system is detached from the current truss for hoisting of the next truss.
Priority Applications (1)
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