CN111960280B - Energy feedback control method, crane control method and crane - Google Patents

Energy feedback control method, crane control method and crane Download PDF

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Publication number
CN111960280B
CN111960280B CN202010908239.4A CN202010908239A CN111960280B CN 111960280 B CN111960280 B CN 111960280B CN 202010908239 A CN202010908239 A CN 202010908239A CN 111960280 B CN111960280 B CN 111960280B
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Prior art keywords
feedback current
controlling
value
motor
range extender
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CN111960280A (en
Inventor
周成博
李江涛
金晶
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Sany Marine Heavy Industry Co Ltd
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Sany Marine Heavy Industry Co Ltd
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Priority to CN202010908239.4A priority Critical patent/CN111960280B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/22Control systems or devices for electric drives
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/22Control systems or devices for electric drives
    • B66C13/30Circuits for braking, traversing, or slewing motors

Abstract

The embodiment of the invention provides an energy feedback control method, a crane control method and a crane, and relates to the field of engineering machinery, wherein the energy feedback control method comprises the following steps: and obtaining the numerical value of the feedback current when the crane brakes or the suspension arm descends, and if the numerical value of the feedback current is greater than or equal to a first preset value, controlling the load, the battery system and the range extender to work simultaneously so as to consume the feedback current. The energy feedback control method can consume feedback current with a larger value, and can improve the consumption efficiency of the feedback current, thereby improving the working efficiency and the safety performance.

Description

Energy feedback control method, crane control method and crane
Technical Field
The invention relates to the field of engineering machinery, in particular to an energy feedback control method, a crane control method and a crane.
Background
The crane refers to a hoisting machine for vertically lifting and horizontally carrying heavy objects within a certain range. When the front suspension arm of the crane descends, feedback current can be generated, and when the feedback current is too large, the control system limits the torque of the lifting motor to limit the increase of the feedback current, so that the descending speed of the front suspension arm is reduced, and the working efficiency is influenced. Similarly, when the crane brakes in the walking process, feedback current can be generated, and when the feedback current is too large, the control system can limit the braking torque of the running motor at the moment so as to limit the increase of the feedback current, so that the braking distance of the crane can be prolonged, and timely braking can not be performed.
Disclosure of Invention
The object of the present invention includes, for example, providing an energy feedback control method, a crane control method and a crane, which can effectively improve the above-mentioned technical problems.
Embodiments of the invention may be implemented as follows:
in a first aspect, an embodiment of the present invention provides an energy feedback control method, including:
obtaining the numerical value of feedback current when the crane brakes or the suspension arm descends;
and if the value of the feedback current is greater than or equal to a first preset value, controlling the load, the battery system and the range extender to work simultaneously so as to consume the feedback current.
In an alternative embodiment, the range extender comprises an engine and an electric machine in driving connection with the engine;
the step of controlling the load, the battery system and the range extender to work simultaneously so as to consume the feedback current comprises the following steps:
and controlling the motor to rotate so as to drive the engine to work.
In an alternative embodiment, the step of controlling the motor to rotate to operate the engine includes:
and continuously controlling the rotation speed of the motor to increase, and keeping the rotation speed of the motor unchanged when the value of the feedback current is smaller than the first preset value.
In an alternative embodiment, the step of controlling the load, the battery system and the range extender to operate simultaneously to consume the feedback current further comprises:
controlling the opening degree of an exhaust valve of the engine to be reduced.
In an alternative embodiment, the step of controlling the reduction of the opening degree of the exhaust valve of the engine includes:
and continuously reducing the opening of the exhaust valve of the engine, and keeping the opening of the exhaust valve of the engine unchanged when the value of the feedback current is smaller than the first preset value.
In an alternative embodiment, before the step of controlling the load, the battery system and the range extender to simultaneously operate to consume the feedback current, the energy feedback control method further includes:
acquiring the working state of the range extender;
if the range extender is not stopped, the range extender is controlled to stop;
obtaining the downtime of the range extender;
and if the downtime is less than the preset time, controlling the range extender to be switched from the power generation mode to the discharge mode after the downtime reaches the preset time.
In an optional embodiment, the energy feedback control method further includes:
and if the value of the feedback current is smaller than the first preset value and is greater than or equal to a second preset value, only controlling the load and the battery system to work so as to consume the feedback current.
In an optional embodiment, the energy feedback control method further includes:
and if the value of the feedback current is smaller than the second preset value, only controlling the load to work so as to consume the feedback current.
In a second aspect, an embodiment of the present invention provides a crane control method, including:
obtaining the numerical value of feedback current when the crane brakes or the suspension arm descends;
if the value of the feedback current is larger than or equal to a first preset value, controlling the load, the battery system and the range extender to work simultaneously so as to consume the feedback current;
controlling a running motor to keep a preset braking torque, or controlling a lifting motor to keep a preset torque;
the traveling motor is used for controlling the crane to brake, and the lifting motor is used for controlling the suspension arm to descend.
In a third aspect, an embodiment of the present invention provides a crane, including a machine body, a current sensor, a controller, a load, a battery system, a range extender, a traveling member, a boom, a traveling motor, and a lifting motor;
the current sensor, the load, the battery system, the range extender, the walking piece, the suspension arm, the running motor and the lifting motor are all arranged on the machine body;
the controller is simultaneously communicated with the current sensor, the load, the battery system, the range extender, the running motor and the lifting motor, the running motor is used for controlling the braking operation of the walking piece, and the lifting motor is used for controlling the descending operation of the lifting arm;
the current sensor is used for detecting the numerical value of feedback current generated when the running motor or the lifting motor works;
the controller is used for acquiring the numerical value of feedback current when the crane brakes or the suspension arm descends, and controlling the load, the battery system and the range extender to work simultaneously to consume the feedback current when the numerical value of the feedback current is greater than or equal to a first preset value;
the controller is also used for controlling the running motor to keep a preset braking torque or controlling the lifting motor to keep a preset torque.
The beneficial effects of the embodiment of the invention include, for example:
the embodiment of the invention provides an energy feedback control method, when a crane brakes, feedback current during crane braking is obtained, if the feedback current value is greater than or equal to a first preset value, a load, a battery system and a range extender are controlled to work simultaneously to consume the feedback current, so that the consumption efficiency of the feedback current can be improved, the numerical value of the feedback current is rapidly reduced, the increase of the feedback current is not limited in a mode of limiting the braking torque of a running motor, and the crane can brake in time. In addition, when the suspension arm of the crane descends, feedback current when the suspension arm descends is obtained, if the feedback current value is larger than or equal to a first preset value, the load, the battery system and the range extender are controlled to work simultaneously to consume the feedback current, so that the consumption efficiency of the feedback current can be improved, the value of the feedback current is rapidly reduced, the increase of the feedback current is not limited in a mode of limiting the torque of the lifting motor, the suspension arm of the crane can descend at a preset speed, and the working efficiency is improved.
The embodiment of the invention also provides a crane control method, when the crane brakes, the feedback current during the crane braking is obtained, and if the feedback current value is greater than or equal to the first preset value, the load, the battery system and the range extender are controlled to work simultaneously to consume the feedback current, so that the consumption efficiency of the feedback current can be improved, and the numerical value of the feedback current is rapidly reduced. Meanwhile, the running motor is controlled to keep a preset braking moment, so that the crane can brake in time. In addition, when the suspension arm of the crane descends, feedback current when the suspension arm descends is obtained, and if the feedback current value is larger than or equal to a first preset value, the load, the battery system and the range extender are controlled to work simultaneously to consume the feedback current, so that the consumption efficiency of the feedback current can be improved, and the value of the feedback current is rapidly reduced. Meanwhile, the lifting motor is controlled to keep a preset torque, so that the suspension arm of the crane can descend at a preset speed, and the working efficiency is improved.
The embodiment of the invention also provides the crane, wherein the traveling motor is used for controlling the braking operation of the traveling part, and the lifting motor is used for controlling the descending operation of the lifting arm. When the running motor performs braking operation, the controller can obtain the value of the feedback current at the moment, and when the value of the feedback current is greater than or equal to a first preset value, the controller controls the load, the battery system and the range extender to work simultaneously to consume the feedback current, so that the consumption efficiency of the feedback current can be improved, and the value of the feedback current is rapidly reduced. Meanwhile, the controller controls the running motor to keep a preset braking torque, so that the crane can brake more timely. When the lifting motor controls the lifting arm to descend, the controller can also obtain the verticality of the feedback current at the moment, and when the numerical value of the feedback current is larger than or equal to a first preset value, the controller controls the load, the battery system and the range extender to work simultaneously to consume the feedback current, so that the consumption efficiency of the feedback current can be improved, and the numerical value of the feedback current is rapidly reduced. Meanwhile, the controller controls the lifting motor to keep a preset torque, so that the lifting arm of the crane can descend at a normal speed, and the working efficiency is improved.
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 system block diagram of a crane according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an energy feedback control method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a crane control method according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a first control flow of the range extender consuming the feedback current according to the embodiment of the present invention;
fig. 5 is a schematic diagram of a second control flow of the range extender consuming the feedback current according to the embodiment of the present invention.
Icon: 10-a current sensor; 11-a controller; 12-load; 13-a battery system; 14-a range extender; 15-a travel motor; 16-a lifting motor; 17-a running gear; 18-boom.
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, 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 1, the present embodiment provides a crane, which includes a machine body (not shown), a current sensor 10, a controller 11, a load 12, a battery system 13, a range extender 14, a traveling unit 17, a boom 18, a traveling motor 15, and a lifting motor 16.
In the present embodiment, the current sensor 10, the controller 11, the load 12, the battery system 13, the range extender 14, the traveling unit 17, the boom 18, the travel motor 15, and the lift motor 16 are all provided on the machine body.
In this embodiment, the controller 11 communicates with the current sensor 10, the load 12, the battery system 13, the range extender 14, the travel motor 15, and the lift motor 16 simultaneously.
The traveling motor 15 is used to control the braking operation of the traveling unit 17, and the lifting motor 16 is used to control the lowering operation of the boom 18.
In the present embodiment, when the traveling motor 15 controls braking of the traveling unit 17, a feedback current is generated, and the feedback current affects a braking distance of the traveling unit 17, and thus, the feedback current needs to be rapidly consumed.
Similarly, in the present embodiment, when the lifting motor 16 controls the boom 18 to descend, a feedback current is also generated, and the feedback current affects the descending speed of the boom 18 and the working efficiency, so that the feedback current needs to be consumed quickly.
In the present embodiment, the current sensor 10 is capable of detecting the value of the feedback current and sending an electrical signal representing the value of the feedback current to the controller 11, and after receiving the electrical signal, the controller 11 performs different control actions according to the value of the feedback current for consuming the generated feedback current, and the detailed control actions are described later.
Referring to fig. 1 and 2, in the present embodiment, the controller 11 may use different control actions to consume feedback current according to the energy feedback control method shown in fig. 2.
Specifically, referring to fig. 2, the energy feedback control method includes:
s10: and obtaining the value of the feedback current when the crane brakes or the suspension arm 18 descends.
S11: and judging whether the value of the feedback current is greater than or equal to a first preset value.
If the value of the feedback current is smaller than the first predetermined value, the following step S12 is performed.
S12: and judging whether the value of the feedback current is greater than or equal to a second preset value.
If the value of the feedback current is smaller than the second predetermined value, the following step S13 is performed.
S13: only the load 12 is controlled to operate to consume the feedback current.
It should be noted that when the value of the feedback current is small (the value of the feedback current is smaller than the second predetermined value), the feedback current generated by braking or lowering the boom 18 can be consumed by only operating the load 12.
Referring to fig. 2, in step S12, if the feedback current is greater than or equal to the second predetermined value, the following step S14 is performed.
S14: only the load 12 and the battery system 13 are controlled to operate to consume the feedback current.
That is, when the value of the feedback current is larger (the value of the feedback current is smaller than the first predetermined value and is greater than or equal to the second predetermined value), the excess feedback current that cannot be consumed by the load 12 may flow to the battery system 13, and the battery system 13 is configured to consume the flowing feedback current. Alternatively, the battery system 13 may store the feedback current and consume the feedback current in a subsequent operation.
Referring to fig. 2, when the step S11 is executed, if the value of the feedback current is greater than or equal to the first preset value, the following step S15 may be directly executed.
S15: the control load 12, the battery system 13, and the range extender 14 operate simultaneously to consume the feedback current.
That is, when the value of the feedback current is large (the value of the feedback current is greater than or equal to the first predetermined value), the value of the feedback current exceeds the maximum carrying capacity of the load 12 and the battery system 13, and the surplus feedback current that is not consumed by the load 12 and the battery system 13 can be flowed to the range extender 14, so as to consume the feedback current by the power of the range extender 14. Therefore, the redundant feedback current is consumed, the impact of the feedback current with a large value on the battery system 13 is avoided, and the battery system 13 is protected. The process of the range extender 14 specifically consuming the feedback current will be described in detail later.
It is understood that, in the present embodiment, the first preset value is greater than the second preset value. In practical applications, specific values of the first preset value and the second preset value can be set according to models of the crane, the traveling motor 15 and the lifting motor 16, and are not specifically required here.
It should be noted that, in general, the range extender 14 includes an electric motor and an engine in driving connection with the electric motor. The range extender 14 has a power generation mode in which the range extender 14 can convert kinetic energy of the engine into electric energy to supply electric energy to other components and devices, and a discharge mode. In the discharging mode, the range extender 14 is able to consume electrical energy by doing work through the motion of the engine.
Therefore, in this embodiment, between step S11 and step S15, the energy feedback control method further includes:
s16: the range extender 14 is controlled to switch from the power generation mode to the discharge mode.
In this way, the range extender 14 can better consume the feedback current in the discharging mode.
Referring to fig. 2, in the present embodiment, between the step S11 and the step S16, the energy feedback control method further includes:
s17: the operating state of the range extender 14 is acquired.
S18: it is determined whether the range extender 14 is stopped.
If the range extender 14 is not stopped, step S19 is executed.
S19: and controlling the range extender 14 to stop.
In the present embodiment, after the range extender 14 is stopped, the range extender 14 is controlled to operate to consume the feedback current. Thus, the range extender 14 can be protected, and the probability of safety accidents occurring in the range extender 14 in the process of converting the power generation mode into the discharge mode can be reduced.
It is noted that, in the present embodiment, between the step S16 and the step S18, the energy feedback control method further includes:
s20: the down time of the range extender 14 is obtained.
S21: and judging whether the shutdown time reaches the preset time.
If the range extender 14 has been stopped, steps S20 and S21 are executed. If the downtime of the range extender 14 reaches the preset time, the step S16 is directly executed. If the downtime of the range extender 14 does not reach the preset time, step S22 is performed.
S22: waiting for the downtime to reach the preset time.
Then step S16 is executed after step S22. In this way, the range extender 14 can be protected, and the service life of the range extender 14 can be prolonged. It should be noted that the preset time may be set according to the specific model and the operation condition of the range extender 14, and is not limited specifically here.
Therefore, in the present embodiment, after the step S15 is executed, the feedback current is consumed by the load 12, the battery system 13 and the range extender 14 at the same time, so that the consumption efficiency of the feedback current can be improved, and the value of the feedback current is rapidly decreased.
Therefore, when the traveling motor 15 is braked, the generated feedback current is consumed relatively quickly, so that the increase of the feedback current is not limited by reducing the braking torque of the traveling motor 15, thereby enabling the crane to brake in time.
In addition, when the lifting motor 16 controls the boom 18 to descend, the generated feedback current can be quickly consumed, so that the increase of the feedback current is not limited by reducing the torque of the lifting motor 16, the boom 18 can descend at a normal speed, and the working efficiency is improved.
Referring to fig. 1 to 3, in the crane control method shown in fig. 3, the process of consuming feedback current is the same as the energy feedback control method shown in fig. 2, and is not repeated. In the crane control method shown in fig. 3, after the controller 11 executes step S15, step S23 is also executed.
S23: the travel motor 15 is controlled to maintain a preset braking torque, or the lift motor 16 is controlled to maintain a preset torque.
Therefore, the running motor 15 can be controlled to keep the preset braking moment, or the lifting motor 16 can be controlled to keep the preset torque, the braking moment of the running motor 15 or the torque of the lifting motor 16 does not need to be changed according to the magnitude of the feedback current, the walking piece 17 can be ensured to brake in time, the lifting arm 18 can be lowered at a normal speed, and the working efficiency is improved.
Of course, it is also possible to dispense with a change in the braking torque of the travel motor 15 or a change in the torque of the lifting motor 16 when the feedback current is low. Referring to fig. 3, after the controller 11 performs step S14, step S23 may be performed directly. Alternatively, after the controller 11 executes step S13, it directly executes step S23.
Thus, in the embodiment, in the process of braking the traveling motor 15 or controlling the boom 18 to descend by the lifting motor 16, the braking torque of the traveling motor 15 can be maintained regardless of the magnitude of the feedback current, so as to achieve timely braking, and the torque of the lifting motor 16 can be maintained, so as to achieve descending of the boom 18 at a preset speed, thereby improving the working efficiency.
Referring to fig. 4 and 5, the specific process of the range extender 14 consuming the feedback current will be described in detail.
Taking fig. 4 as an example, step S15 in fig. 2 and 3 includes:
s151: the rotation speed of the motor is continuously controlled to increase.
It can be understood that after the motor is started, the motor can be driven to work, and the engine can consume feedback current when doing work. When the rotating speed of the motor is continuously increased, the work of the engine is gradually increased, so that the feedback current is consumed more quickly.
It should be noted that, when the rotation speed of the motor is continuously increased, the rotation speed of the engine is also continuously increased, and when the rotation speed of the engine is increased to the maximum limit value, the rotation speed of the motor is not controlled to be continuously increased any more, and the rotation speed of the engine is not increased any more, so that the risk of safety accidents can be reduced.
Referring to fig. 4, step S15 further includes:
s152: and judging whether the value of the feedback current is smaller than a first preset value.
If the value of the feedback current is smaller than the first predetermined value, step S153 is performed.
S153: the rotation speed of the motor is kept unchanged.
At this time, the current rotation speed of the motor is maintained, and the excessive feedback current can be consumed, so that the magnitude of the feedback current does not exceed the carrying capacity of the load 12 and the battery system 13.
If the value of the feedback current is not less than the first preset value, step S151 is performed again, so that the rotation speed of the motor is increased again, thereby increasing the consumption efficiency of the feedback current again.
Taking fig. 5 as an example, step S15 further includes:
s154: and controlling the motor to work, and continuously reducing the opening of an exhaust valve of the engine.
It should be noted that, when the motor works, the motor can be driven to work. The smaller the opening of the exhaust valve of the engine, the more work the engine needs to do when the engine is working, that is, the smaller the opening of the exhaust valve of the engine, the more feedback current is consumed when the engine does work.
Referring to fig. 5, step S15 further includes:
s155: and judging whether the value of the feedback current is smaller than a first preset value.
If the value of the feedback current is less than the first predetermined value, step 156 is performed.
S156: the opening degree of an exhaust valve of the engine is kept unchanged.
At this time, the excessive feedback current can be consumed by keeping the current opening of the exhaust valve of the engine, so that the value of the feedback current does not exceed the carrying capacity of the load 12 and the battery system 13.
If the value of the feedback current is not less than the first preset value, step S155 is performed again, so that the opening of the exhaust valve of the engine is decreased again, thereby increasing the consumption efficiency of the feedback current again.
In actual application, the control processes shown in fig. 4 and 5 may be performed separately or simultaneously.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. An energy feedback control method, comprising:
obtaining the value of feedback current when the crane brakes or the suspension arm (18) descends;
if the value of the feedback current is larger than or equal to a first preset value, controlling the load (12), the battery system (13) and the range extender (14) to work simultaneously so as to consume the feedback current;
the range extender (14) comprises an engine and a motor in transmission connection with the engine;
wherein the step of controlling the load (12), the battery system (13) and the range extender (14) to operate simultaneously to consume the feedback current comprises:
and controlling the motor to rotate so as to drive the engine to work.
2. The energy feedback control method according to claim 1, wherein the step of controlling the motor to rotate to drive the engine to work comprises:
and continuously controlling the rotation speed of the motor to increase, and keeping the rotation speed of the motor unchanged when the value of the feedback current is smaller than the first preset value.
3. The energy feedback control method according to claim 1, wherein the step of controlling the load (12), the battery system (13) and the range extender (14) to consume the feedback current further comprises:
controlling an opening degree of an exhaust valve of the engine to decrease.
4. The energy feedback control method according to claim 3, wherein the step of controlling the reduction of the opening degree of the exhaust valve of the engine includes:
and continuously reducing the opening of the exhaust valve of the engine, and keeping the opening of the exhaust valve of the engine unchanged when the value of the feedback current is smaller than the first preset value.
5. The energy feedback control method according to claim 1, wherein before the step of controlling the load (12), the battery system (13) and the range extender (14) to simultaneously operate to consume the feedback current, the energy feedback control method further comprises:
acquiring the working state of the range extender (14);
if the range extender (14) is not stopped, controlling the range extender (14) to stop;
acquiring the downtime of the range extender (14);
and if the downtime is less than the preset time, controlling the range extender (14) to be switched from the power generation mode to the discharge mode after the downtime reaches the preset time.
6. The energy feedback control method according to claim 1, further comprising:
and if the value of the feedback current is smaller than the first preset value and is larger than or equal to a second preset value, only controlling the load (12) and the battery system (13) to work so as to consume the feedback current.
7. The energy feedback control method according to claim 6, further comprising:
if the value of the feedback current is smaller than the second preset value, only the load (12) is controlled to work so as to consume the feedback current.
8. A crane control method, comprising:
obtaining the value of feedback current when the crane brakes or the suspension arm (18) descends;
if the value of the feedback current is larger than or equal to a first preset value, controlling the load (12), the battery system (13) and the range extender (14) to work simultaneously so as to consume the feedback current;
controlling a running motor (15) to keep a preset braking torque, or controlling a lifting motor (16) to keep a preset torque;
wherein the traveling motor (15) is used for controlling the crane to brake, and the lifting motor (16) is used for controlling the suspension arm (18) to descend.
9. The crane is characterized by comprising a crane body, a current sensor (10), a controller (11), a load (12), a battery system (13), a range extender (14), a walking piece (17), a suspension arm (18), a traveling motor (15) and a lifting motor (16);
the current sensor (10), the load (12), the battery system (13), the range extender (14), the walking piece (17), the suspension arm (18), the running motor (15) and the lifting motor (16) are all arranged on the machine body;
the controller (11) is simultaneously communicated with the current sensor (10), the load (12), a battery system (13), a range extender (14), a traveling motor (15) and a lifting motor (16), wherein the traveling motor (15) is used for controlling the braking operation of the traveling part (17), and the lifting motor (16) is used for controlling the descending operation of the lifting arm (18);
the current sensor (10) is used for detecting the value of feedback current generated when the running motor or the lifting motor works;
the controller (11) is used for acquiring a value of feedback current when the crane brakes or the suspension arm (18) descends, and controlling the load (12), the battery system (13) and the range extender (14) to work simultaneously to consume the feedback current when the value of the feedback current is greater than or equal to a first preset value;
the controller (11) is also used for controlling the running motor (15) to keep a preset braking torque or controlling the lifting motor (16) to keep a preset torque.
CN202010908239.4A 2020-09-02 2020-09-02 Energy feedback control method, crane control method and crane Active CN111960280B (en)

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CN111960280B true CN111960280B (en) 2022-06-21

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