CN112897340B - Crane multi-lifting hook synchronous control system and method based on hydraulic winch - Google Patents
Crane multi-lifting hook synchronous control system and method based on hydraulic winch Download PDFInfo
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- CN112897340B CN112897340B CN202110042690.7A CN202110042690A CN112897340B CN 112897340 B CN112897340 B CN 112897340B CN 202110042690 A CN202110042690 A CN 202110042690A CN 112897340 B CN112897340 B CN 112897340B
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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
- B66C13/20—Control systems or devices for non-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
- B66C13/16—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
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/02—Driving gear
- B66D1/08—Driving gear incorporating fluid motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a crane multi-hook synchronous control system based on hydraulic winch, wherein an output shaft of a winding drum is provided with an encoder for measuring winding turns of the winding drum and an overspeed switch for monitoring whether the rotating speed of the winding drum exceeds the limit, and the winding drum is also provided with a steel wire rope layer measuring sensor for measuring the current winding diameter of a steel wire rope; the control center is connected with the hydraulic power control device, the motor speed measuring sensor, the braking state monitoring sensor, the encoder and the steel wire rope layer measuring sensor, and the hydraulic power control device is used for controlling the output of hydraulic power so as to further control the rotating speed of the hydraulic motor. The system has the characteristics of simplicity in operation, safety, reliability and stable operation. The system can integrate the mechanical, electric and hydraulic functions, monitor all parameters of the operation of the hoisting mechanism and the hydraulic system in an omnibearing manner, and realize closed-loop control of the lifting height and the lifting speed of the hydraulic hoisting mechanism.
Description
Technical Field
The invention provides a multi-lifting hook synchronous control system and a synchronous control method for a crane based on hydraulic winch, and belongs to the technical field of engineering machinery electric hydraulic control.
Background
Along with the promotion of development infrastructure construction of science and technology, in the jack-up trade, because jack-up object weight or volume are too big, need many hoisting equipment linkage to promote the mobile object, traditional single hoist rope hoist and mount have failed to satisfy the requirement. Therefore, more and more equipment needs a plurality of winches to assist in hoisting, is influenced by various factors such as a hydraulic system, structural member differences, friction force and the like, and the traditional constant variable control (input of the same control signal) is difficult to ensure that a plurality of winches pay out or retract steel wire ropes with the same length in unit time, and the different rope outlet amount/rope receiving amount can lead to inclination of a lifting hook, abrasion of the steel wire ropes and pulley blocks and accidents.
In the synchronous linkage process of multiple lifting frequency converters, the synchronous control of the multiple lifting frequency converters mainly has the following scheme: and (3) a step of: the multi-pull rope mechanical transmission connection mode realizes multi-pull rope on the same driving mechanism in a mechanical winding mode so as to control the synchronous lifting of the multi-lifting hooks. However, the proposal requires large hoisting traction output power, the distance between the hoisting hooks is easy to be limited, and meanwhile, the hoisting hooks are independent, the linkage control and the switching are complicated, the synchronous control operation is complex, and the control precision cannot be ensured.
2. And the synchronous card or the PLC is used for acquiring signals of the encoder of each lifting traction motor, taking the speed of the main lifting driving motor as a target, calculating complex errors in the synchronous card or the PLC to obtain synchronous frequencies of each slave lifting frequency converter, and outputting the synchronous frequencies to each lifting frequency converter in a communication or analog quantity mode to serve as frequency setting, so that synchronous control of each lifting traction motor is realized. On the one hand, the scheme needs to additionally add a synchronous card or a PLC, the equipment cost is high, in addition, the synchronous card or the PLC has limited high-speed pulse input resources, the number of the lifting frequency converters is limited (generally double-lifting frequency converter synchronization), in addition, the pulse error calculation coding is complex, the calculation result also needs to be output to the slave lifting frequency converter in a communication or analog quantity mode, the slave lifting frequency converter responds to the input synchronous frequency, and a certain response delay time exists in the process, so that the synchronous control precision of the master lifting frequency converter and the slave lifting frequency converter is greatly influenced.
3. The existing crane adopts a winch and a counter to control double winch synchronization, and has high requirements on external conditions although the crane is widely applied in reality, so that the normal operation of the crane is ensured, and the following three requirements are met simultaneously:
(1) Before the synchronous mode is started, the lifting hook must be manually adjusted to be horizontal, a pulse signal is measured by the counter, the winch rope-out state cannot be recorded after the controller is powered off, and the system cannot judge the initial lifting hook inclination degree; (2) The diameters of the reels of the two winches are equal, if the diameters of the reels exceed a specified value, the deviation is accumulated every time the winches rotate for one circle, and the lifting hook is inclined after the number of rotation turns is more; (3) The diameters and lengths of the steel wire ropes are equal, and the rope outlet/collection amount of the two winches when the two winches rotate at the same angle can be guaranteed to be equal only if one winch is used for a long time and then the double-winch working condition is used, so that the situation that the diameters of the steel wire ropes are different is likely to occur. In this case, the original scheme cannot be adopted to control the winch synchronization.
In summary, most of the current multi-hook cranes based on hydraulic winches have synchronism based on manual intervention or indirect open-loop speed adjustment, so that stable and safe operation of the hoisting mechanism cannot be really and effectively realized, the operation adjustment is complex, and the operation efficiency is low.
Disclosure of Invention
The invention solves the defects in the prior art, and provides a multi-hook synchronous control system of a crane based on hydraulic winch, which has the characteristics of simple operation, safety, reliability and stable operation. The system can integrate the mechanical, electric and hydraulic functions, monitor all parameters of the operation of the hoisting mechanism and the hydraulic system in an omnibearing manner, and realize closed-loop control of the lifting height and the lifting speed of the hydraulic hoisting mechanism.
The technical scheme adopted for achieving the purposes of the invention is as follows:
the multi-lifting hook synchronous control system of the crane based on the hydraulic winch at least comprises a control center, a hydraulic power station, a hydraulic power control device, a hydraulic pipeline, two or more groups of winch-lifting hook units, wherein the hydraulic power station outputs hydraulic power and drives all the winch-lifting hook units to operate, the winch-lifting hook units comprise a hydraulic motor, a speed reducer, a winding drum, a clamp disc brake, a steel wire rope, a pulley block and a lifting appliance, a motor speed sensor for monitoring the running speed and the running position of the lifting mechanism is arranged on the hydraulic motor, a braking state monitoring sensor for monitoring whether the running state of the lifting mechanism is normal or not is arranged on the clamp disc brake, an encoder for measuring the winding circle number of the winding drum and an overspeed switch for monitoring whether the rotating speed of the winding drum exceeds the limit are arranged on an output shaft of the winding drum, and a steel wire rope layer measuring sensor for measuring the current winding diameter of the steel wire rope is also arranged on the winding drum; the control center is connected with the hydraulic power control device, the motor speed measuring sensor, the braking state monitoring sensor, the encoder and the steel wire rope layer measuring sensor, and the hydraulic power control device is used for controlling the output of hydraulic power so as to further control the rotating speed of the hydraulic motor.
The hydraulic power control device is used for controlling the starting and stopping and the rotating speed of an engine and a motor in the hydraulic power station and simultaneously controlling the displacement of a hydraulic pump in the hydraulic power station, and particularly comprises a pump station control valve in the hydraulic power station, a hydraulic motor control valve in a winch-lifting hook unit and a control valve in a caliper disc brake.
The encoder is a multi-turn absolute value encoder, is arranged at the output shaft end of the winding drum of the winding-lifting hook unit, synchronously operates along with the winding drum, and is connected with the winding machine base.
The invention also provides a synchronous control method of the crane multi-hook synchronous control system based on the hydraulic winch, which comprises the following steps:
(1) Grouping each winch-lifting hook unit, namely a lifting hook group 1 and a lifting hook group 2 and … … lifting hook group N (N is more than or equal to 2), and setting the initial height of each lifting hook to be consistent;
(2) During the lifting process, the number of windings of the steel wire rope on the winding drum is calculated by installing an encoder (the number of the metering turns on the current layer is set to be N n ) And the current winding diameter d of the steel wire rope on the winding drum is calculated through the steel wire rope layer measuring sensor n The control center calculates the extending length L= (pi) of the steel wire rope according to the data of the encoder and the steel wire rope layer measuring sensor * d 1* N 1 +...π * d n* N n ) The method comprises the steps of carrying out a first treatment on the surface of the The multiplying power of the pulley block in the winch-lifting hook unit is set to be K, the real-time height of the lifting appliance in the lifting hook unit is H=L/K, and the real-time height of the lifting appliance in the lifting hook unit 1 and the lifting hook unit 2 … … lifting hook unit N is H 1 、H 2 ……H N ；
(3) The control center calculates the real-time height H of the lifting appliance according to the calculated height H 1 、H 2 ……H N Further from which H is determined max And H min And storing the data;
(4) In the lifting and lifting process of the lifting hook groups, all the lifting hook groups are lifted by H max For reference to carry out closed-loop PID adjustment, the multi-hook synchronous control is realized, and the specific adjustment method is as follows: firstly combining every two of the winches, lifting all the winches together, lifting a certain height to compare the height difference, comparing the ratio of the height difference of all the winches to the height difference of the lifting height, firstly determining a proportion coefficient P by a trial-and-error method, drawing a difference curve until the difference is changed within an allowable range, and then testing I and D parameters one by one;
(5) In the lifting and descending process of the lifting hook groups, all the lifting hook groups adopt H min For reference, closed-loop PID adjustment is carried out to realize synchronous control of multiple lifting hooksThe specific adjustment method is as follows: firstly combining every two, then descending all winches together, descending a certain height to compare the height difference, comparing the ratio of all the winch height differences to the lifting height difference, firstly determining a proportion coefficient P by using a trial and error method, drawing a difference curve until the difference is changed within an allowable range, and then testing the I and D parameters one by one.
Compared with the prior art, the technical scheme provided by the invention has the following advantages: the system can integrate the mechanical, electric and hydraulic systems into a whole, monitor all the operating parameters of the hoisting mechanism and the hydraulic system, realize closed-loop control of the lifting height and the lifting speed of the hydraulic hoisting mechanism, and realize safe and efficient control of the hoisting mechanism of the crane by only selecting an operation mode. Various safety protection and closed-loop sensors are arranged in the mechanical hydraulic system, the system collects various parameters in the operation process and performs closed-loop adjustment, and an operator can clearly observe the operation state of the equipment at a man-machine interface of a cab. The synchronous lifting and descending of the multi-lifting hook in the process of lifting the heavy objects can be realized, and the stability, safety and high efficiency of the crane in the use process are ensured.
Drawings
FIG. 1 is a schematic diagram of the installation and arrangement of a multi-hook synchronous control system of a crane based on hydraulic winch;
FIG. 2 is a left side view of FIG. 1;
FIG. 3 is a schematic diagram of driving control in the synchronous control system according to the present invention;
FIG. 4 is a schematic diagram of a synchronous closed-loop control in the synchronous control system provided by the invention;
in the figure: 1. a reel; 2. a caliper disc brake; 3. a brake state monitoring sensor; 4. a hydraulic motor; 5. a motor speed sensor; 6. an overspeed switch; 7. an encoder; 8. an encoder mounting bracket; 9. a steel wire rope layer measuring sensor.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific examples, but the scope of the present invention is not limited to the following examples.
The invention provides a multi-hook synchronous control system of a crane based on hydraulic winch, which at least comprises a control center (cab), a hydraulic power station, a hydraulic power control device, a hydraulic pipeline, two or more groups of winch-hook units, wherein the hydraulic power station outputs hydraulic power and drives all the winch-hook units to operate, the winch-hook unit comprises a hydraulic motor 4, a speed reducer, a winding drum 1, a caliper disc brake 2, a steel wire rope, a pulley block and a lifting appliance, the installation arrangement of the multi-hook synchronous control system of the crane based on hydraulic winch is shown in fig. 1 and 2, a motor speed sensor 5 is arranged on the hydraulic motor and used for monitoring auxiliary measurement of the running speed and the running position of a lifting mechanism, a brake state monitoring sensor 3 is arranged on the caliper disc brake 2 and used for monitoring whether the running state of the lifting mechanism is normal, and an encoder 7 used for measuring the winding circle number of the winding drum is arranged on an output shaft of the winding drum so as to measure the length of the steel wire rope of the winding drum; the output shaft of the winding drum is also provided with an overspeed switch 6 for monitoring whether the rotating speed of the winding drum exceeds the limit, so that the length of the winding drum steel wire rope is measured. The winding drum is also provided with a steel wire rope layer measuring sensor 9 for measuring the current winding diameter of the steel wire rope; the control center is connected with a hydraulic power control device, a motor speed measuring sensor, a braking state monitoring sensor, an encoder and a steel wire rope layer measuring sensor 9, and the hydraulic power control device is used for controlling hydraulic power output so as to further control the rotating speed of the hydraulic motor.
The hydraulic power control device is used for controlling the starting and stopping and the rotating speed of an engine and a motor in the hydraulic power station and simultaneously controlling the displacement of a hydraulic pump in the hydraulic power station, and particularly comprises a pump station control valve in the hydraulic power station, a hydraulic motor control valve in a winch-lifting hook unit and a control valve in a caliper disc brake.
The encoder is a multi-turn absolute value encoder, is arranged at the output shaft end of a winding drum of the winding-lifting hook unit, synchronously operates along with the winding drum, and is connected with a winding machine base through an encoder mounting bracket 8.
The synchronous control method of the crane multi-hook synchronous control system based on the hydraulic winch provided by the embodiment comprises the following steps:
(1) Grouping each winch-lifting hook unit, namely a lifting hook group 1 and a lifting hook group 2 and … … lifting hook group N (N is more than or equal to 2), and setting the initial height of each lifting hook to be consistent;
(2) During the lifting process, the number of windings of the steel wire rope on the winding drum is calculated by installing an encoder (the number of the metering turns on the current layer is set to be N n ) And the current winding diameter d of the steel wire rope on the winding drum is calculated through the steel wire rope layer measuring sensor n The control center calculates the extending length L= (pi) of the steel wire rope according to the data of the encoder and the steel wire rope layer measuring sensor * d 1* N 1 +...π * d n* N n ) The method comprises the steps of carrying out a first treatment on the surface of the The multiplying power of the pulley block in the winch-lifting hook unit is set to be K, the real-time height of the lifting appliance in the lifting hook unit is H=L/K, and the real-time height of the lifting appliance in the lifting hook unit 1 and the lifting hook unit 2 … … lifting hook unit N is H 1 、H 2 ……H N ；
(3) The control center calculates the real-time height H of the lifting appliance according to the calculated height H 1 、H 2 ……H N Further from which H is determined max And H min And storing the data;
(4) In the lifting and lifting process of the lifting hook groups, all the lifting hook groups are lifted by H max For reference to closed-loop PID adjustment, multi-hook synchronous control is realized, and a specific adjustment method is shown in fig. 3 and 4: firstly combining every two of the winches, lifting all the winches together, lifting a certain height to compare the height difference, comparing the ratio of the height difference of all the winches to the height difference of the lifting height, firstly determining a proportion coefficient P by a trial-and-error method, drawing a difference curve until the difference is changed within an allowable range, and then testing I and D parameters one by one;
(5) In the lifting and descending process of the lifting hook groups, all the lifting hook groups adopt H min For reference to carry out closed-loop PID adjustment, the multi-hook synchronous control is realized, and the specific adjustment method is as follows: firstly combining every two, then descending all winches together, descending a certain height to compare the height difference, comparing the ratio of all the winch height differences to the lifting height difference, firstly determining a proportion coefficient P by using a trial and error method, drawing a difference curve until the difference is changed within an allowable range, and then testing the I and D parameters one by one.
Compared with the prior art, the technical scheme provided by the invention has the following advantages: the system can integrate the mechanical, electric and hydraulic systems into a whole, monitor all the operating parameters of the hoisting mechanism and the hydraulic system, realize closed-loop control of the lifting height and the lifting speed of the hydraulic hoisting mechanism, and realize safe and efficient control of the hoisting mechanism of the crane by only selecting an operation mode. Various safety protection and closed-loop sensors are arranged in the mechanical hydraulic system, the system collects various parameters in the operation process and performs closed-loop adjustment, and an operator can clearly observe the operation state of the equipment at a man-machine interface of a cab. The synchronous lifting and descending of the multi-lifting hook in the process of lifting the heavy objects can be realized, and the stability, safety and high efficiency of the crane in the use process are ensured.
Claims (3)
1. The synchronous control system at least comprises a control center, a hydraulic power station, a hydraulic power control device, a hydraulic pipeline, two or more groups of winch-lifting hook units, wherein the hydraulic power station outputs hydraulic power and drives all the winch-lifting hook units to operate, and the winch-lifting hook units comprise a hydraulic motor, a speed reducer, a winding drum, a caliper disc brake, a steel wire rope, a pulley block and a lifting appliance; the hydraulic motor is provided with a motor speed measuring sensor for monitoring the operation speed and the position of the lifting mechanism in an auxiliary way, the caliper disc brake is provided with a brake state monitoring sensor for monitoring whether the operation state of the lifting mechanism is normal, the output shaft of the hydraulic motor is provided with an encoder for measuring the winding number of the winding drum, and the winding drum is also provided with a steel wire rope layer measuring sensor for measuring the current winding diameter of the steel wire rope; the control center is connected with the hydraulic power control device, the motor speed measuring sensor, the braking state monitoring sensor, the encoder and the steel wire rope layer measuring sensor, and the hydraulic power control device is used for controlling the output of hydraulic power so as to further control the rotating speed of the hydraulic motor;
the method is characterized in that: the synchronous control method comprises the following steps:
(1) Grouping each winch-lifting hook unit, namely a lifting hook group 1 and a lifting hook group 2 and … … lifting hook group N (N is more than or equal to 2), and setting the initial height of each lifting hook to be consistent;
(2) During the lifting process, the number of windings of the steel wire rope on the winding drum is calculated by installing an encoder (the number of the metering turns on the current layer is set to be N n ) And the current winding diameter d of the steel wire rope on the winding drum is calculated through the steel wire rope layer measuring sensor n The control center calculates the extending length L= (pi) of the steel wire rope according to the data of the encoder and the steel wire rope layer measuring sensor * d 1* N 1 +...π * d n* N n ) The method comprises the steps of carrying out a first treatment on the surface of the The multiplying power of the pulley block in the winch-lifting hook unit is set to be K, the real-time height of the lifting appliance in the lifting hook unit is H=L/K, and the real-time height of the lifting appliance in the lifting hook unit 1 and the lifting hook unit 2 … … lifting hook unit N is H 1 、H 2 ……H N ；
(3) The control center calculates the real-time height H of the lifting appliance according to the calculated height H 1 、H 2 ……H N Further from which H is determined max And H min And storing the data;
(4) In the lifting and lifting process of the lifting hook groups, all the lifting hook groups are lifted by H max For reference to carry out closed-loop PID adjustment, the multi-hook synchronous control is realized, and the specific adjustment method is as follows: firstly combining every two of the winches, lifting all the winches together, lifting a certain height to compare the height difference, comparing the ratio of the height difference of all the winches to the height difference of the lifting height, firstly determining a proportion coefficient P by a trial-and-error method, drawing a difference curve until the difference is changed within an allowable range, and then testing I and D parameters one by one;
(5) In the lifting and descending process of the lifting hook groups, all the lifting hook groups adopt H min For reference to carry out closed-loop PID adjustment, the multi-hook synchronous control is realized, and the specific adjustment method is as follows: firstly combining every two, then descending all winches together, descending a certain height to compare the height difference, comparing the ratio of all the winch height differences to the lifting height difference, firstly determining a proportion coefficient P by using a trial and error method, drawing a difference curve until the difference is changed within an allowable range, and then testing the I and D parameters one by one.
2. The synchronous control method of the crane multi-hook synchronous control system based on the hydraulic winch according to claim 1, wherein the method comprises the following steps: the hydraulic power control device is used for controlling the starting and stopping and the rotating speed of an engine and a motor in the hydraulic power station and simultaneously controlling the displacement of a hydraulic pump in the hydraulic power station, and particularly comprises a pump station control valve in the hydraulic power station, a hydraulic motor control valve in a winch-lifting hook unit and a control valve in a caliper disc brake.
3. The synchronous control method of the crane multi-hook synchronous control system based on the hydraulic winch according to claim 1, wherein the method comprises the following steps: the encoder is a multi-turn absolute value encoder, is arranged at the output shaft end of the winding drum of the winding-lifting hook unit, synchronously operates along with the winding drum, and is connected with the winding machine base.
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1086789A (en) * | 1992-11-08 | 1994-05-18 | 铁道部兰州机车工厂 | Hydraulic driving system for single hook double hoisting crane |
| JP5151397B2 (en) * | 2007-10-29 | 2013-02-27 | コベルコクレーン株式会社 | Hanging number detection device |
| CN101804948B (en) * | 2010-05-06 | 2012-12-05 | 侯庆国 | Double-drum synchronous hoister |
| CN102942137A (en) * | 2012-11-30 | 2013-02-27 | 南京中船绿洲机器有限公司镇江船舶辅机厂 | Hydraulic winch |
| CN104609311B (en) * | 2015-02-03 | 2016-09-14 | 徐工集团工程机械股份有限公司 | A kind of double hoisting synchronous control system for crane and method |
| CN112062016B (en) * | 2020-09-10 | 2022-01-28 | 南京金城液压工程有限公司 | Large-tonnage double-speed hydraulic winch with over-discharge alarm function |
| CN112173971B (en) * | 2020-09-10 | 2022-11-25 | 湖南中联重科智能技术有限公司 | System and method for detecting rope releasing length of winch and crane |
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