CN113104730B - Anti-swing control method and equipment in rotation process of lifting appliance - Google Patents
Anti-swing control method and equipment in rotation process of lifting appliance Download PDFInfo
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- CN113104730B CN113104730B CN202110257894.2A CN202110257894A CN113104730B CN 113104730 B CN113104730 B CN 113104730B CN 202110257894 A CN202110257894 A CN 202110257894A CN 113104730 B CN113104730 B CN 113104730B
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- 230000008569 process Effects 0.000 title claims abstract description 95
- 230000001133 acceleration Effects 0.000 claims abstract description 120
- 238000006073 displacement reaction Methods 0.000 claims abstract description 70
- 230000015654 memory Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 5
- 238000003860 storage Methods 0.000 description 5
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Classifications
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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
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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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
- B66C13/46—Position indicators for suspended loads or for crane elements
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides an anti-swing control method and equipment in a lifting appliance rotating process, wherein the method comprises the following steps: obtaining the maximum speed and the maximum acceleration in the rotation process of the lifting appliance; obtaining the rotation running cycle number of the lifting appliance and the real-time acceleration of the lifting appliance corresponding to each cycle according to the maximum speed; obtaining the maximum displacement in the acceleration process according to the maximum speed and the minimum value in the lifting appliance rotation real-time acceleration corresponding to each period; and comparing the maximum displacement with a rotary displacement set value, determining an output speed value and an output acceleration value according to a comparison result, and controlling the lifting appliance to rotate by adopting the output speed value and the output acceleration value. The invention can effectively eliminate the inertial swing of the lifting appliance in the rotation process, and improve the working efficiency of the lifting appliance for transferring materials.
Description
Technical Field
The invention belongs to the technical field of automatic control of a lifting appliance, and particularly relates to an anti-swing control method and equipment in the rotation process of the lifting appliance.
Background
The hoist is the common material transport instrument in the industry enterprise, and the hoist mainly relies on the hoist to accomplish the transportation of material, and hoist type and control mode are different according to the difference of material type. Due to layout problems of the production process and the transportation line, in the industrial production process, the material direction needs to be changed in the material transferring process, so that the lifting appliance is required to be rotatable.
The traditional lifting appliance is controlled by adopting a contactor to directly control, and the inertia in the start-stop process can not be controlled and eliminated because of the relatively direct start-stop process, so that the lifting appliance can continuously rotate and swing due to the inertia in the rotation process, the position of the lifting appliance is controlled manually and accurately, and meanwhile, a certain time is generally required for waiting for swinging to be static for accurately placing materials, so that the efficiency of transferring the materials is greatly influenced.
Therefore, developing an anti-swing control method and device in the rotation process of the lifting appliance can effectively overcome the defects in the related art, and the method and device are the technical problems to be solved in the industry.
Disclosure of Invention
Based on the defects in the prior art, the invention solves the technical problem of providing an anti-swing control method and equipment in the rotation process of a lifting appliance.
In a first aspect, an embodiment of the present invention provides an anti-swing control method in a rotation process of a lifting appliance, including: obtaining the maximum speed and the maximum acceleration in the rotation process of the lifting appliance; obtaining the rotation running cycle number of the lifting appliance and the real-time acceleration of the lifting appliance corresponding to each cycle according to the maximum speed; obtaining the maximum displacement in the acceleration process according to the maximum speed and the minimum value in the lifting appliance rotation real-time acceleration corresponding to each period; and comparing the maximum displacement with a rotary displacement set value, determining an output speed value and an output acceleration value according to a comparison result, and controlling the lifting appliance to rotate by adopting the output speed value and the output acceleration value.
Based on the foregoing method embodiment, the method for controlling anti-swing in a rotation process of a lifting appliance according to the embodiment of the present invention, where the obtaining of the maximum speed and the maximum acceleration in the rotation process of the lifting appliance includes:
wherein a is max Is the maximum acceleration; s is the displacement of the lifting appliance; t is the single pendulum period of the lifting appliance; v (V) max Maximum speed.
Optionally, the obtaining the number of running cycles of rotation of the lifting appliance and the real-time acceleration of rotation of the lifting appliance corresponding to each cycle according to the maximum speed includes:
wherein n is the number of rotation operation cycles of the lifting appliance, and the integer is taken; a, a n And (5) rotating the lifting appliance corresponding to each period by real-time acceleration.
Further, the obtaining the maximum displacement in the acceleration process according to the maximum speed and the minimum value in the real-time acceleration of the rotation of the lifting appliance corresponding to each cycle includes:
wherein S is 1 Is the maximum displacement of the acceleration process; a, a nmin Is a as n Is the minimum value of (a).
Optionally, the comparing the maximum displacement with a rotational displacement set value, and determining the output speed value and the output acceleration value according to the comparison result includes:
if S set ≥2S 1 The rotation of the lifting appliance comprises a uniform speed process, and the output speed value is V max The output acceleration value is a nmin The method comprises the steps of carrying out a first treatment on the surface of the Wherein S is set Is the rotational displacement set point.
Optionally, the comparing the maximum displacement with a rotational displacement set value, and determining an output speed value and an output acceleration value according to a comparison result, further includes:
if S set ＜2S 1 The rotation of the lifting appliance does not comprise a uniform speed process, and the lifting appliance is controlled according to S set An output speed value and an acceleration value are determined.
Further, according to S set Determining the output speed value and acceleration value, comprising:
wherein V is according to S set A determined output speed value; a is according to S set The determined output acceleration value.
In a second aspect, an embodiment of the present invention provides an anti-swing control device in a rotation process of a lifting appliance, including: the first main module is used for acquiring the maximum speed and the maximum acceleration in the rotation process of the lifting appliance; the second main module is used for obtaining the rotation running cycle number of the lifting appliance and the real-time acceleration of the lifting appliance rotation corresponding to each cycle according to the maximum speed; the third main module is used for obtaining the maximum displacement in the acceleration process according to the maximum speed and the minimum value in the lifting appliance rotation real-time acceleration corresponding to each cycle; and the fourth main module is used for comparing the maximum displacement with a rotary displacement set value, determining an output speed value and an output acceleration value according to a comparison result, and controlling the lifting appliance to rotate by adopting the output speed value and the output acceleration value.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor invokes the program instructions to perform the anti-sway control method for the rotation of the lifting appliance provided in any of the various implementation manners of the first aspect.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer readable storage medium storing computer instructions that cause a computer to execute the anti-sway control method in a rotation process of a lifting appliance provided by any one of the various implementations of the first aspect.
By the method and the device for controlling swing prevention in the rotating process of the lifting appliance, provided by the embodiment of the invention, the maximum speed and the maximum acceleration in the rotating process of the lifting appliance are obtained, the maximum displacement in the accelerating process is further obtained, the maximum displacement is compared with the rotating displacement set value, the output speed value and the output acceleration value are determined according to the comparison result, the lifting appliance is controlled to rotate by adopting the output speed value and the output acceleration value, so that inertial swing of the lifting appliance in the rotating process can be effectively eliminated, materials are accurately placed, and the working efficiency of the lifting appliance for transferring the materials is improved.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention, as well as to provide further clarity and understanding of the above and other objects, features and advantages of the present invention, as described in the following detailed description of the preferred embodiments, taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without any inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an anti-swing control method in a rotation process of a lifting appliance provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of an anti-swing control device in a rotation process of a lifting appliance according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an entity structure of an electronic device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a single-cycle acceleration and deceleration motion curve provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of an acceleration/deceleration curve of n periods according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an acceleration/deceleration motion curve with a uniform velocity process according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an acceleration/deceleration motion curve of a non-uniform velocity process according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. In addition, the technical features of each embodiment or the single embodiment provided by the invention can be combined with each other at will to form a feasible technical scheme, and the combination is not limited by the sequence of steps and/or the structural composition mode, but is necessarily based on the fact that a person of ordinary skill in the art can realize the combination, and when the technical scheme is contradictory or can not realize, the combination of the technical scheme is not considered to exist and is not within the protection scope of the invention claimed.
The Siemens S7-1200PLC and the ABB ACS380 frequency converter are adopted to form a lifting appliance control system. And an absolute value encoder is arranged on the rotating motor of the lifting appliance, and the real-time angle of the rotation of the lifting appliance is detected. Programming a PLC program and setting parameters of a frequency converter for controlling the lifting appliance, adding a rotation anti-swing control algorithm into the PLC program, obtaining a rotation real-time acceleration value through the algorithm after setting the rotation angle or displacement value of the lifting appliance in the rotation process of the lifting appliance, and controlling the frequency converter to output through PN communication by the PLC so as to control the lifting appliance rotating motor to rotate without swing. On the basis, the embodiment of the invention provides an anti-swing control method in the rotation process of a lifting appliance, which is shown in fig. 1 and comprises the following steps: obtaining the maximum speed and the maximum acceleration in the rotation process of the lifting appliance; obtaining the rotation running cycle number of the lifting appliance and the real-time acceleration of the lifting appliance corresponding to each cycle according to the maximum speed; obtaining the maximum displacement in the acceleration process according to the maximum speed and the minimum value in the lifting appliance rotation real-time acceleration corresponding to each period; and comparing the maximum displacement with a rotary displacement set value, determining an output speed value and an output acceleration value according to a comparison result, and controlling the lifting appliance to rotate by adopting the output speed value and the output acceleration value.
Based on the foregoing disclosure of the method embodiment, the method for controlling anti-swing in a rotation process of a lifting appliance provided in the embodiment of the present invention, where the obtaining of a maximum speed and a maximum acceleration in the rotation process of the lifting appliance includes:
wherein a is max Is the maximum acceleration; s is the displacement of the lifting appliance; t is the single pendulum period of the lifting appliance; v (V) max Maximum speed.
The single period acceleration and deceleration movement can be seen in fig. 4. Specifically, because uniform acceleration control is adopted, the displacement in the acceleration and deceleration stages is the same, namely the two sliding distances, and S is preset to be 1/2 of the target displacement, namely the maximum stroke of the acceleration process; t takes a single pendulum period T, i.eThen equations (1) and (2) can be obtained.
Based on the foregoing disclosure of the method embodiment, the anti-swing control method in a rotation process of a lifting appliance provided in the embodiment of the present invention, where the obtaining, according to the maximum speed, a rotation operation cycle number of the lifting appliance and a real-time acceleration of rotation of the lifting appliance corresponding to each cycle includes:
wherein n is the number of rotation operation cycles of the lifting appliance, and the integer is taken; a, a n And (5) rotating the lifting appliance corresponding to each period by real-time acceleration.
The acceleration and deceleration movement for n periods can be seen in fig. 5. Specifically, according to the calculated a max It is possible to obtain a solution,due to the fact that a is during operation n ≤a max Then n and a can be calculated from the formula (3) n N is an integer.
Based on the foregoing disclosure of the method embodiment, the anti-swing control method in a rotation process of a lifting appliance provided in the embodiment of the present invention, where obtaining the maximum displacement in the acceleration process according to the maximum speed and the minimum value in the real-time acceleration of the rotation of the lifting appliance corresponding to each cycle includes:
wherein S is 1 Is the maximum displacement of the acceleration process; a, a nmin Is a as n Is the minimum value of (a).
Specifically, since the maximum rotation speed of the rotating electric machine is a fixed value, the rotation speed cannot be increased all the time, so that when accelerating to the maximum speed, it is necessary to enter a constant speed stage, so that it is possible to set the value S of the rotational displacement according to set To judge whether there is a uniform speed process in the movement process. a, a n Take the minimum value (i.e. a nmin ) When it is available S 1 The maximum value of (2), i.e., the maximum displacement of the acceleration process is shown in expression (4).
Based on the foregoing disclosure of the method embodiment, the method for controlling anti-swing in a rotation process of a lifting appliance provided in the embodiment of the present invention compares the maximum displacement with a rotational displacement set value, and determines an output speed value and an output acceleration value according to a comparison result, where the method includes: if S set ≥2S 1 The rotation of the lifting appliance comprises a uniform speed process, and the output speed value is V max The output acceleration value is a nmin The method comprises the steps of carrying out a first treatment on the surface of the Wherein S is set Is the rotational displacement set point. The acceleration and deceleration movement with the uniform velocity process can be seen in fig. 6.
Based on the foregoing disclosure of the method embodiment, as an optional embodiment, the method for controlling anti-swing in a rotation process of a lifting appliance according to the embodiment of the present invention includes comparing the maximum displacement with a rotational displacement set value, determining an output speed value and an output acceleration value according to a comparison result, and further including: if S set ＜2S 1 The rotation of the lifting appliance does not comprise a uniform speed process, and the lifting appliance is controlled according to S set An output speed value and an acceleration value are determined.
The embodiment of the invention provides an anti-swing control method in the rotation process of a lifting appliance, which is based on S set Determining the output speed value and acceleration value, comprising:
wherein V is according to S set A determined output speed value; a is according to S set The determined output acceleration value.
The acceleration and deceleration movement without a constant velocity process can be seen in fig. 7. Specifically, when S set ＜2S 1 When the lifting appliance rotates, the lifting appliance does not have a constant speed process, the process duration is 2nT, and the speed can be calculated according to the set displacement and the process time:
from equation (7), equations (5) and (6) can be obtained, so that a non-uniform process according to S can be obtained set The determined output speed value V and according to S set The determined output acceleration value a.
According to the anti-swing control method in the rotation process of the lifting appliance, the maximum speed and the maximum acceleration in the rotation process of the lifting appliance are obtained, the maximum displacement in the acceleration process is obtained, the maximum displacement is compared with the rotation displacement set value, the output speed value and the output acceleration value are determined according to the comparison result, the lifting appliance is controlled to rotate by adopting the output speed value and the output acceleration value, the inertial swing of the lifting appliance in the rotation process can be effectively eliminated, the material is accurately placed, and the working efficiency of the lifting appliance for transferring the material is improved.
In the anti-swing control method in the rotation process of the lifting appliance, firstly, a Siemens S7-1200PLC system and an ABB ACS880 frequency converter are configured in the implementation process to form an automatic control system; secondly, adding a program of an anti-swing control method in the rotation process of the lifting appliance into a PLC control program, and calculating the actual running speeds V and the accelerations a under different target displacements in real time; the speed V and the acceleration a are sent to the frequency converter through the network communication system again, and the frequency converter is used as an actual parameter to execute the output of the frequency converter so as to control the action of the rotating motor; finally, a rotary starting button can be arranged on the driving cab linkage operation table, or rotary displacement or angle can be set on a remote control picture HMI, and the lifting appliance can automatically rotate to a target position in an anti-swing mode.
The implementation basis of the embodiments of the present invention is realized by a device with a processor function to perform programmed processing. Therefore, in engineering practice, the technical solutions and the functions of the embodiments of the present invention can be packaged into various modules. Based on the actual situation, on the basis of the above embodiments, the embodiment of the invention provides an anti-swing control device in the rotation process of a lifting appliance, which is used for executing the anti-swing control method in the rotation process of the lifting appliance in the embodiment of the method. Referring to fig. 2, the apparatus includes:
the first main module is used for acquiring the maximum speed and the maximum acceleration in the rotation process of the lifting appliance; the second main module is used for obtaining the rotation running cycle number of the lifting appliance and the real-time acceleration of the lifting appliance rotation corresponding to each cycle according to the maximum speed; the third main module is used for obtaining the maximum displacement in the acceleration process according to the maximum speed and the minimum value in the lifting appliance rotation real-time acceleration corresponding to each cycle; and the fourth main module is used for comparing the maximum displacement with a rotary displacement set value, determining an output speed value and an output acceleration value according to a comparison result, and controlling the lifting appliance to rotate by adopting the output speed value and the output acceleration value.
According to the anti-swing control device for the lifting appliance in the rotating process, the modules shown in the figure 2 are adopted, the maximum speed and the maximum acceleration in the rotating process of the lifting appliance are obtained, the maximum displacement in the accelerating process is obtained, the maximum displacement is compared with the rotating displacement set value, the output speed value and the output acceleration value are determined according to the comparison result, the lifting appliance is controlled to rotate by adopting the output speed value and the output acceleration value, the inertial swing of the lifting appliance in the rotating process can be effectively eliminated, the materials are accurately placed, and the working efficiency of the lifting appliance for transferring the materials is improved.
It should be noted that, the device in the device embodiment provided by the present invention may be used to implement the method in the above method embodiment, and may also be used to implement the method in other method embodiments provided by the present invention, where the difference is merely that the corresponding functional module is provided, and the principle is basically the same as that of the above device embodiment provided by the present invention, so long as a person skilled in the art refers to a specific technical solution in the above device embodiment based on the above device embodiment, and obtains a corresponding technical means by combining technical features, and a technical solution formed by these technical means, and on the premise that the technical solution is ensured to have practicability, the device in the above device embodiment may be modified, so as to obtain a corresponding device embodiment, and be used to implement the method in other method embodiment. For example:
based on the content of the embodiment of the device, as an optional embodiment, the anti-swing control device in the rotation process of the lifting appliance provided in the embodiment of the invention further includes: the first sub-module is used for achieving maximum speed and maximum acceleration in the rotation process of the lifting appliance, and comprises:
wherein a is max Is the maximum acceleration; s is the displacement of the lifting appliance; t is the single pendulum period of the lifting appliance; v (V) max Maximum speed.
Based on the content of the embodiment of the device, as an optional embodiment, the anti-swing control device in the rotation process of the lifting appliance provided in the embodiment of the invention further includes: the second sub-module is used for realizing that the lifting appliance rotation running cycle number and the lifting appliance rotation real-time acceleration corresponding to each cycle are obtained according to the maximum speed, and comprises the following components:
wherein n is the number of rotation operation cycles of the lifting appliance, and the integer is taken; a, a n And (5) rotating the lifting appliance corresponding to each period by real-time acceleration.
Based on the content of the embodiment of the device, the anti-swing control device in the rotation process of the lifting appliance provided by the embodiment of the invention further comprises: and the third sub-module is used for realizing the maximum displacement of the acceleration process according to the maximum speed and the minimum value in the real-time acceleration of the rotation of the lifting appliance corresponding to each period, and comprises the following steps:
wherein S is 1 Is the maximum displacement of the acceleration process; a, a nmin Is a as n Is the minimum value of (a).
Based on the content of the embodiment of the device, as an optional embodiment, the anti-swing control device in the rotation process of the lifting appliance provided in the embodiment of the invention further includes: and a fourth sub-module, configured to compare the maximum displacement with a rotational displacement set value, determine an output velocity value and an output acceleration value according to a comparison result, and include: if S set ≥2S 1 The rotation of the lifting appliance comprises a uniform speed process, and the output speed value is V max The output acceleration value is a nmin The method comprises the steps of carrying out a first treatment on the surface of the Wherein S is set Is the rotational displacement set point.
Based on the content of the device embodiment, in the embodiment of the inventionThe anti-swing control device in the rotation process of the lifting appliance provided further comprises: and a fifth sub-module, configured to compare the maximum displacement with a rotational displacement set value, determine an output velocity value and an output acceleration value according to a comparison result, and further include: if S set ＜2S 1 The rotation of the lifting appliance does not comprise a uniform speed process, and the lifting appliance is controlled according to S set An output speed value and an acceleration value are determined.
The anti-swing control device in the rotation process of the lifting appliance provided by the embodiment of the invention further comprises: a sixth sub-module for implementing the method according to S set Determining the output speed value and acceleration value, comprising:
wherein V is according to S set A determined output speed value; a is according to S set The determined output acceleration value.
The method of the embodiment of the invention is realized by the electronic equipment, so that the related electronic equipment is necessary to be introduced. To this end, an embodiment of the present invention provides an electronic device, as shown in fig. 3, including: at least one processor (processor), a communication interface (Communications Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication interface, and the at least one memory communicate with each other via the communication bus. The at least one processor may invoke logic instructions in the at least one memory to perform all or part of the steps of the methods provided by the various method embodiments described above.
Further, the logic instructions in at least one of the memories described above may be implemented in the form of a software functional unit and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this knowledge, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
While the invention has been described with respect to the preferred embodiments, it will be understood that the invention is not limited thereto, but is capable of modification and variation without departing from the spirit of the invention, as will be apparent to those skilled in the art.
Claims (9)
1. The anti-swing control method in the rotation process of the lifting appliance is characterized by comprising the following steps of:
obtaining the maximum speed and the maximum acceleration in the rotation process of the lifting appliance;
obtaining the rotation running cycle number of the lifting appliance and the real-time acceleration of the lifting appliance corresponding to each cycle according to the maximum speed;
obtaining the maximum displacement in the acceleration process according to the maximum speed and the minimum value in the lifting appliance rotation real-time acceleration corresponding to each period;
and comparing the maximum displacement with a rotary displacement set value, determining an output speed value and an output acceleration value according to a comparison result, and controlling the lifting appliance to rotate by adopting the output speed value and the output acceleration value.
2. The method for controlling anti-sway of a spreader during rotation of the spreader according to claim 1, wherein the acquiring of the maximum speed and the maximum acceleration during rotation of the spreader comprises:
wherein a is max Is the maximum acceleration; s is the displacement of the lifting appliance; t is the single pendulum period of the lifting appliance; v (V) max Maximum speed.
3. The anti-swing control method according to claim 2, wherein the obtaining the number of the rotation running cycles of the spreader and the real-time acceleration of the spreader rotation corresponding to each cycle according to the maximum speed comprises:
wherein n is the number of rotation operation cycles of the lifting appliance, and the integer is taken; a, a n And (5) rotating the lifting appliance corresponding to each period by real-time acceleration.
4. The anti-sway control method of claim 3, characterized in that the obtaining the maximum displacement of the acceleration process according to the maximum speed and the minimum value of the real-time acceleration of the rotation of the lifting appliance corresponding to each cycle comprises:
wherein S is 1 Is the maximum displacement of the acceleration process; a, a nmin Is a as n Is the minimum value of (a).
5. The method for controlling anti-sway during rotation of a lifting appliance according to claim 4, wherein comparing the maximum displacement with a rotational displacement set value and determining an output speed value and an acceleration value according to the comparison result comprises:
if S set ≥2S 1 The rotation of the lifting appliance comprises a uniform speed process, and the output speed value is V max The output acceleration value is a nmin The method comprises the steps of carrying out a first treatment on the surface of the Wherein S is set Is the rotational displacement set point.
6. The method for controlling anti-sway during rotation of a lifting appliance according to claim 5, wherein comparing the maximum displacement with a rotational displacement set value, determining an output speed value and an output acceleration value according to the comparison result, further comprises:
if S set ＜2S 1 The rotation of the lifting appliance does not comprise a uniform speed process, and the lifting appliance is controlled according to S set An output speed value and an acceleration value are determined.
7. The swing preventing control method according to claim 6, wherein according to S set Determining the output speed value and acceleration value, comprising:
wherein V is according to S set A determined output speed value; a is according to S set The determined output acceleration value.
8. Anti-swing control device in hoist rotation process, characterized by, include:
the first main module is used for acquiring the maximum speed and the maximum acceleration in the rotation process of the lifting appliance;
the second main module is used for obtaining the rotation running cycle number of the lifting appliance and the real-time acceleration of the lifting appliance rotation corresponding to each cycle according to the maximum speed;
the third main module is used for obtaining the maximum displacement in the acceleration process according to the maximum speed and the minimum value in the lifting appliance rotation real-time acceleration corresponding to each cycle;
and the fourth main module is used for comparing the maximum displacement with a rotary displacement set value, determining an output speed value and an output acceleration value according to a comparison result, and controlling the lifting appliance to rotate by adopting the output speed value and the output acceleration value.
9. An electronic device, comprising:
at least one processor, at least one memory, and a communication interface; wherein,
the processor, the memory and the communication interface are communicated with each other;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1-7.
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|---|---|---|---|---|
| JP2009083977A (en) * | 2007-09-28 | 2009-04-23 | Daito Denki Kk | Swing prevention control method and swing prevention control system for crane |
| JP2012001324A (en) * | 2010-06-17 | 2012-01-05 | Okumura Corp | Method of controlling crane |
| CN102807159A (en) * | 2012-08-13 | 2012-12-05 | 中联重科股份有限公司 | Tower crane rotation control equipment, system and method and tower crane |
| JP2017202912A (en) * | 2016-05-12 | 2017-11-16 | Ｊｆｅ物流株式会社 | Crane anti-sway control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014008094A1 (en) * | 2014-06-02 | 2015-12-03 | Liebherr-Werk Nenzing Gmbh | Method for controlling the alignment of a crane load and a jib crane |
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|---|---|---|---|---|
| JP2009083977A (en) * | 2007-09-28 | 2009-04-23 | Daito Denki Kk | Swing prevention control method and swing prevention control system for crane |
| JP2012001324A (en) * | 2010-06-17 | 2012-01-05 | Okumura Corp | Method of controlling crane |
| CN102807159A (en) * | 2012-08-13 | 2012-12-05 | 中联重科股份有限公司 | Tower crane rotation control equipment, system and method and tower crane |
| JP2017202912A (en) * | 2016-05-12 | 2017-11-16 | Ｊｆｅ物流株式会社 | Crane anti-sway control method and system |
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