CN114104978B - Double-winch synchronous control method and device, working machine, equipment and medium - Google Patents
Double-winch synchronous control method and device, working machine, equipment and medium Download PDFInfo
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- CN114104978B CN114104978B CN202111250399.5A CN202111250399A CN114104978B CN 114104978 B CN114104978 B CN 114104978B CN 202111250399 A CN202111250399 A CN 202111250399A CN 114104978 B CN114104978 B CN 114104978B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—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
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
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Abstract
The invention provides a double-winch synchronous control method, a device, an operation machine, equipment and a medium, wherein the double-winch synchronous control method, the device, the operation machine, the equipment and the medium are used for acquiring encoder target difference data according to a working angle of a mechanical main arm and an encoder detection difference calculation model, further compensating driving current of a secondary winch by using driving current of the main winch and the encoder target difference data, ensuring that the main winch and the secondary winch are always synchronous, and further improving the precision of a synchronous control process; meanwhile, according to the method, the target difference data of the encoder is calculated based on the pre-constructed encoder detection difference calculation model, and wireless communication between an external sensor and the controller is not relied on, so that the control process is not interfered by wireless, and the reliability is higher.
Description
Technical Field
The invention relates to the technical field of hoisting machinery control, in particular to a double-winch synchronous control method, a double-winch synchronous control device, a double-winch synchronous control working machine, double-winch synchronous control equipment and a double-winch synchronous control medium.
Background
Along with the continuous promotion of modern infrastructure construction, traditional single hoist and mount mode has failed to satisfy actual hoist and mount demand, and for this reason, double winch single hook lifting device has become the same, but in the practical application in-process, is limited by many factors influences such as hydraulic system, structure difference and frictional force, adopts traditional constant variable control (i.e. input the same control signal), is difficult to guarantee double winch operating speed uniformity, and the speed difference can lead to lifting hook slope, wire rope and assembly pulley wearing and tearing appear in double winches, causes the incident easily. Therefore, the synchronous control of the double winches is particularly important.
The existing double-winch synchronous control method generally adopts an indirect measurement mode to realize synchronous control, for example, a pulse counter is adopted to calculate the motor speed difference of a main winch and a secondary winch to realize synchronous control, for example, a coder on a main winding drum and a secondary winding drum is adopted to calculate the rope height difference to realize synchronous control, and the indirect measurement mode is not accurate enough because the measured data is greatly influenced by external factors, and is difficult to realize accurate control.
In addition, some schemes utilize data measuring equipment installed near the lifting hook to communicate with the boarding controller to realize synchronous control, such as installing a laser range finder above the left side and the right side of the lifting hook respectively, extending a range finding baffle plate on the two sides of the lifting hook, respectively measuring the height of the laser range finder from the bottom baffle plate under the laser range finder, sending the height information to the boarding controller, and adjusting the winding speed of the winch through the height difference of the left side and the right side; for another example, an inclination sensor is installed on the lifting hook lifting appliance, and inclination data is sent to the boarding controller in a wireless communication mode to be synchronously adjusted. The synchronous control scheme is realized by utilizing a wireless data transmission technology, and the wireless interference of the lifting hook, the communication distance, the waterproof performance of a battery of the transmitter and the like can influence the stability of wireless data transmission, so that the control reliability is greatly reduced.
Therefore, a more accurate and reliable dual winch synchronization control method that is not easily interfered by wireless is needed to solve the above problems.
Disclosure of Invention
The invention provides a double-winch synchronous control method, a double-winch synchronous control device, an operation machine, operation equipment and a medium, which are used for solving the defects that in the prior art, the control precision of a double-winch synchronous control scheme is low and wireless interference is easy to occur.
In a first aspect, the present invention provides a dual winch synchronization control method, including:
acquiring a working angle of a mechanical main arm;
acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model;
acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference value data of the encoder; and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
According to the double-winch synchronous control method provided by the invention, the encoder detection difference calculation model is established by the following method, and the method comprises the following steps of:
determining a working angle range of a main arm of the hoisting machinery, and calibrating a plurality of groups of working angle data in the working angle range;
respectively obtaining a main winch encoder detection value and a secondary winch encoder detection value corresponding to each group of working angle data, and calculating detection difference values of the main winch encoder and the secondary winch encoder to obtain an encoder detection difference value data set corresponding to each group of working angle data;
according to encoder detection difference data sets corresponding to each group of working angle data, an encoder detection difference calculation model is established;
the encoder detection difference calculation model takes the working angle of the hoisting mechanical main arm as an independent variable, and encoder target difference data corresponding to the working angle as a dependent variable.
According to the double-winch synchronous control method provided by the invention, the expression of the encoder detection difference calculation model is as follows:
C(X)＝(C (k+1)j -C kj )×(X-X k )/(X k+1 -X k )+C kj
wherein C (X) is encoder target difference data, X is the current working angle of the main arm of the hoisting machine, and X k For the k-th set of working angle data, X k+1 Is the k+1st group of working angle data and satisfies X k ≤X≤X k+1 ，C kj Detecting a difference value for a j-th encoder in a difference value data set for an encoder corresponding to k-th working angle data set, C (k+1)j And detecting a difference value for a j-th encoder in the difference value data set for the encoder corresponding to the k+1 working angle data.
According to the dual-winch synchronous control method provided by the invention, the encoder detects the establishment of a difference calculation model and further comprises the following steps:
in the process of calibrating a plurality of groups of working angle data, horizontal inclination angle data of the lifting mechanical hook are obtained in real time, and the horizontal inclination angle data are controlled to be within a safe inclination angle threshold range.
According to the double-winch synchronous control method provided by the invention, before compensating the driving current of the auxiliary winch, the method further comprises the following steps:
judging whether the target difference value data of the encoder is smaller than a preset safety difference value threshold value, and if the target difference value data of the encoder is smaller than the safety difference value threshold value, compensating the driving current of the auxiliary winch; otherwise, the double winch is adjusted until the target difference value data of the encoder is smaller than the safety difference value threshold value.
According to the double-winch synchronous control method provided by the invention, the compensation of the driving current of the auxiliary winch comprises the following steps:
obtaining a driving current of a main winch;
calculating current deviation values of the main winch and the auxiliary winch through a PI algorithm according to the encoder target difference value data;
and adding the driving current of the main winch and the current deviation value to obtain the driving current of the compensated auxiliary winch.
In a second aspect, the present invention also provides a dual-winch synchronous control device, which includes:
the acquisition module is used for acquiring the working angle of the mechanical main arm;
the calculation module is used for obtaining encoder target difference data according to the working angle and the encoder detection difference calculation model;
the processing module is used for acquiring the driving current of the main winch and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference value data of the encoder; and the control module is used for synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch.
In a third aspect, the present invention also provides a working machine using the double winch synchronous control method of any one of the above.
In a fourth aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of any one of the above-mentioned dual-winding synchronization control methods when the processor executes the program.
In a fifth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the dual winding synchronization control method as described in any of the above.
According to the double-winch synchronous control method, the double-winch synchronous control device, the operation machine, the equipment and the medium, the encoder target difference value data is obtained through the calculation model according to the working angle of the main arm of the machine and the encoder detection difference value, and further the driving current of the main winch and the encoder target difference value data are utilized to compensate the driving current of the auxiliary winch, so that the main winch and the auxiliary winch are always synchronous, and the accuracy of the synchronous control process is improved; meanwhile, according to the method, the target difference data of the encoder is calculated based on the pre-constructed encoder detection difference calculation model, and wireless communication between an external sensor and the controller is not relied on, so that the control process is not interfered by wireless, and the reliability is higher.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a dual winch synchronization control method provided by the invention;
FIG. 2 is a schematic diagram of a double-winch single-hook structure of an all-terrain vehicle crane;
FIG. 3 is a schematic view of the installation angle of a double-winch single hook in an ideal state;
FIG. 4 is a schematic view of the installation angle of a double-winch single hook in the case of a certain inclination angle;
FIG. 5 is a graph of the horizontal tilt angle data of the hook versus the encoder target difference data for a main arm operating angle of 78.0 degrees;
FIG. 6 is a graph of the horizontal tilt angle data of the hook versus the encoder target difference data for a main arm operating angle of 82.5 degrees;
FIG. 7 is a schematic flow chart of synchronous control of double winches and single hooks of the crane;
FIG. 8 is a schematic structural diagram of a dual winch synchronization control device provided by the present invention;
fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. 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.
Fig. 1 shows a dual-winch synchronous control method provided by an embodiment of the present invention, which includes:
s110: acquiring a working angle of a mechanical main arm;
s120: obtaining encoder target difference data according to the working angle and the encoder detection difference calculation model;
s130: acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference value data of the encoder;
s140: and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the driving current of the compensated auxiliary winch.
In this embodiment, obtaining encoder target difference data according to the working angle and the encoder detection difference calculation model includes: and inputting the working angle into an encoder detection difference calculation model to obtain encoder target difference data, namely inputting the encoder detection difference calculation model into the working angle data, and outputting the encoder target difference data.
Specifically, the encoder detection difference calculation model in this embodiment is established by the following method, including:
the first step: and determining the working angle range of the main arm of the hoisting machine, and calibrating a plurality of groups of working angle data in the working angle range.
The main arm of the hoisting machine is an important part of the hoisting machine, and the main arm is also called a main crane arm and a large arm, and the working angle of the main arm can be displayed and controlled on a control panel of the crane in real time. Fig. 2 shows a double-winch single-hook structure of an all-terrain vehicle crane, of which main arm 210, hook 220, and auxiliary winch wire 230 and main winch wire 240 can be seen in fig. 2.
The working angle range of the main arm in this embodiment can be expressed as X min ～X max When the double winch is lifted or falls, M groups of data can be calibrated in the working angle range, namely X min 、X min +(X max -X min )/M…X min +(M-1)(X max -X min )/M、X max And (5) performing initial calibration on the working angle of the main arm.
And a second step of: and respectively obtaining a detection value of the main winch encoder and a detection value of the auxiliary winch encoder corresponding to each group of working angle data, and calculating detection difference values of the main winch encoder and the auxiliary winch encoder to obtain an encoder detection difference value data set corresponding to each group of working angle data.
At a first calibrated working angle X min For example, the host computer or controller will automatically record the encoder value A of the main winch at each turn 11 、A 12 、A 13 …A 1N And the encoder value B of the secondary winding at each turn 11 、B 12 、B 13 …B 1N The difference C of the double winch encoder is obtained by subtraction and conversion 11 、C 12 、C 13 …C 1N The method comprises the steps of carrying out a first treatment on the surface of the Thereby obtaining the working angle X min Calibrated encoder detects the difference data set { C 1j }(j＝1,2…N-1,N)。
Repeating the above operation to calibrate the encoder difference data set corresponding to the ith working angle, namely { C } ij The final encoder difference data set can be used as the independence in the subsequent double-winch synchronous control process (i=1, 2 … M-1, M; j=1, 2 … N-1, N)Depending on the target data source of the wireless transmission.
And a third step of: according to encoder detection difference data sets corresponding to each group of working angle data, an encoder detection difference calculation model is established; the encoder detection difference calculation model takes the working angle of the hoisting mechanical main arm as an independent variable, and encoder target difference data corresponding to the working angle as a dependent variable.
In this embodiment, the encoder detection difference calculation model may convert to obtain corresponding encoder target difference data according to a known working angle of the main arm. Specifically, the expression of the encoder detection difference calculation model is:
C(X)＝(C (k+1)j -C kj )×(X-X k )/(X k+1 -X k )+C kj (1)
wherein C (X) is encoder target difference data, X is the current working angle of the main arm of the hoisting machine, and X k For the k-th set of working angle data, X k+1 Is the k+1st group of working angle data and satisfies X k ≤X≤X k+1 ，C kj Detecting a difference value for a j-th encoder in a difference value data set for an encoder corresponding to k-th working angle data set, C (k+1)j And detecting a difference value for a j-th encoder in the difference value data set for the encoder corresponding to the k+1 working angle data.
In the expression of the encoder detection difference calculation model, X k And X k+1 The calculation formula of (2) is as follows:
X k ＝(X min +k(X max -X min ) (2)
X k+1 ＝X min +(k+1)(X max -X min )/M (3)
more preferably, in order to ensure that the referenceable value of the data obtained in the calibration process is higher, the construction process of the encoder detection difference calculation model in this embodiment further includes:
in the process of calibrating a plurality of groups of working angle data, horizontal inclination angle data of the lifting mechanical lifting hook are obtained in real time, and the horizontal inclination angle data are controlled to be within a safe inclination angle threshold range.
Fig. 3 shows the installation angle of the double-winch single hook in an ideal state, at this time, the horizontal inclination angle of the lifting hook detected by the inclination angle sensor 310 is 0 degrees, fig. 4 shows the structural state of the double-winch single hook under the condition that a certain inclination angle exists, and whether the lifting state is safe or not can be intuitively perceived through the horizontal inclination angle of the lifting hook, so that the horizontal inclination angle of the lifting hook can be used as a measurement standard of the data referenceability of the early-stage data calibration link, and the closer the horizontal inclination angle of the lifting hook is to 0 degrees, the closer the state corresponding to calibration data is to the ideal state, and the reference value is achieved.
Therefore, in the early-stage data calibration link, the inclination angle sensor is fixedly installed at the horizontal position of the lifting hook through the support, data of the inclination angle sensor CAN be transmitted to the boarding controller in a wired or wireless mode, and when the data are transmitted in a wireless mode, the boarding controller receives the horizontal inclination angle data on the CAN bus and judges whether the received horizontal inclination angle data are within a safe inclination angle threshold range, for example, the safe inclination angle threshold range CAN be set to be 0-3 degrees, and the horizontal inclination angle is safe within 3 degrees.
Fig. 5 shows the horizontal inclination angle data of the hook and the encoder target difference data when the working angle of the main arm is 78.0 degrees, and fig. 6 shows the horizontal inclination angle data of the hook and the encoder target difference data when the working angle of the main arm is 82.5 degrees. According to the horizontal inclination angle data and the encoder target difference value data corresponding to the working angles of the main arms, the encoder target difference value data corresponding to any working angle can be converted.
In the practical application process, referring to fig. 7, the process of implementing the double-winch single-hook synchronous control of the crane by using the encoder detection difference calculation model obtained in the above way is as follows:
firstly, selecting a double-winch linkage mode on an upper computer of a crane;
then, determining whether a main winch handle is started, acquiring the current working angle of the main arm after the main winch handle is started, and calculating encoder target difference data C (X) corresponding to the current working angle by using an encoder difference calculation model according to the current working angle of the main arm;
and finally, performing PID compensation adjustment on the actuating mechanism quantity of the auxiliary winch according to the target difference value data C (X) of the encoder so as to synchronize the main winch with the auxiliary winch.
According to the embodiment, the driving current of the auxiliary winch is mainly compensated, so that the winch height deviation generated between the main winch and the auxiliary winch is regulated, the winch heights of the main winch and the auxiliary winch are consistent, namely, the lifting heights of the main winch and the auxiliary winch are consistent, and the safety problem of inclination of the lifting hook caused by inconsistent lifting heights of the two winches is avoided.
Preferably, in order to ensure the safety of the synchronous control process, the embodiment further includes, before compensating the driving current of the auxiliary winding, the following steps:
judging whether the target difference value data of the encoder is smaller than a preset safety difference value threshold value, and if the target difference value data of the encoder is smaller than the safety difference value threshold value, compensating the driving current of the auxiliary winch; otherwise, the double winch is adjusted until the target difference value data of the encoder is smaller than the safety difference value threshold value.
Before PID adjustment is performed, whether the calculated encoder target difference value data is smaller than a safety difference value threshold value is judged, and if the calculated encoder target difference value data is smaller than the safety difference value threshold value, the next auxiliary winch PID compensation adjustment is directly performed; if the target difference data of the encoder exceeds the safety difference threshold, triggering a safety protection inhibition linkage mode, switching to a hoisting single-action mode, and independently adjusting the main hoisting or the auxiliary hoisting through a main hoisting handle or an auxiliary hoisting handle until the target difference data of the encoder is smaller than the safety difference threshold, namely, switching to the double-hoisting linkage mode when the current double-hoisting state is in a safety state, and performing the next auxiliary hoisting PID compensation adjustment.
That is, when the encoder target difference data is found to be greater than the safety difference threshold, it is indicated that the hook is inclined seriously at this time, and in order to ensure safety, the lifting heights of the two winches need to be adjusted first, at this time, any one of the winches may be adjusted, and the main purpose is to reduce the lifting height difference between the main winch and the auxiliary winch, so that the hook approaches to a horizontal state, and then the driving current compensation operation of the auxiliary winch is performed after the adjustment.
Specifically, the PID compensation adjustment process in this embodiment includes:
first, the driving current I of the main winch is calculated according to the opening degree of the handle of the main winch 1 I.e. a given current of the main hoist pump.
Then, according to the pre-obtained encoder target difference value data, calculating a current deviation value delta I of the main winch and the auxiliary winch through a PI algorithm; in order to prevent the current from vibrating too much, the current deviation value delta I can be limited in the link.
Then, adding the driving current of the main winch and the current deviation value to obtain the driving current of the compensated auxiliary winch, namely the given current of the auxiliary winch pump, wherein the given current of the main winch pump and the given current of the auxiliary winch pump are respectively as follows:
I main unit ＝I 1 (4)
I Auxiliary pair ＝I 1 +ΔI (5)
And finally, synchronously controlling the main winch and the auxiliary winch according to the obtained given current of the main winch pump and the obtained given current of the auxiliary winch pump, namely compensating the lifting height difference between the auxiliary winch and the main winch through the current deviation value delta I, so that the auxiliary winch always keeps synchronous lifting action with the main winch, and ending the winch linkage flow under the double-winch linkage mode until the lifting hook is lifted or falls to the target height.
It can be understood that the PI algorithm mentioned in this embodiment is an algorithm commonly used in PID adjustment, and refers to a proportional (P) and integral (I) control algorithm, also called PI regulator, and the expression of the algorithm is:
Δu(k)＝Kp[e(k)-e(k-1)]+Kie(k) (6)
where Kp is the proportionality coefficient and Ki is the integration time constant.
Therefore, according to the double-winch synchronous control method provided by the embodiment of the invention, the encoder detection difference data of the double winches at any working position under the working angle of the main arm can be determined through the calibrated encoder detection difference data corresponding to the working angle of a certain group of main arms, and further the synchronous control of the double winches under the working angle of the fixed main arm can be realized.
Meanwhile, encoder difference value calculation models are established through the calibrated encoder detection difference value data corresponding to the working angles of the plurality of groups of main arms, and the encoder detection difference value data of the double winch at any working position under any working angle of the main arms can be obtained by fitting the models, so that synchronous control of the double winch under any working angle of the main arms is realized, and effective improvement of control precision and control reliability is realized.
The following describes the double-winch synchronous control device provided by the invention, and the double-winch synchronous control device and the double-winch synchronous control method described in the following can be correspondingly referred to each other.
Fig. 8 shows a dual winch synchronization control device provided by an embodiment of the present invention, the device includes:
an obtaining module 810, configured to obtain a working angle of the mechanical main arm;
a calculation module 820, configured to obtain encoder target difference data according to the working angle and the encoder detection difference calculation model;
the processing module 830 is configured to obtain a driving current of the main winding, and compensate a driving current of the auxiliary winding according to the driving current of the main winding and target difference data of the encoder; and the control module 840 is used for synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the driving current of the compensated auxiliary winch.
The calculation module 820 in this embodiment needs to complete the calculation of the target difference data of the encoder by using a pre-constructed encoder detection difference calculation model, and the construction process of the encoder detection difference calculation model includes:
firstly, determining a working angle range of a main arm of the hoisting machinery, and calibrating a plurality of groups of working angle data in the working angle range;
then, respectively obtaining a main winch encoder detection value and an auxiliary winch encoder detection value corresponding to each group of working angle data, and calculating detection difference values of the main winch encoder and the auxiliary winch encoder to obtain an encoder detection difference value data set corresponding to each group of working angle data;
finally, according to encoder detection difference data sets corresponding to the working angle data of each group, an encoder detection difference calculation model is established; the encoder detection difference calculation model takes the working angle of the hoisting mechanical main arm as an independent variable, and encoder target difference data corresponding to the working angle as a dependent variable.
More preferably, the establishing of the encoder detection difference calculation model further includes:
in the process of calibrating a plurality of groups of working angle data, horizontal inclination angle data of the lifting mechanical lifting hook are obtained in real time, and the horizontal inclination angle data are controlled to be within a safe inclination angle threshold range.
The double-winch synchronous control device provided in this embodiment further includes:
the safety judging module is used for judging whether the target difference value data of the encoder is smaller than a preset safety difference value threshold value, and if the target difference value data of the encoder is smaller than the safety difference value threshold value, compensating the driving current of the auxiliary winch; otherwise, the double winch is adjusted until the target difference value data of the encoder is smaller than the safety difference value threshold value.
In this embodiment, the processing module 830 specifically includes:
the main winch current acquisition unit is used for acquiring the driving current of the main winch;
the current deviation calculation unit is used for calculating the current deviation value of the main winch and the auxiliary winch through a PI algorithm according to the target difference value data of the encoder;
and the auxiliary winch current compensation unit is used for adding the driving current of the main winch and the current deviation value to obtain the driving current of the auxiliary winch after compensation.
Therefore, the double-winch synchronous control device provided by the embodiment of the invention utilizes the encoder detection difference value calculation model constructed based on the working angle calibration data of the main arm of the hoisting machine and the detection difference value calibration data of the corresponding main winch encoder and auxiliary winch encoder to calculate the current encoder target difference value data, utilizes the encoder target difference value data to carry out PID adjustment on the driving current of the auxiliary winch through the processing module, and utilizes the driving current data obtained by the processing module to synchronously control the main winch and the auxiliary winch through the control module.
In addition, the embodiment of the invention also provides a working machine, which uses the double-winch synchronous control method to control the synchronous action of the main winch and the auxiliary winch when in hoisting, so as to avoid the safety accident caused by the inclination of the lifting hook.
Fig. 9 illustrates a physical schematic diagram of an electronic device, as shown in fig. 9, which may include: processor 910, communication interface (Communications Interface), memory 930, and communication bus 940, wherein processor 910, communication interface 920, and memory 930 communicate with each other via communication bus 940. Processor 910 may call logic instructions in memory 930 to perform a dual hoist synchronization control method that includes: acquiring a working angle of a mechanical main arm; obtaining encoder target difference data according to the working angle and the encoder detection difference calculation model; acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference value data of the encoder; and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the driving current of the compensated auxiliary winch.
Further, the logic instructions in the memory 930 described above may be implemented in the form of software functional units 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.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the dual hoist synchronization control method provided by the above methods, the method comprising: acquiring a working angle of a mechanical main arm; obtaining encoder target difference data according to the working angle and the encoder detection difference calculation model; acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference value data of the encoder; and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the driving current of the compensated auxiliary winch.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above-provided dual-winding synchronization control methods, the method comprising: acquiring a working angle of a mechanical main arm; obtaining encoder target difference data according to the working angle and the encoder detection difference calculation model; acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference value data of the encoder; and synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the driving current of the compensated auxiliary winch.
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.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The double-winch synchronous control method is characterized by comprising the following steps of:
acquiring a working angle of a mechanical main arm;
acquiring encoder target difference data according to the working angle and an encoder detection difference calculation model;
acquiring the driving current of the main winch, and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference value data of the encoder;
synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch;
the encoder detection difference calculation model is established by the following method, which comprises the following steps:
determining a working angle range of a mechanical main arm, and calibrating a plurality of groups of working angle data in the working angle range;
respectively obtaining a main winch encoder detection value and a secondary winch encoder detection value corresponding to each group of working angle data, and calculating detection difference values of the main winch encoder and the secondary winch encoder to obtain an encoder detection difference value data set corresponding to each group of working angle data;
according to encoder detection difference data sets corresponding to each group of working angle data, an encoder detection difference calculation model is established;
the encoder detection difference calculation model takes the working angle of the mechanical main arm as an independent variable, and encoder target difference data corresponding to the working angle as a dependent variable.
2. The double-winch synchronous control method according to claim 1, wherein the expression of the encoder detection difference calculation model is:
C(X)＝(C (k+1)j -C kj )×(X-X k )/(X k+1 -X k )+C kj
wherein C (X) is encoder target difference data, X is the current working angle of the main arm of the hoisting machine, and X k For the k-th set of working angle data, X k+1 Is the k+1st group of working angle data and satisfies X k ≤X≤X k+1 ，C kj Detecting a difference value for a j-th encoder in a difference value data set for an encoder corresponding to k-th working angle data set, C (k+1)j And detecting a difference value for a j-th encoder in the difference value data set for the encoder corresponding to the k+1 working angle data.
3. The dual winch synchronization control method according to claim 1, wherein the encoder detection difference calculation model establishment further includes:
in the process of calibrating a plurality of groups of working angle data, horizontal inclination angle data of the lifting mechanical hook are obtained in real time, and the horizontal inclination angle data are controlled to be within a safe inclination angle threshold range.
4. The method of claim 1, wherein before compensating the driving current of the auxiliary winding, further comprising:
judging whether the target difference value data of the encoder is smaller than a preset safety difference value threshold value, and if the target difference value data of the encoder is smaller than the safety difference value threshold value, compensating the driving current of the auxiliary winch; otherwise, the double winch is adjusted until the target difference value data of the encoder is smaller than the safety difference value threshold value.
5. The method of claim 1, wherein compensating the driving current of the sub-winding comprises:
calculating current deviation values of the main winch and the auxiliary winch through a PI algorithm according to the encoder target difference value data;
and adding the driving current of the main winch and the current deviation value to obtain the driving current of the compensated auxiliary winch.
6. A dual winch synchronization control device, comprising:
the acquisition module is used for acquiring the working angle of the mechanical main arm;
the calculation module is used for obtaining encoder target difference data according to the working angle and the encoder detection difference calculation model;
the processing module is used for acquiring the driving current of the main winch and compensating the driving current of the auxiliary winch according to the driving current of the main winch and the target difference value data of the encoder;
the control module is used for synchronously controlling the main winch and the auxiliary winch according to the driving current of the main winch and the compensated driving current of the auxiliary winch;
the encoder detection difference calculation model is established by the following method, which comprises the following steps:
determining a working angle range of a mechanical main arm, and calibrating a plurality of groups of working angle data in the working angle range;
respectively obtaining a main winch encoder detection value and a secondary winch encoder detection value corresponding to each group of working angle data, and calculating detection difference values of the main winch encoder and the secondary winch encoder to obtain an encoder detection difference value data set corresponding to each group of working angle data;
according to encoder detection difference data sets corresponding to each group of working angle data, an encoder detection difference calculation model is established;
the encoder detection difference calculation model takes the working angle of the mechanical main arm as an independent variable, and encoder target difference data corresponding to the working angle as a dependent variable.
7. A working machine, characterized in that it uses a double hoisting synchronous control method according to any one of claims 1-5.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the double winding synchronization control method according to any one of claims 1 to 5 when the program is executed.
9. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the double winding synchronization control method according to any one of claims 1 to 5.
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| CN202111250399.5A CN114104978B (en) | 2021-10-26 | 2021-10-26 | Double-winch synchronous control method and device, working machine, equipment and medium |
| PCT/CN2022/090443 WO2023071128A1 (en) | 2021-10-26 | 2022-04-29 | Synchronous control method and apparatus for two winches, and operation machinery, device, medium and product |
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| CN202111250399.5A CN114104978B (en) | 2021-10-26 | 2021-10-26 | Double-winch synchronous control method and device, working machine, equipment and medium |
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| CN114104978B (en) * | 2021-10-26 | 2023-05-23 | 湖南三一中型起重机械有限公司 | Double-winch synchronous control method and device, working machine, equipment and medium |
| CN114408673B (en) * | 2022-03-29 | 2022-08-12 | 徐州徐工基础工程机械有限公司 | Linkage control system and linkage control method for winch and winch |
| CN115402934B (en) * | 2022-08-15 | 2023-08-11 | 中铁九桥工程有限公司 | Control system and control method of girder erection crane |
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| SE362055B (en) * | 1972-04-21 | 1973-11-26 | Asea Ab | |
| JP2875133B2 (en) * | 1993-04-02 | 1999-03-24 | 株式会社神戸製鋼所 | Tuning control method and apparatus for hydraulic motor of crane |
| JP2000198679A (en) * | 1999-01-06 | 2000-07-18 | Hitachi Ltd | Driving device for jointly-hoisting winding machines |
| JP2005121437A (en) * | 2003-10-15 | 2005-05-12 | Hitachi Constr Mach Co Ltd | Calibration device for angle sensor |
| CN200946069Y (en) * | 2006-08-18 | 2007-09-12 | 上海三一科技有限公司 | Pedrail crane master-auxiliary hoister synchronous control device |
| CN102515024B (en) * | 2011-10-28 | 2014-07-23 | 上海三一科技有限公司 | Ultra-lifting synchronous defection device, control method thereof and crane comprising same |
| CN102408065B (en) * | 2011-10-28 | 2014-07-23 | 上海三一科技有限公司 | Multi-winch synchronous control device and control method as well as crane comprising the device |
| CN102874705A (en) * | 2012-09-28 | 2013-01-16 | 三一重工股份有限公司 | System and method for synchronous control of multiple winches |
| CN103640981B (en) * | 2013-12-11 | 2016-06-01 | 徐工集团工程机械股份有限公司 | The correction device at lifting machine double hoisting system suspension hook inclination angle, method and lifting machine |
| 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 |
| CN106629397B (en) * | 2016-12-29 | 2018-01-02 | 中联重科股份有限公司 | Crane rotation angle zero point calibration method and system and crane |
| CN108683384B (en) * | 2018-04-12 | 2020-06-05 | 深圳市海浦蒙特科技有限公司 | Multi-hoisting frequency converter synchronous control method and system |
| CN108639958B (en) * | 2018-05-18 | 2020-07-28 | 三一汽车起重机械有限公司 | Lifting hook follow-up method and control system |
| JP7105634B2 (en) * | 2018-06-29 | 2022-07-25 | 株式会社日立産機システム | crane equipment |
| CN110683474B (en) * | 2019-08-28 | 2021-04-06 | 南京理工大学 | Synchronous control method and device for double-winch hoisting system of crane |
| CN114104978B (en) * | 2021-10-26 | 2023-05-23 | 湖南三一中型起重机械有限公司 | Double-winch synchronous control method and device, working machine, equipment and medium |
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