CN114261908A - Control method, device and equipment of tower crane slewing mechanism and computer storage medium - Google Patents
Control method, device and equipment of tower crane slewing mechanism and computer storage medium Download PDFInfo
- Publication number
- CN114261908A CN114261908A CN202111682830.3A CN202111682830A CN114261908A CN 114261908 A CN114261908 A CN 114261908A CN 202111682830 A CN202111682830 A CN 202111682830A CN 114261908 A CN114261908 A CN 114261908A
- Authority
- CN
- China
- Prior art keywords
- slewing mechanism
- speed change
- target speed
- mode
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The application discloses a control method, a device, equipment and a computer storage medium for a slewing mechanism of a tower crane, which are used for receiving a control instruction for the slewing mechanism of a target tower crane and determining the target speed change time of the slewing mechanism according to the control instruction; determining a target speed change mode of the slewing mechanism according to the control instruction; if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the first speed change curve. According to the method and the device, the first speed change curve is calculated through the target speed change time and the first sinusoidal curve change mode, the swing mechanism is controlled to run according to the first speed change curve, the starting speed of the swing mechanism is high, the running distance is reduced during deceleration, the running distance is increased during acceleration, and the working efficiency of the tower crane swing mechanism is effectively improved.
Description
Technical Field
The present application relates to the field of tower crane control technologies, and in particular, to a method, an apparatus, a device, and a computer storage medium for controlling a swing mechanism of a tower crane.
Background
When the tower crane rotation frequency converter controls the start and stop of the tower crane rotation mechanism, in order to prevent the speed from suddenly changing, the start and stop are generally performed by adopting a linear acceleration and deceleration control mode, or the start and stop are performed by adopting an S-curve acceleration and deceleration control mode. In the acceleration and deceleration stage when the slewing mechanism of the tower crane operates by adopting linear acceleration and deceleration, the acceleration is always kept constant, and the acceleration is 0 at a constant speed; when the S-curve acceleration and deceleration operation is adopted, the acceleration is gradually increased from 0 to the maximum acceleration, the acceleration is gradually decreased to 0 after a certain time is maintained, and the target speed is just reached when the acceleration is decreased to 0. However, the application requirements of the slewing mechanism of the tower crane are as follows: the starting speed is high, the movement distance is long in the acceleration process, and the movement distance is short in the deceleration process. The linear acceleration and deceleration control mode has no change of acceleration and deceleration in the acceleration and deceleration process, and the starting and the deceleration are not fast; the acceleration of the S-curve acceleration/deceleration control method is 0 at the beginning, so that the start is relatively soft, but the start and the deceleration are relatively slow. The two traditional control modes can not meet the application requirement of the tower crane slewing mechanism, so that the working efficiency of the tower crane slewing mechanism is lower.
Disclosure of Invention
The application mainly aims to provide a control method, a control device, control equipment and a computer storage medium for a slewing mechanism of a tower crane, and aims to solve the technical problem that the traditional control mode causes lower working efficiency of the slewing mechanism of the tower crane.
In order to achieve the above object, an embodiment of the present application provides a method for controlling a slewing mechanism of a tower crane, where the method for controlling the slewing mechanism of the tower crane includes:
receiving a control instruction of a slewing mechanism of a target tower crane, and determining target speed change time of the slewing mechanism according to the control instruction;
determining a target speed change mode of the slewing mechanism according to the control instruction;
if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the first speed change curve.
Preferably, the step of calculating a first speed variation profile of the swing mechanism based on the target speed variation time and the first sinusoidal variation pattern includes:
acquiring a speed calculation formula corresponding to the first sinusoidal curve change mode;
acquiring an initial speed and a target speed in the control command;
and calculating a first speed change curve of the slewing mechanism according to the initial speed, the target speed change time and the speed calculation formula.
Preferably, the step of determining the target speed variation time of the swing mechanism according to the control command comprises:
acquiring a target speed change time mode in the control command;
and determining the target speed change time of the slewing mechanism according to the target speed change time mode.
Preferably, the target speed change time mode is a first speed change time mode or a second speed change time mode, the first speed change time mode is a rated frequency mode, and the second speed change time mode is a time-invariant mode; the step of determining the target speed change time of the slewing mechanism according to the target speed change time mode comprises the following steps:
if the target speed change time mode is a first speed change time mode, acquiring first time for controlling the slewing mechanism to change speed from a stationary state to a rated speed, and determining the target speed change time for changing the slewing mechanism from the rated speed to the target speed according to the first time;
and if the target speed change time mode is a second speed change time mode, acquiring second time for controlling the slewing mechanism to change the speed from the initial speed to the target speed as target speed change time.
Preferably, the step of determining a target speed change time for the swing mechanism to change from the rated speed to a target speed according to the first time comprises:
acquiring a time calculation formula corresponding to the first speed change time mode;
and determining the target speed change time for changing the speed of the slewing mechanism from the rated speed to the target speed according to the time calculation formula, the first time, the rated speed and the target speed.
Preferably, the step of determining the target speed variation mode of the swing mechanism according to the control command further comprises:
and if the target speed change mode is a second sinusoidal curve change mode, calculating a second speed change curve of the slewing mechanism based on the target speed change time and the second sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the second speed change curve.
Preferably, the first sinusoidal variation pattern is a sinusoidal variation pattern between 0 and pi/2, and the second sinusoidal variation pattern is a sinusoidal variation pattern between-pi/2 and pi/2.
In order to achieve the above object, the present application further provides a control device for a tower crane slewing mechanism, the control device for the tower crane slewing mechanism includes:
the receiving module is used for receiving a control instruction of a slewing mechanism of the target tower crane and determining target speed change time of the slewing mechanism according to the control instruction;
the determining module is used for determining a target speed change mode of the slewing mechanism according to the control instruction;
and the calculating module is used for calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode and controlling the slewing mechanism to operate according to the first speed change curve if the target speed change mode is the first sinusoidal curve change mode.
Further, in order to achieve the above object, the present application further provides a control device of a tower crane slewing mechanism, the control device of the tower crane slewing mechanism includes a memory, a processor and a control program stored in the memory and capable of running on the processor, wherein the control program of the tower crane slewing mechanism is executed by the processor to implement the steps of the control method of the tower crane slewing mechanism.
Further, in order to achieve the above object, the present application also provides a computer storage medium, where a control program of the tower crane slewing mechanism is stored on the computer storage medium, and the control program of the tower crane slewing mechanism, when executed by the processor, implements the steps of the control method of the tower crane slewing mechanism.
Further, to achieve the above object, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the control method for a tower crane slewing mechanism described above are implemented.
The embodiment of the application provides a method, a device and equipment for controlling a slewing mechanism of a tower crane and a computer storage medium, wherein the method comprises the steps of receiving a control instruction for the slewing mechanism of a target tower crane, and determining target speed change time of the slewing mechanism according to the control instruction; determining a target speed change mode of the slewing mechanism according to the control instruction; if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the first speed change curve. The target speed change time and the target speed change mode of the slewing mechanism of the target tower crane can be respectively determined according to the control instruction of the slewing mechanism of the target tower crane, when the target speed change mode is the first sinusoidal curve change mode, the first speed change curve is calculated based on the first sinusoidal curve change mode and the target speed change time, when the slewing mechanism is controlled to run according to the first speed change curve, the starting speed of the slewing mechanism is high, the running distance is reduced when the slewing mechanism is decelerated, the running distance is increased when the slewing mechanism is accelerated, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
Drawings
FIG. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of a control method for a slewing mechanism of a tower crane of the present application;
FIG. 2 is a schematic flow chart of a first embodiment of a control method for a slewing mechanism of a tower crane according to the present application;
FIG. 3 is a first scenario diagram of a first embodiment of a method for controlling a slewing mechanism of a tower crane according to the present application;
FIG. 4 is a schematic diagram of a second scenario of the first embodiment of the control method for the slewing mechanism of the tower crane according to the present application;
FIG. 5 is a schematic flow chart illustrating a second embodiment of a method for controlling a slewing mechanism of a tower crane according to the present application;
FIG. 6 is a schematic flow chart of a third embodiment of a method for controlling a slewing mechanism of a tower crane according to the present application;
fig. 7 is a functional module schematic diagram of a preferred embodiment of the control device of the tower crane slewing mechanism of the present application.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application provides a method, a device and equipment for controlling a slewing mechanism of a tower crane and a computer storage medium, wherein the method comprises the steps of receiving a control instruction for the slewing mechanism of a target tower crane, and determining target speed change time of the slewing mechanism according to the control instruction; determining a target speed change mode of the slewing mechanism according to the control instruction; if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the first speed change curve. The target speed change time and the target speed change mode of the slewing mechanism of the target tower crane can be respectively determined according to the control instruction of the slewing mechanism of the target tower crane, when the target speed change mode is the first sinusoidal curve change mode, the first speed change curve is calculated based on the first sinusoidal curve change mode and the target speed change time, when the slewing mechanism is controlled to run according to the first speed change curve, the starting speed of the slewing mechanism is high, the running distance is reduced when the slewing mechanism is decelerated, the running distance is increased when the slewing mechanism is accelerated, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a control device of a tower crane slewing mechanism in a hardware operating environment according to an embodiment of the present application.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning by themselves. Thus, "module", "component" or "unit" may be used mixedly.
The control device of the tower crane slewing mechanism in the embodiment of the application can be a PC (personal computer), and can also be a mobile terminal device such as a tablet computer and a portable computer.
As shown in fig. 1, the control device of the tower crane slewing mechanism may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the control equipment configuration of the tower crane slewing mechanism shown in fig. 1 does not constitute a limitation of the control equipment of the tower crane slewing mechanism, and may include more or fewer components than those shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a control program of the tower crane slewing mechanism.
In the device shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call the control program of the tower crane slewing mechanism stored in the memory 1005, and perform the following operations:
receiving a control instruction of a slewing mechanism of a target tower crane, and determining target speed change time of the slewing mechanism according to the control instruction;
determining a target speed change mode of the slewing mechanism according to the control instruction;
if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the first speed change curve.
Further, the step of calculating a first speed variation profile of the swing mechanism based on the target speed variation time and the first sinusoidal variation pattern includes:
acquiring a speed calculation formula corresponding to the first sinusoidal curve change mode;
acquiring an initial speed and a target speed in the control command;
and calculating a first speed change curve of the slewing mechanism according to the initial speed, the target speed change time and the speed calculation formula.
Further, the step of determining the target speed change time of the slewing mechanism according to the control instruction comprises:
acquiring a target speed change time mode in the control command;
and determining the target speed change time of the slewing mechanism according to the target speed change time mode.
Further, the target speed change time mode is a first speed change time mode or a second speed change time mode, the first speed change time mode is a rated frequency mode, and the second speed change time mode is a time-invariant mode; the step of determining the target speed change time of the slewing mechanism according to the target speed change time mode comprises the following steps:
if the target speed change time mode is a first speed change time mode, acquiring first time for controlling the slewing mechanism to change speed from a stationary state to a rated speed, and determining the target speed change time for changing the slewing mechanism from the rated speed to the target speed according to the first time;
and if the target speed change time mode is a second speed change time mode, acquiring second time for controlling the slewing mechanism to change the speed from the initial speed to the target speed as target speed change time.
Further, the step of determining a target speed change time for the swing mechanism to change from the rated speed to a target speed according to the first time comprises:
acquiring a time calculation formula corresponding to the first speed change time mode;
and determining the target speed change time for changing the speed of the slewing mechanism from the rated speed to the target speed according to the time calculation formula, the first time, the rated speed and the target speed.
Further, after the step of determining the target speed variation mode of the slewing mechanism according to the control instruction, the processor 1001 may be configured to call a control program of the tower crane slewing mechanism stored in the memory 1005, and perform the following operations:
and if the target speed change mode is a second sinusoidal curve change mode, calculating a second speed change curve of the slewing mechanism based on the target speed change time and the second sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the second speed change curve.
Further, the first sinusoidal variation pattern is a sinusoidal variation pattern between 0 and pi/2, and the second sinusoidal variation pattern is a sinusoidal variation pattern between-pi/2 and pi/2.
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 2, fig. 2 is a schematic flow chart of a method for controlling a slewing mechanism of a tower crane according to a first embodiment of the present application. In this embodiment, the control method for the slewing mechanism of the tower crane includes the following steps:
step S10, receiving a control instruction for a swing mechanism of the target tower crane, and determining the target speed change time of the swing mechanism according to the control instruction;
the control method of the tower crane slewing mechanism in the embodiment is applied to a control system of a tower crane, for convenience of description, the control system of the tower crane slewing mechanism is subsequently called as a system for short, the tower crane, namely the tower crane, or called as the tower crane, has large operation space, and is mainly used for vertical and horizontal conveying of materials and installation of building components in building construction; the device consists of a metal structure, a working mechanism and an electrical system. The metal structure comprises a tower body, a movable arm, a base and the like; the working mechanism has four parts of lifting, amplitude variation, rotation and walking; the electric system comprises a motor, a controller, a power distribution cabinet, a connecting circuit, a signal and lighting device and the like, wherein the slewing mechanism is used for controlling the tower crane to rotate. Specifically, the system takes the tower crane which needs to be controlled at present as a target tower crane, and can detect whether a control instruction which is sent by a tower crane operator based on operating equipment of the tower crane and is used for controlling the slewing mechanism of the target tower crane exists in real time or not for improving the working efficiency of the tower crane, and if the control instruction for controlling the slewing mechanism is detected, the control instruction is received. Further, the system may analyze the received control command to obtain the control parameters included in the control command, where the control parameters may include a rotation direction of the swing mechanism, a change of a rotation gear (for example, adjusting from two gear to three gear), a selected time pattern of speed change, a time of speed change, and the like, where in the change of the rotation gear, different gears represent different speeds, so that a speed corresponding to a gear before the adjustment may be used as an initial speed, and a speed corresponding to a gear after the adjustment may be used as a target speed. After the control command is analyzed, a target speed change time of the swing mechanism is determined according to a speed change time mode in the data obtained by the analysis.
Therefore, when the target speed change time mode is determined to be the first speed change time mode or the second speed change time mode, the target speed change time of the swing mechanism can be determined according to the determined first speed change time mode or the determined second speed change time mode. The method is convenient for calculating the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode subsequently, and controls the slewing mechanism to operate according to the first speed change curve, so that the starting speed of the slewing mechanism is high, the operating distance is reduced during deceleration, the operating distance is increased during acceleration, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
Step S20, determining a target speed change mode of the slewing mechanism according to the control instruction;
it is understood that the speed variation pattern in the present embodiment includes a first sinusoidal variation pattern and a second sinusoidal variation pattern, the first sinusoidal variation pattern is a sinusoidal variation pattern between 0 and pi/2, which can be expressed as a sinusoidal [0, pi/2 ] pattern; the second sinusoidal variation pattern is a sinusoidal variation pattern between-pi/2 and pi/2, which may be expressed as a sinusoidal [ -pi/2, pi/2 ] pattern. Wherein, the sine curve [0, pi/2 ] mode means that when the speed is changed from the initial speed V0 to the target speed V1, the speed is changed according to the track of [0, pi/2 ] of the sine curve; the sinusoidal [ - π/2, π/2] pattern means that the velocity varies according to the trajectory of the sinusoidal [ - π/2, π/2] as it varies from the initial velocity V0 to the target frequency V1. In this embodiment, a selection key corresponding to each speed change mode can be provided in the operation device of the tower crane, and an operator can select the corresponding speed change mode according to requirements. Therefore, after the control command is analyzed, whether the target speed variation pattern selected by the operator is the first sinusoidal variation pattern or the second sinusoidal variation pattern can be identified from the analyzed data. In a specific embodiment of the present application, it may be determined whether the speed variation mode selected by the operator is the first sinusoidal variation mode, and if so, the first sinusoidal variation mode is determined as the target speed variation mode; and if not, determining the second sinusoidal curve change mode as the target speed change mode. Therefore, the target speed change mode of the slewing mechanism is accurately obtained, the first speed change curve of the slewing mechanism is conveniently calculated according to the target speed change mode and the target speed change time, and the slewing mechanism is controlled to operate according to the first speed change curve. The starting speed of the slewing mechanism is high, the running distance is reduced during deceleration, the running distance is increased during acceleration, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
Step S30, if the target speed variation mode is a first sinusoidal variation mode, calculating a first speed variation curve of the swing mechanism based on the target speed variation time and the first sinusoidal variation mode, and controlling the swing mechanism to operate according to the first speed variation curve.
It can be understood that the present embodiment is preset with velocity calculation formulas corresponding to the velocity variation patterns, and the present embodiment at least includes a velocity calculation formula corresponding to the first sinusoidal variation pattern and a calculation formula corresponding to the second sinusoidal variation pattern. Therefore, after the target speed change mode of the slewing mechanism is determined according to the control instruction, if the target speed change mode is determined to be the first sinusoidal curve change mode, the speed calculation formula corresponding to the first sinusoidal curve change mode can be obtained; simultaneously acquiring an initial speed and a target speed in a control command; and calculating a first speed change curve of the slewing mechanism according to parameters such as initial speed, target speed change time and the like in combination with a speed calculation formula, wherein the target speed change time is determined according to a rated frequency mode or a time invariant mode. After the first speed change curve of the slewing mechanism is obtained, the slewing mechanism can be controlled to operate according to the speed corresponding to each time point in the first speed change curve, so that the starting speed of the slewing mechanism is high, the operating distance is reduced during deceleration, the operating distance is increased during acceleration, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
Referring to fig. 3, fig. 3 is a first scenario diagram of a first embodiment of a control method for a slewing mechanism of a tower crane according to the present application, and a waveform comparison diagram of a first speed variation curve and a linear acceleration/deceleration curve is provided in an embodiment of the present application, where an abscissa is time, values of coordinate axes at least include a value range with 0 as a starting point, 50 as an end point, and a time interval of 5, an ordinate is speed, values of coordinate axes at least include a value range with 0 as a starting point, 50 as an end point, and a time interval of 10, a waveform 1 is a linear acceleration/deceleration curve, and a waveform 2 is a first speed variation curve. From this, it can be seen that, in contrast to the linear acceleration/deceleration method, the acceleration is the maximum acceleration at the start of the sinusoidal curve [0, pi/2 ] (i.e., the first speed change curve), then the acceleration gradually decreases, the speed gradually increases, and the acceleration decreases to 0 when the speed reaches the target speed 50. In the whole acceleration process, the start acceleration of the sine curve [0, pi/2 ] is faster, and the running distance is longer after the sine curve reaches the target speed in the same time, namely the acceleration is faster; the start-up deceleration of the sinusoidal [0, pi/2 ] is faster throughout the deceleration process, and the distance traveled to speed 0 is shorter, i.e., the deceleration is faster, at the same time. Therefore, for the slewing mechanism, a sine curve [0, pi/2 ] is adopted, and better dynamic performance can be achieved in the acceleration and deceleration process.
Further, the step of determining the target speed variation mode of the swing mechanism according to the control command further includes:
step S40, if the target speed variation mode is a second sinusoidal variation mode, calculating a second speed variation curve of the swing mechanism based on the target speed variation time and the second sinusoidal variation mode, and controlling the swing mechanism to operate according to the second speed variation curve.
It is to be understood that, since the present embodiment is provided with the velocity calculation formulas corresponding to the respective velocity variation patterns in advance, that is, the present embodiment at least includes the calculation formulas of the velocity calculation formula corresponding to the first sinusoidal variation pattern and the second sinusoidal variation pattern. Therefore, after the target speed change mode of the slewing mechanism is determined according to the control instruction, if the target speed change mode is determined to be the second sinusoidal curve change mode, the speed calculation formula corresponding to the second sinusoidal curve change mode can be obtained; simultaneously acquiring an initial speed and a target speed in a control command; and calculating a second speed change curve of the slewing mechanism according to parameters such as initial speed, target speed change time and the like in combination with a speed calculation formula, wherein the target speed change time is determined according to a rated frequency mode or a time invariant mode. After the first speed change curve of the slewing mechanism is obtained, the slewing mechanism can be controlled to operate according to the speed corresponding to each time point in the first speed change curve, so that the operating speed curve of the slewing mechanism is softer, and the operating experience of an operator can be improved.
Specifically, the step of calculating the second speed variation curve of the swing mechanism based on the target speed variation time and the second sinusoidal curve variation pattern includes:
step S41, acquiring a target speed calculation formula corresponding to the second sinusoidal curve change mode;
step S42, acquiring an initial speed and a target speed in the control command;
and step S43, calculating a first speed change curve of the slewing mechanism according to the initial speed, the target speed change time and the target speed calculation formula.
After determining the target speed variation mode of the slewing mechanism according to the control command, if it is determined that the target speed variation mode is the second sinusoidal variation mode, searching a speed calculation formula corresponding to the second sinusoidal variation mode according to the second sinusoidal variation mode, where the target speed calculation formula corresponding to the second sinusoidal variation mode is shown as the following formula in this embodiment:
where Vx is the speed of the slewing mechanism at time t, where the speed of this embodiment may be specifically the rotational speed, that is, the speed at which the slewing mechanism rotates, and Tact is the time required for the change between V0 and V1, that is, the target speed change time; v1 is the target velocity, V0 is the initial velocity, t ∈ [0, Tact ], Tact > 0.
Meanwhile, after the control instruction is analyzed, the change of the rotation gear can be obtained from the data obtained by the analysis, that is, the initial gear (the gear before adjustment) and the target gear (the gear after adjustment) are determined, the speed corresponding to the initial gear is obtained as the initial speed, and the speed corresponding to the target gear is obtained as the target speed.
Further, after obtaining parameters such as the initial speed, the target speed change time and the like and obtaining the target speed calculation formula corresponding to the second sinusoidal curve change mode, speed calculation can be performed by combining the obtained parameters with the target speed calculation formula corresponding to the second sinusoidal curve change mode, the speed corresponding to each time point in the target speed change time is respectively calculated, and a second speed change curve for controlling the operation of the swing mechanism is formed by all the speed information. The specific calculation process may be: and inputting parameters such as the initial speed, the target speed change time and the like into a target speed calculation formula corresponding to the second sinusoidal curve change mode for calculation, and calculating the speed corresponding to each time point in the target speed change time respectively. Therefore, the operation of the swing mechanism is controlled according to the speed corresponding to each time point in the second speed change curve, the operation speed curve of the swing mechanism is softer, and the operation experience of an operator can be improved.
Referring to fig. 4, fig. 4 is a schematic diagram of a second scenario of the first embodiment of the control method for the slewing mechanism of the tower crane of the present application, and in an embodiment of the present application, a waveform comparison diagram of a second speed variation curve and a linear acceleration/deceleration curve is provided, where an abscissa is time, values of a coordinate axis at least include a value range with 0 as a starting point, 50 as an end point and a time interval of 5, an ordinate is speed, values of a coordinate axis at least include a value range with 0 as a starting point, 50 as an end point and a time interval of 10, a waveform 1 is a linear acceleration/deceleration curve, and a waveform 2 is a second speed variation curve. Therefore, the acceleration of the second speed change curve is 0 at the beginning, the maximum acceleration is reached at the angle of 0 degrees, then the acceleration slowly drops and returns to 0 again, the speed just reaches the target speed at the moment, and the whole acceleration and deceleration process is softer relative to the linear acceleration and deceleration curve and the S curve.
The embodiment provides a method, a device, equipment and a computer storage medium for controlling a slewing mechanism of a tower crane, which are used for receiving a control instruction of the slewing mechanism of a target tower crane and determining target speed change time of the slewing mechanism according to the control instruction; determining a target speed change mode of the slewing mechanism according to the control instruction; if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the first speed change curve. The target speed change time and the target speed change mode of the slewing mechanism of the target tower crane can be respectively determined according to the control instruction of the slewing mechanism of the target tower crane, when the target speed change mode is the first sinusoidal curve change mode, the first speed change curve is calculated based on the first sinusoidal curve change mode and the target speed change time, when the slewing mechanism is controlled to run according to the first speed change curve, the starting speed of the slewing mechanism is high, the running distance is reduced when the slewing mechanism is decelerated, the running distance is increased when the slewing mechanism is accelerated, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
Further, referring to fig. 5, based on the first embodiment of the method for controlling a slewing mechanism of a tower crane of the present application, a second embodiment of the method for controlling a slewing mechanism of a tower crane of the present application is provided, and in the second embodiment, the step of determining the target speed change time of the slewing mechanism according to the control instruction includes:
step S11, acquiring a target speed change time mode in the control command;
and step S12, determining the target speed change time of the slewing mechanism according to the target speed change time mode.
After receiving the control command for the slewing mechanism of the target tower crane and completing the parsing of the control command, the speed change time mode selected by the operator may be identified from the parsed data, in this embodiment, it is determined whether the speed change time mode selected by the operator is the first speed change time mode or the second speed change time mode, and more specifically, it is determined whether the speed change time mode selected by the operator is the rated frequency mode or the time-invariant mode. The rated frequency mode is that the time for accelerating to the rated frequency (namely, the rated speed is a speed preset according to actual requirements) is T, and the time for changing the other speeds V0 to V1 is calculated according to the following formula:
wherein Tact is the time required for the change between V0 and V1, namely the target speed change time; v1 is the target speed, V0 is the initial speed, Vnorm is the rated frequency (i.e., the rated speed), and T is the time for the swing mechanism to accelerate from 0 to the rated frequency, which may be a preset value or a value input by the user.
The time-invariant mode means that the total time for the frequency V0 to change to V1 is a time value T set in advance or input by the user, i.e., Tact ═ T, regardless of the speed difference between V0 and V1.
Further, a target speed change time of the swing mechanism may be determined based on the determined first speed change time mode or the second speed change time mode (i.e., the nominal frequency mode or the time invariant mode). The method is convenient for calculating the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode subsequently, and controls the slewing mechanism to operate according to the first speed change curve, so that the starting speed of the slewing mechanism is high, the operating distance is reduced during deceleration, the operating distance is increased during acceleration, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
Specifically, the target speed variation time pattern in this embodiment may be a first speed variation time pattern or a second speed variation time pattern, where the first speed variation time pattern is a rated frequency pattern, and the second speed variation time pattern is a time invariant pattern; the step of determining the target speed change time of the slewing mechanism according to the target speed change time mode comprises the following steps:
step A, if the target speed change time mode is a first speed change time mode, acquiring first time for controlling the slewing mechanism to change speed from a stationary state to a rated speed, and determining the target speed change time for changing the slewing mechanism from the rated speed to the target speed according to the first time;
after the target speed change time pattern in the control command is obtained, if the target speed change time pattern is determined to be the first speed change time pattern, that is, the target speed change time pattern is the rated frequency pattern, the time for controlling the swing mechanism to shift from the static state to the rated speed is obtained as the first time, and the target speed change time for shifting the swing mechanism from the rated speed to the target speed is further determined according to the obtained first time, and the specific determination process refers to steps a 1-a 2. The method is convenient for calculating the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode subsequently, and controls the slewing mechanism to operate according to the first speed change curve, so that the starting speed of the slewing mechanism is high, the operating distance is reduced during deceleration, the operating distance is increased during acceleration, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
Further, the step of determining a target speed change time for the swing mechanism to change from the rated speed to a target speed according to the first time comprises:
step A1, acquiring a time calculation formula corresponding to the first speed change time mode;
and A2, determining the target speed change time for changing the speed of the slewing mechanism from the rated speed to the target speed according to the time calculation formula, the first time, the rated speed and the target speed.
After the first time for controlling the swing mechanism to change speed from a static state to a rated speed is obtained, a time calculation formula corresponding to a first speed change time mode, namely a rated frequency mode, is further obtained, wherein the time calculation formula corresponding to the rated frequency mode is shown as the following formula:
wherein Tact is the time required for the change between V0 and V1, namely the target speed change time; v1 is the target speed, V0 is the initial speed, Vnorm is the rated frequency (i.e., the rated speed), and T is the time for the swing mechanism to accelerate from 0 to the rated frequency, which may be a preset value or a value input by the user.
And further, inputting the acquired parameters such as the first time, the rated speed, the target speed and the like into a time calculation formula corresponding to the rated frequency mode for calculation to obtain the target speed change time of the slewing mechanism from the rated speed to the target speed.
And B, if the target speed change time mode is a second speed change time mode, acquiring second time for controlling the slewing mechanism to change from the initial speed to the target speed as target speed change time.
After the target speed change time pattern in the control command is obtained, if it is determined that the target speed change time pattern is the second speed change time pattern, that is, the target speed change time pattern is the time invariant pattern, since the total time for the frequency V0 to change to V1 is a time value set in advance or input by the user no matter what the speed difference between V0 and V1 is in the time invariant pattern, the second time for controlling the swing mechanism to shift from the initial speed V0 to the target speed V1 can be directly obtained as the target speed change time. The method is convenient for calculating the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode subsequently, and controls the slewing mechanism to operate according to the first speed change curve, so that the starting speed of the slewing mechanism is high, the operating distance is reduced during deceleration, the operating distance is increased during acceleration, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
The embodiment can accurately determine the target speed change time of the slewing mechanism according to the target speed change time mode. The method is convenient for calculating the first speed change curve of the slewing mechanism based on the target speed change time and the determined first sinusoidal curve change mode subsequently, and controls the slewing mechanism to operate according to the first speed change curve, so that the starting speed of the slewing mechanism is high, the operating distance is reduced during deceleration, the operating distance is increased during acceleration, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
Further, referring to fig. 6, a third embodiment of the method for controlling a slewing mechanism of a tower crane of the present application is proposed based on the first embodiment of the method for controlling a slewing mechanism of a tower crane of the present application, and in the third embodiment, the step of calculating the first speed variation curve of the slewing mechanism based on the target speed variation time and the first sinusoidal curve variation pattern includes:
step S31, acquiring a speed calculation formula corresponding to the first sinusoidal curve change mode;
step S32, acquiring an initial speed and a target speed in the control command;
and step S33, calculating a first speed change curve of the slewing mechanism according to the initial speed, the target speed change time and the speed calculation formula.
After determining the target speed variation mode of the slewing mechanism according to the control command, if it is determined that the target speed variation mode is the first sinusoidal variation mode, searching a speed calculation formula corresponding to the first sinusoidal variation mode according to the first sinusoidal variation mode, where the speed calculation formula corresponding to the first sinusoidal variation mode is shown as the following formula in this embodiment:
where Vx is the speed of the slewing mechanism at time t, where the speed of this embodiment may be specifically the rotational speed, that is, the speed at which the slewing mechanism rotates, and Tact is the time required for the change between V0 and V1, that is, the target speed change time; v1 is the target velocity, V0 is the initial velocity, t ∈ [0, Tact ], Tact > 0.
Meanwhile, after the control instruction is analyzed, the change of the rotation gear can be obtained from the data obtained by the analysis, that is, the initial gear (the gear before adjustment) and the target gear (the gear after adjustment) are determined, the speed corresponding to the initial gear is obtained as the initial speed, and the speed corresponding to the target gear is obtained as the target speed.
Further, after obtaining parameters such as the initial speed, the target speed change time, and the like, and obtaining the speed calculation formula corresponding to the first sinusoidal curve change mode, the speed calculation can be performed by combining the obtained parameters with the speed calculation formula corresponding to the first sinusoidal curve change mode, the speed corresponding to each time point in the target speed change time is respectively calculated, and a first speed change curve for controlling the operation of the swing mechanism is formed by all the speed information. The specific calculation process may be: and inputting parameters such as the initial speed, the target speed change time and the like into a speed calculation formula corresponding to the first sinusoidal curve change mode for calculation, and calculating the speed corresponding to each time point in the target speed change time respectively. Therefore, the operation of the slewing mechanism is controlled according to the speed corresponding to each time point in the first speed change curve, the starting speed of the slewing mechanism is high, the running distance is reduced during deceleration, the running distance is increased during acceleration, and the working efficiency of the slewing mechanism of the tower crane is effectively improved.
According to the embodiment, the first speed change curve of the slewing mechanism can be accurately calculated according to the obtained initial speed, the obtained target speed, the determined target speed change time and the speed calculation formula, the slewing mechanism can be conveniently controlled to run according to the speed corresponding to each time point in the first speed change curve, the starting speed of the slewing mechanism is high, the running distance is reduced during deceleration, the running distance is increased during acceleration, and the working efficiency of the tower crane slewing mechanism is effectively improved.
Further, this application still provides a tower machine rotation mechanism's controlling means.
Referring to fig. 7, fig. 7 is a functional module schematic diagram of a first embodiment of a control device of a slewing mechanism of a tower crane according to the present application.
The control device of the tower crane slewing mechanism comprises:
the system comprises a receiving module 10, a calculating module and a calculating module, wherein the receiving module is used for receiving a control instruction of a swing mechanism of a target tower crane and determining target speed change time of the swing mechanism according to the control instruction;
a determining module 20, configured to determine a target speed variation mode of the slewing mechanism according to the control instruction;
and the calculating module 30 is configured to calculate a first speed variation curve of the slewing mechanism based on the target speed variation time and the first sinusoidal variation mode if the target speed variation mode is a first sinusoidal variation mode, and control the slewing mechanism to operate according to the first speed variation curve.
In addition, the present application further provides a computer storage medium, on which a control program of the tower crane slewing mechanism is stored, and when the control program of the tower crane slewing mechanism is executed by a processor, the steps of the embodiments of the control method of the tower crane slewing mechanism are implemented.
In addition, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the embodiments of the control method for the slewing mechanism of the tower crane are realized.
In the embodiments of the control device, the computer-readable storage medium, and the computer program product of the tower crane slewing mechanism of the present application, all technical features of the embodiments of the control method of the tower crane slewing mechanism are included, and the description and explanation contents are substantially the same as those of the embodiments of the control method of the tower crane slewing mechanism, and are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present application or a part contributing to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., a ROM/RAM, a magnetic disk, and an optical disk), and includes a plurality of instructions for enabling a terminal device (which may be a fixed terminal, such as an internet of things smart device including smart homes, such as a smart air conditioner, a smart lamp, a smart power supply, and a smart router, or a mobile terminal, including a smart phone, a wearable networked AR/VR device, a smart sound box, and a network device such as an auto-driven automobile) to execute the method according to the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. The control method of the tower crane slewing mechanism is characterized by comprising the following steps:
receiving a control instruction of a slewing mechanism of a target tower crane, and determining target speed change time of the slewing mechanism according to the control instruction;
determining a target speed change mode of the slewing mechanism according to the control instruction;
if the target speed change mode is a first sinusoidal curve change mode, calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the first speed change curve.
2. The method for controlling a tower crane slewing mechanism as claimed in claim 1, wherein said step of calculating a first speed variation profile of said slewing mechanism based on said target speed variation time and said first sinusoidal variation pattern comprises:
acquiring a speed calculation formula corresponding to the first sinusoidal curve change mode;
acquiring an initial speed and a target speed in the control command;
and calculating a first speed change curve of the slewing mechanism according to the initial speed, the target speed change time and the speed calculation formula.
3. The method for controlling a tower crane slewing mechanism as claimed in claim 1, wherein said step of determining a target speed change time of said slewing mechanism based on said control command comprises:
acquiring a target speed change time mode in the control command;
and determining the target speed change time of the slewing mechanism according to the target speed change time mode.
4. The method as claimed in claim 3, wherein the target speed variation time mode is a first speed variation time mode or a second speed variation time mode, the first speed variation time mode is a rated frequency mode, and the second speed variation time mode is a time-invariant mode; the step of determining the target speed change time of the slewing mechanism according to the target speed change time mode comprises the following steps:
if the target speed change time mode is a first speed change time mode, acquiring first time for controlling the slewing mechanism to change speed from a stationary state to a rated speed, and determining the target speed change time for changing the slewing mechanism from the rated speed to the target speed according to the first time;
and if the target speed change time mode is a second speed change time mode, acquiring second time for controlling the slewing mechanism to change the speed from the initial speed to the target speed as target speed change time.
5. The method as claimed in claim 4, wherein said step of determining a target speed change time for said slewing mechanism to change from said nominal speed to a target speed based on said first time comprises:
acquiring a time calculation formula corresponding to the first speed change time mode;
and determining the target speed change time for changing the speed of the slewing mechanism from the rated speed to the target speed according to the time calculation formula, the first time, the rated speed and the target speed.
6. The method for controlling a tower crane slewing mechanism as claimed in claim 1, wherein said step of determining a target speed change pattern of said slewing mechanism based on said control command further comprises:
and if the target speed change mode is a second sinusoidal curve change mode, calculating a second speed change curve of the slewing mechanism based on the target speed change time and the second sinusoidal curve change mode, and controlling the slewing mechanism to operate according to the second speed change curve.
7. The method for controlling the slewing mechanism of the tower crane as claimed in claim 1, wherein the first sinusoidal variation pattern is a sinusoidal variation pattern between 0 and pi/2, and the second sinusoidal variation pattern is a sinusoidal variation pattern between-pi/2 and pi/2.
8. The utility model provides a control device of tower machine rotation mechanism which characterized in that, control device of tower machine rotation mechanism includes:
the receiving module is used for receiving a control instruction of a slewing mechanism of the target tower crane and determining target speed change time of the slewing mechanism according to the control instruction;
the determining module is used for determining a target speed change mode of the slewing mechanism according to the control instruction;
and the calculating module is used for calculating a first speed change curve of the slewing mechanism based on the target speed change time and the first sinusoidal curve change mode and controlling the slewing mechanism to operate according to the first speed change curve if the target speed change mode is the first sinusoidal curve change mode.
9. A control apparatus for a tower crane slewing mechanism, characterized in that the control apparatus for a tower crane slewing mechanism comprises a memory, a processor and a control program for a tower crane slewing mechanism stored on the memory and operable on the processor, wherein the control program for a tower crane slewing mechanism, when executed by the processor, implements the steps of the control method for a tower crane slewing mechanism as claimed in any one of claims 1 to 7.
10. A computer storage medium, characterized in that the computer storage medium has stored thereon a control program of a tower crane slewing mechanism, which when executed by a processor implements the steps of the method of controlling a tower crane slewing mechanism as claimed in any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111682830.3A CN114261908A (en) | 2021-12-31 | 2021-12-31 | Control method, device and equipment of tower crane slewing mechanism and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111682830.3A CN114261908A (en) | 2021-12-31 | 2021-12-31 | Control method, device and equipment of tower crane slewing mechanism and computer storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114261908A true CN114261908A (en) | 2022-04-01 |
Family
ID=80832996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111682830.3A Pending CN114261908A (en) | 2021-12-31 | 2021-12-31 | Control method, device and equipment of tower crane slewing mechanism and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114261908A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455469A (en) * | 2022-04-11 | 2022-05-10 | 杭州杰牌传动科技有限公司 | Tower crane slewing mechanism control system and control method |
| CN114634108A (en) * | 2022-05-17 | 2022-06-17 | 杭州未名信科科技有限公司 | Tower crane robot rotation control method and system |
-
2021
- 2021-12-31 CN CN202111682830.3A patent/CN114261908A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114455469A (en) * | 2022-04-11 | 2022-05-10 | 杭州杰牌传动科技有限公司 | Tower crane slewing mechanism control system and control method |
| CN114634108A (en) * | 2022-05-17 | 2022-06-17 | 杭州未名信科科技有限公司 | Tower crane robot rotation control method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114261908A (en) | Control method, device and equipment of tower crane slewing mechanism and computer storage medium | |
| CN102799206B (en) | Tail end motion control method and system for arm support | |
| CN100340951C (en) | Method and apparatus for selecting in screen menu | |
| CN111715738B (en) | Shaft action configuration method, device, equipment and computer readable storage medium | |
| CN1476222A (en) | Mobile communication terminal device | |
| EP1250218B1 (en) | Controlling method and apparatus for positioning a robot | |
| CN106647749A (en) | Method for precise positioning of shuttle vehicle moving in dense storage warehouse | |
| CN109687782A (en) | A kind of control device and control system of stepper motor | |
| WO2000004629A1 (en) | Inverter system | |
| CN103853571B (en) | A kind of work state switching method and electronic equipment | |
| EP2196882A2 (en) | Robot system | |
| CN108317696B (en) | Control method and device of air conditioner and computer readable storage medium | |
| CN110329087B (en) | Method, device and equipment for parking electric automobile on slope and storage medium | |
| CN107505923B (en) | Device control method, electronic device, and computer-readable storage medium | |
| JPH07160428A (en) | Coordinate input system | |
| CN109713956B (en) | Motor acceleration and deceleration control method and system | |
| CN105677028A (en) | Control method, electronic equipment and electronic device | |
| CN112654229B (en) | Binding equipment and control method thereof | |
| CN114415599A (en) | Servo parameter self-adjusting method, servo driver and computer readable storage medium | |
| CN108344119B (en) | Control method and device of air conditioner and computer readable storage medium | |
| CN111412609B (en) | Non-wind-sensing air supply method based on air conditioner, storage medium and device | |
| CN111469207A (en) | Intelligent control method for PCB numerical control drilling and drilling process | |
| CN113938079A (en) | Motor rotating speed control method, device and system and working machine | |
| JP2020087099A (en) | Abnormality display device and abnormality display method | |
| CN110884362B (en) | Motor drive control method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |