CN114933241A - Control method and device for tower crane, controller, tower crane and storage medium - Google Patents
Control method and device for tower crane, controller, tower crane and storage medium Download PDFInfo
- Publication number
- CN114933241A CN114933241A CN202210429385.8A CN202210429385A CN114933241A CN 114933241 A CN114933241 A CN 114933241A CN 202210429385 A CN202210429385 A CN 202210429385A CN 114933241 A CN114933241 A CN 114933241A
- Authority
- CN
- China
- Prior art keywords
- sampling period
- motor
- driving current
- current
- target
- 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
Classifications
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Jib Cranes (AREA)
Abstract
The embodiment of the application provides a control method and device for a tower crane, a controller, the tower crane and a storage medium. The method comprises the following steps: acquiring the driving current of a motor of the tower crane in each sampling period; determining whether a first difference value between the driving current of the current sampling period and the driving current of the last sampling period is within a first preset range; and executing a first preset countermeasure in the case that the first difference value is determined not to be in the first preset range. Through the technical scheme, the rapid identification and automatic protection of sudden working conditions such as hoisting anchoring or sudden load change are realized, and the reliable, safe and efficient operation of the tower crane is ensured.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a control method and device for a tower crane, a controller, the tower crane and a storage medium.
Background
The tower crane is called tower crane for short, and is a material transportation machine widely used in construction sites. When the tower crane finishes the hoisting operation, articles in all places can be hoisted within the length range of the arm support by controlling the lifting hook to move up and down, the amplitude variation trolley to move back and forth and to rotate.
The existing tower crane generally uses a load lifting sensor to detect load lifting signals, and transmits the load lifting signals to a PLC (programmable logic controller) through communication modes such as analog quantity or digital quantity, and when the PLC judges that the load lifting signals are abnormal, a control instruction is sent to a frequency converter to control the motor to act. However, in this control method, the link for data transmission is too long, when the tower crane has sudden working conditions such as suspension anchoring and sudden load change, the time window for taking the prevention measures is usually only hundreds of milliseconds or even tens of milliseconds, and the existing control method cannot rapidly detect the sudden working conditions such as suspension anchoring or sudden load change and take the prevention measures in time, which may cause great harm to the tower crane.
Disclosure of Invention
The embodiment of the application aims to provide a control method and device for a tower crane, a controller, the tower crane and a storage medium.
In order to achieve the above object, a first aspect of the present application provides a control method for a tower crane, including:
acquiring the driving current of a motor of the tower crane in each sampling period;
determining whether a first difference value between the driving current of the current sampling period and the driving current of the last sampling period is in a first preset range or not;
and executing a first preset countermeasure in the case that the first difference value is determined not to be in the first preset range.
In an embodiment of the present application, the control method further includes:
acquiring the rotating speed of the motor in each sampling period;
determining the target driving current of the motor in each sampling period according to the rotating speed and the target rotating speed of the motor;
determining whether a second difference value between the target driving current of the current sampling period and the target driving current of the previous sampling period is in a second preset range;
and executing a second preset countermeasure in the case that the second difference value is determined not to be in the second preset range.
In the embodiment of the present application, determining the target driving current of the motor for each sampling period according to the rotation speed and the target rotation speed of the motor includes:
and performing PID operation on the difference value between the rotating speed and the target rotating speed of the motor to obtain the target driving current of the motor in each sampling period.
In an embodiment of the present application, the control method further includes:
determining a target rotor angle of the motor in each sampling period according to the rotating speed and the target driving current;
determining the predicted driving current of the motor in each sampling period according to the driving current and the target rotor angle;
determining whether a third difference value between the predicted driving current of the current sampling period and the predicted driving current of the previous sampling period is within a third preset range;
and in the case that the third difference value is determined not to be in the third preset range, executing a third preset countermeasure.
In the embodiment of the application, the motor is an asynchronous motor;
determining a target rotor angle of the motor for each sampling period according to the rotation speed and the target driving current, comprising:
determining the slip of the asynchronous motor in each sampling period according to the target driving current;
and determining the target rotor angle of the asynchronous motor in each sampling period according to the rotating speed and the slip.
In the embodiment of the present application, determining the slip of the asynchronous motor for each sampling period according to the target driving current includes:
determining the slip of the asynchronous motor for each sampling period according to equation (1):
wherein, ω is sl Representing the slip, τ, of the asynchronous machine for each sampling period r Represents the rotor time constant of the asynchronous machine, s represents the differential operator,
representing the q-axis component of the target drive current for each sampling period in a rotating coordinate system,
representing the d-axis component of the target drive current in the rotating coordinate system for each sampling period.
In an embodiment of the present application, determining a target rotor angle of the asynchronous motor for each sampling period according to the rotation speed and the slip includes:
determining a target rotor angle of the asynchronous motor for each sampling period according to equation (2):
θ＝∫(ω sl + ω) dt formula (2)
Where θ represents the target rotor angle of the asynchronous motor for each sampling period, and ω represents the rotational speed of the asynchronous motor for each sampling period.
In the embodiment of the application, the motor is a synchronous motor;
determining a target rotor angle of the motor for each sampling period according to the rotation speed and the target driving current, comprising:
acquiring the rotor angle of the synchronous motor in each sampling period;
and determining the target rotor angle of the synchronous motor in each sampling period according to the rotating speed and the rotor angle.
In an embodiment of the present application, determining a predicted drive current of the motor for each sampling period based on the drive current and the target rotor angle comprises:
the predicted drive current of the motor for each sampling period is determined according to equation (3):
wherein i sq Representing the q-axis component, i, of the predicted drive current for each sampling period in a rotating coordinate system sd D-axis component i of the predicted driving current in the rotating coordinate system representing each sampling period o Representing zero sequence components caused by three-phase imbalance, theta represents a target rotor angle of each sampling period, i a 、i b 、i c Respectively representing the current components of the driving current in the three-phase coordinate system in each sampling period.
In an embodiment of the present application, in a case where it is determined that the first difference value is not within the first preset range, performing a first preset countermeasure includes:
under the condition that the first difference value is determined not to be in the first preset range, determining whether the driving current of the current sampling period exceeds a driving current threshold value;
under the condition that the driving current of the current sampling period is determined to exceed the driving current threshold value, controlling the motor to stop;
and under the condition that the driving current of the current sampling period is determined not to exceed the driving current threshold value, controlling the rotating speed of the motor to be reduced to a first preset rotating speed.
In this embodiment of the present application, in a case that it is determined that the second difference is not in the second preset range, executing a second preset countermeasure, including:
under the condition that the second difference value is determined not to be in the second preset range, determining whether the target driving current of the current sampling period exceeds a target driving current threshold value;
under the condition that the target driving current of the current sampling period is determined to exceed the target driving current threshold, controlling the motor to stop;
and under the condition that the target driving current of the current sampling period is determined not to exceed the target driving current threshold, controlling the rotating speed of the motor to be reduced to a second preset rotating speed.
In this embodiment of the present application, in a case that it is determined that the third difference value is not within the third preset range, a third preset countermeasure is performed, where the third preset countermeasure includes:
under the condition that the third difference value is determined not to be in a third preset range, determining whether the predicted driving current of the current sampling period exceeds a predicted driving current threshold value;
under the condition that the predicted driving current of the current sampling period is determined to exceed the predicted driving current threshold, controlling the motor to stop;
and under the condition that the predicted driving current of the current sampling period is determined not to exceed the predicted driving current threshold value, controlling the rotating speed of the motor to be reduced to a third preset rotating speed.
A second aspect of the present application provides a controller configured to execute the above-mentioned control method for a tower crane.
A third aspect of the present application provides a control device for a tower crane, comprising:
a current detection device configured to detect a drive current of a motor of the tower crane for each sampling period; and
the controller is described above.
In an embodiment of the present application, the control apparatus further includes:
an encoder configured to detect a rotational speed of the motor for each sampling period.
The fourth aspect of the application provides a tower crane, including foretell controlling means for tower crane.
A fifth aspect of the present application provides a machine-readable storage medium having stored thereon instructions, which when executed by a processor, cause the processor to be configured to execute the above-mentioned control method for a tower crane.
Through the technical scheme, namely, the driving current of the motor of the tower crane in each sampling period is obtained, whether the first difference value between the driving current in the current sampling period and the driving current in the previous sampling period is in the first preset range or not is determined, and the first preset countermeasure is executed under the condition that the first difference value is not in the first preset range.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
fig. 1 is a schematic flow chart of a control method for a tower crane provided in an embodiment of the present application;
fig. 2 is another schematic flow chart of the control method for the tower crane provided in the embodiment of the present invention;
fig. 3 is another schematic flow chart of the control method for the tower crane provided in the embodiment of the present invention;
fig. 4 is a schematic flowchart of step S31 in the control method for the tower crane provided in the embodiment of the present application;
fig. 5 is another schematic flow chart of step S31 in the control method for the tower crane provided in the embodiment of the present application;
fig. 6 is a schematic flowchart of step S13 in the control method for the tower crane provided in the embodiment of the present application;
fig. 7 is a schematic flowchart of step S24 in the control method for the tower crane provided in the embodiment of the present application;
fig. 8 is a schematic flowchart of step S34 in the control method for the tower crane provided in the embodiment of the present application;
fig. 9 is a schematic structural diagram of a control device for a tower crane provided in an embodiment of the present application;
fig. 10 is an internal structural diagram of a computer device provided in the embodiment of the present application.
Description of the reference numerals
10. A current detection device; 20. a controller;
30. an encoder.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic flow diagram of a control method for a tower crane provided in an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, a control method for a tower crane is provided, which includes the following steps:
step S11: acquiring the driving current of a motor of the tower crane in each sampling period;
step S12: determining whether a first difference value between the driving current of the current sampling period and the driving current of the last sampling period is within a first preset range;
step S13: and executing a first preset countermeasure in the case that the first difference value is determined not to be in the first preset range.
Specifically, in step S11, the motors of the tower crane include any one or more of a hoisting motor for driving the hook to move up and down, a luffing motor for driving the luffing carriage to move back and forth, and a rotary motor for driving the rotary motion. During the use process of the tower crane, the driving current of the motor CAN be detected in real time in each sampling period through a current detection device such as a Hall current sensor arranged on a frequency converter of the motor, and the driving current is uploaded to a tower crane Controller through a CAN (Controller Area Network, Chinese full name: Controller Area Network) communication Network or a high-speed EtherCAT (EtherControlAutomation technology, Chinese full name: Ethernet control automation technology) communication Network. It can be understood that a transmission link between the current detection device on the frequency converter and the tower crane controller is short, time consumption is low, and detection speed is high. In step S12, the tower crane controller compares the driving current in the current sampling period with the driving current in the previous sampling period, and determines whether a first difference between the driving current in the current sampling period and the driving current in the previous sampling period is within a first preset range. It can be understood that the driving current of the motor detected by the current detection device is a three-phase alternating current, so that the tower crane controller may extract a characteristic value of the three-phase alternating current first, and then compare the characteristic value of the driving current in the current sampling period with the characteristic value of the driving current in the previous sampling period, where the characteristic value may be a peak value, an average value, or an effective value of the three-phase alternating current, and preferably, the peak value of the three-phase alternating current is adopted. In step S13, when the first difference is not within the first preset range, for example, the first difference exceeds 40% of the driving current of the last sampling period, the tower crane controller determines that the driving current of the motor changes suddenly, determines that the tower crane has sudden working conditions such as suspension anchoring or sudden load change, and executes a first preset countermeasure, thereby avoiding damage to the tower crane. It can be understood that whether sudden working conditions such as anchoring or sudden load change are detected or not is judged according to whether the peak value of the three-phase alternating current of the motor is suddenly changed, the detection can be performed for 6 times in one sampling period (2 pi), and the detection speed is high, and convenience and simplicity are realized. Through the mode, the rapid identification and automatic protection of sudden working conditions such as hoisting anchoring or sudden load change are realized, and the reliable, safe and efficient operation of the tower crane is ensured.
Referring to fig. 2, fig. 2 is another schematic flow chart of the control method for the tower crane provided in the embodiment of the present invention. As shown in fig. 2, the control method may further include the steps of:
step S21: acquiring the rotating speed of the motor in each sampling period;
step S22: determining the target driving current of the motor in each sampling period according to the rotating speed and the target rotating speed of the motor;
step S23: determining whether a second difference value between the target driving current of the current sampling period and the target driving current of the previous sampling period is in a second preset range;
step S24: and executing a second preset countermeasure in the case that the second difference value is determined not to be in the second preset range.
Specifically, in step S21, in the use process of the tower crane, the rotation speed of the motor may be detected in real time in each sampling period through an encoder on the frequency converter, and uploaded to the tower crane controller through the CAN communication network or the high speed EtherCAT communication network. In step S22, the target rotation speed of the motor is the rotation speed that the motor is expected to reach after the user inputs the operation command, and the target drive current of the motor is the drive current that the motor is expected to reach. Since the tower crane uses a rotation speed regulation mode, the driving current (output torque) of the motor adopts the principle of following the rotation speed loop output, so the tower crane controller can determine the target driving current of the motor in each sampling period according to the rotation speed of the motor in each sampling period and the target rotation speed, and then the step S23 is carried out. In step S23, the tower crane controller compares the target driving current in the current sampling period with the target driving current in the previous sampling period, and determines whether a second difference between the two is within a second preset range. It is understood that the output torque of the motor is only associated with the q-axis component of the driving current of the motor in the rotating coordinate system, and therefore, only the q-axis component of the target driving current of the current sampling period in the rotating coordinate system may be separately compared with the q-axis component of the target driving current of the previous sampling period in the rotating coordinate system. In step S24, when the second difference is not within the second preset range, for example, the second difference exceeds 20% of the target driving current of the last sampling period, the tower crane controller determines that the target driving current of the motor changes suddenly, determines that sudden working conditions such as suspension anchoring or sudden load change of the tower crane are detected, and executes a second preset countermeasure at this time, thereby avoiding damage to the tower crane. It can be understood that whether sudden working conditions such as hoisting anchorage or sudden load change are detected or not is judged according to whether target driving current of the motor is suddenly changed or not, so that the torque current output of the speed controller is directly observed, the impending abnormal working conditions can be predicted before the sudden working conditions such as hoisting anchorage or sudden load change occur, and the detection precision is higher.
In one embodiment, determining the target driving current of the motor for each sampling period according to the rotation speed and the target rotation speed of the motor in step S22 may include: and carrying out PID operation on the difference value between the rotating speed and the target rotating speed of the motor to obtain the target driving current of the motor in each sampling period.
Specifically, the pid (contribution Integral differential) operation is an algorithm that controls in proportion (P), Integral (I) and derivative (D) of the difference. P is a scaling operation, i.e. multiplying the difference by a scaling factor; i is integral operation, namely integrating the difference value with time; and D is a differential operation, namely, the difference is differentiated to time, and the sum of the three operation results can obtain the target driving current of the motor in each sampling period.
Referring to fig. 3, fig. 3 is another schematic flow chart of the control method for the tower crane provided in the embodiment of the present invention. As shown in fig. 3, the control method may further include the steps of:
step S31: determining a target rotor angle of the motor in each sampling period according to the rotating speed and the target driving current;
step S32: determining the predicted driving current of the motor in each sampling period according to the driving current and the target rotor angle;
step S33: determining whether a third difference value between the predicted driving current of the current sampling period and the predicted driving current of the previous sampling period is within a third preset range;
step S34: and in the case that the third difference value is determined not to be in the third preset range, executing a third preset countermeasure.
Specifically, in step S31, the target rotor angle of the motor is an angle corresponding to a position that the rotor of the motor is expected to reach. According to the control principle of the motor, the tower crane controller can determine the target rotor angle of the motor in each sampling period according to the rotating speed and the target driving current of the motor in each sampling period. In step S32, the predicted drive current of the motor is the drive current that the motor can actually reach. The tower crane controller can determine the predicted driving current of the motor in each sampling period according to the driving current of the motor in each sampling period and the target rotor angle. In step S33, the tower crane controller compares the predicted driving current in the current sampling period with the predicted driving current in the previous sampling period, and determines whether a third difference between the predicted driving current in the current sampling period and the predicted driving current in the previous sampling period is within a third preset range. It will be appreciated that it is equally possible to compare only the q-axis component of the predicted drive current for the current sampling period in the rotating coordinate system alone with the q-axis component of the predicted drive current for the previous sampling period in the rotating coordinate system. In step S34, when the third difference is not within the third preset range, for example, the third difference exceeds 10% of the predicted driving current of the previous sampling period, the tower crane controller determines that the predicted driving current of the motor changes suddenly, determines that an emergency condition such as a suspension anchor or sudden load change occurs in the tower crane, and executes a third preset countermeasure to avoid damage to the tower crane. It can be understood that whether sudden working conditions such as a hoisting anchor or sudden load change are detected or not is judged according to whether the predicted driving current of the motor is suddenly changed or not, which is equivalent to directly observing the actual torque to be output by the motor, so that the detection precision is further improved.
In practical application, the motor on the tower crane can be an asynchronous motor or a synchronous motor, the rotating speed of the rotor of the asynchronous motor is different from that of the stator magnetic field, and the rotating speed of the rotor of the synchronous motor is the same as that of the stator magnetic field. When the motors are asynchronous motors and synchronous motors, respectively, the specific process of determining the target rotor angle of the motor for each sampling period according to the rotation speed and the target driving current in step S31 is different, and will be described below.
In one embodiment, the motor is an asynchronous motor. Referring to fig. 4, fig. 4 is a schematic flowchart of step S31 in the control method for the tower crane provided in the embodiment of the present application. The determining the target rotor angle of the motor for each sampling period according to the rotation speed and the target driving current in step S31 may include:
step S311: determining the slip of the asynchronous motor in each sampling period according to the target driving current;
step S312: and determining the target rotor angle of the asynchronous motor in each sampling period according to the rotating speed and the slip.
Specifically, in step S311, the slip of the asynchronous motor is a ratio of a difference between a speed at which a stator magnetic field of the asynchronous motor rotates and a rotational speed of a rotor to the rotational speed of the stator magnetic field. The tower crane controller can determine the slip expected to be reached by the asynchronous motor in each sampling period according to the driving current expected to be reached by the asynchronous motor in each sampling period, and then the step S312 is performed. In step S312, the tower crane controller may determine an angle corresponding to a position where the rotor of the desired asynchronous motor can reach in each sampling period according to the rotation speed of the asynchronous motor in each sampling period and the slip that the desired asynchronous motor reaches.
In one embodiment, determining the slip of the asynchronous machine for each sampling period based on the target drive current comprises:
determining the slip of the asynchronous motor for each sampling period according to the formula (1):
wherein, ω is sl Representing the slip, τ, of the asynchronous machine for each sampling period r Represents the rotor time constant of the asynchronous machine, s represents the differential operator,
representing the q-axis component of the target drive current for each sampling period in a rotating coordinate system,
and d-axis components of the target driving current in the rotating coordinate system representing each sampling period.
In one embodiment, determining a target rotor angle of the asynchronous machine for each sampling period based on the rotational speed and the slip comprises:
determining a target rotor angle of the asynchronous motor for each sampling period according to equation (2):
θ＝∫(ω sl + ω) dt formula (2)
Where θ represents the target rotor angle of the asynchronous motor for each sampling period, and ω represents the rotational speed of the asynchronous motor for each sampling period.
Specifically, coordinate transformation may be performed on the target driving current of the asynchronous motor to obtain a q-axis component of the target driving current in the rotating coordinate system
And d-axis component
And then calculating by using a formula (1) to obtain the slip of the asynchronous motor, and calculating by using a formula (2) to obtain the target rotor angle of the asynchronous motor.
In one embodiment, the motor is a synchronous motor. Referring to fig. 5, fig. 5 is another schematic flow chart of step S31 in the control method for the tower crane provided in the embodiment of the present application. Determining the target rotor angle of the motor for each sampling period according to the rotation speed and the target driving current in step S31 may include the following steps:
step S313: acquiring the rotor angle of the synchronous motor in each sampling period;
step S314: and determining the target rotor angle of the synchronous motor in each sampling period according to the rotating speed and the rotor angle.
Specifically, in step S313, the rotor angle of the synchronous motor is an angle corresponding to the position of the rotor of the synchronous motor in the current sampling period. In the use process of the tower crane, the rotor angle of the synchronous motor CAN be detected in real time in each sampling period through the encoder, and the rotor angle is uploaded to the tower crane controller through the CAN communication network or the high-speed EtherCAT communication network. In step S314, the tower crane controller may determine an angle corresponding to a position where the rotor of the synchronous motor is expected to be located in each sampling period according to the rotation speed and the rotor angle of the synchronous motor in each sampling period.
In one embodiment, determining a predicted drive current for the motor for each sample period based on the drive current and the target rotor angle comprises:
the predicted drive current of the motor for each sampling period is determined according to equation (3):
wherein i sq The predicted drive current representing each sampling period is in a rotating coordinate systemQ-axis component of sd D-axis component i of predicted driving current in rotating coordinate system representing each sampling period o Representing zero sequence components caused by three-phase imbalance, theta represents a target rotor angle of each sampling period, i a 、i b 、i c Respectively representing the current components of the driving current in the three-phase coordinate system in each sampling period.
Specifically, three-phase drive current i of the motor is acquired a 、i b 、i c Then, static coordinate transformation may be performed first, then dynamic coordinate change is performed, q-axis component and d-axis component of the predicted driving current in the rotating coordinate system are calculated by using formula (3), and in the subsequent step, the q-axis component of the predicted driving current in the current sampling period in the rotating coordinate system is separately compared with the q-axis component of the predicted driving current in the previous sampling period in the rotating coordinate system.
In practical application, the output torque of the motor can more intuitively reflect the working state of the motor, so that the predicted output torque of the motor, namely the torque which can be actually output by the motor, can be further determined according to the predicted driving current of the motor.
In one embodiment, when the electric machine is an asynchronous machine, the predicted output torque of the electric machine may be determined by equation (4):
T e ＝K·i sd ·i sq formula (4)
Wherein, T e Represents the predicted output torque of the motor and K represents a constant associated with the motor configuration.
In one embodiment, when the motor is an interior permanent magnet synchronous motor, the predicted output torque of the motor may be determined by equation (5):
in one embodiment, when the motor is a surface-mount permanent magnet synchronous motor, the predicted output torque of the motor may be determined by equation (6):
wherein L is d Representing the direct-axis inductance of the machine, L q Represents the quadrature inductance, λ, of the machine f Representing the permanent magnet flux linkage of the motor.
Whether the predicted driving torque of the motor is suddenly changed or not is synchronously observed, so that the detection precision of sudden working conditions such as hoisting anchoring or sudden load change can be further improved.
Referring to fig. 6, fig. 6 is a schematic flowchart of step S13 in the control method for the tower crane provided in the embodiment of the present application. For the case where it is determined in step S13 that the first difference is not within the first preset range, performing the first preset countermeasure may include the steps of:
step S131: under the condition that the first difference value is determined not to be in the first preset range, determining whether the driving current of the current sampling period exceeds a driving current threshold value;
step S132: under the condition that the driving current of the current sampling period is determined to exceed the driving current threshold, controlling the motor to stop;
step S133: and under the condition that the driving current of the current sampling period is determined not to exceed the driving current threshold value, controlling the rotating speed of the motor to be reduced to a first preset rotating speed.
Referring to fig. 7, fig. 7 is a schematic flowchart of step S24 in the control method for the tower crane provided in the embodiment of the present application. For the case where it is determined in step S24 that the second difference is not within the second preset range, performing the second preset countermeasure may include the steps of:
step S241: under the condition that the second difference value is determined not to be in the second preset range, determining whether the target driving current of the current sampling period exceeds a target driving current threshold value;
step S242: under the condition that the target driving current of the current sampling period is determined to exceed the target driving current threshold value, controlling the motor to stop;
step S243: and under the condition that the target driving current of the current sampling period is determined not to exceed the target driving current threshold, controlling the rotating speed of the motor to be reduced to a second preset rotating speed.
Referring to fig. 8, fig. 8 is a schematic flowchart of step S34 in the control method for the tower crane provided in the embodiment of the present application. For the case where it is determined in step S34 that the third difference is not within the third preset range, performing the third preset countermeasure may include the steps of:
step S341: under the condition that the third difference value is determined not to be in a third preset range, determining whether the predicted driving current of the current sampling period exceeds a predicted driving current threshold value;
step S342: under the condition that the predicted driving current of the current sampling period is determined to exceed the predicted driving current threshold, controlling the motor to stop;
step S343: and under the condition that the predicted driving current of the current sampling period is determined not to exceed the predicted driving current threshold value, controlling the rotating speed of the motor to be reduced to a third preset rotating speed.
Specifically, in the foregoing embodiment, the driving current threshold, the target driving current threshold, and the predicted driving current threshold are limit values of the driving current, the target driving current, and the predicted driving current of the motor during normal operation, which may be specifically set according to actual needs, and the first preset rotation speed, the second preset rotation speed, and the third preset rotation speed may be equal or unequal, and are preferably equal to the first preset rotation speed, the second preset rotation speed, and the third preset rotation speed, for example, are set to be a micro-speed. When the first difference value is not in the first preset range, or the second difference value is not in the second preset range, or the third difference value is not in the third preset range, it indicates that the tower crane has an emergency, and it needs to further judge whether the driving current, the target driving current, and the predicted driving current in the current sampling period exceed their respective limit values, so as to determine which countermeasure to execute. When any one of the driving current, the target driving current and the predicted driving current in the current sampling period exceeds the limit value of the driving current, the condition that the tower crane has the hanging anchor can be determined, and the motor is controlled to stop at the moment. For example, when the tower crane is lifted by the hook, a firm object is hung and overloaded, or a string of the tower crane is overloaded when being lifted by multiple cranes, or a weight sensor fails, so that the driving current, the target driving current and the predicted driving current of the lifting motor in the current sampling period are suddenly increased and exceed the limit values of the tower crane, the tower crane controller can determine that the condition of hanging and anchoring the tower crane occurs, immediately control the lifting motor to stop, and prohibit the tower crane from rising. When the driving current, the target driving current and the predicted driving current in the current sampling period do not exceed the limit values of the driving current, the load-changing slow-start condition of the tower crane can be determined, and the rotating speed of the motor can be controlled to be reduced to a micro speed. For example, when the tower crane is lifted by the lifting hook, the goods are hung on lighter objects such as scaffolds and the like, or a plurality of flexible ropes for lifting the goods are connected in series, or the ropes are tightened and then lifted, so that the driving current, the target driving current and the predicted driving current of the lifting motor in the current sampling period are suddenly increased but do not exceed the limit value of the tower crane, at the moment, the condition that the tower crane has load change and slow lifting can be determined, the rotating speed of the motor is controlled to be reduced to a micro speed, and the motor can be controlled to stop if necessary.
Through the technical scheme, namely the driving current of the motor of the tower crane in each sampling period is obtained, whether the first difference value between the driving current in the current sampling period and the driving current in the previous sampling period is in the first preset range or not is determined, and the first preset countermeasure is executed under the condition that the first difference value is not in the first preset range.
Embodiments of the present application further provide a controller, configured to execute the following method: acquiring the driving current of a motor of the tower crane in each sampling period; determining whether a first difference value between the driving current of the current sampling period and the driving current of the last sampling period is within a first preset range; and executing a first preset countermeasure in the case that the first difference value is determined not to be in the first preset range.
In one embodiment, the method further comprises: acquiring the rotating speed of the motor in each sampling period; determining the target driving current of the motor in each sampling period according to the rotating speed and the target rotating speed of the motor; determining whether a second difference value between the target driving current of the current sampling period and the target driving current of the previous sampling period is in a second preset range; and executing a second preset countermeasure in the case that the second difference value is determined not to be in the second preset range.
In one embodiment, determining a target drive current of the motor for each sampling period based on the rotational speed and a target rotational speed of the motor comprises: and carrying out PID operation on the difference value between the rotating speed and the target rotating speed of the motor to obtain the target driving current of the motor in each sampling period.
In one embodiment, the method further comprises: determining a target rotor angle of the motor in each sampling period according to the rotating speed and the target driving current; determining the predicted driving current of the motor in each sampling period according to the driving current and the target rotor angle; determining whether a third difference value between the predicted driving current of the current sampling period and the predicted driving current of the previous sampling period is within a third preset range; and in the case that the third difference value is determined not to be in the third preset range, executing a third preset countermeasure.
In one embodiment, the motor is an asynchronous motor; determining a target rotor angle of the motor for each sampling period according to the rotation speed and the target driving current, comprising: determining the slip of the asynchronous motor in each sampling period according to the target driving current; and determining the target rotor angle of the asynchronous motor in each sampling period according to the rotating speed and the slip.
In one embodiment, determining the slip of the asynchronous machine for each sampling period based on the target drive current comprises: determining the slip of the asynchronous motor for each sampling period according to equation (1):
wherein, ω is sl Representing the slip, τ, of the asynchronous machine for each sampling period r Representing asynchronous electricityThe rotor time constant of the machine, s represents the differential operator,
representing the q-axis component of the target drive current for each sampling period in a rotating coordinate system,
representing the d-axis component of the target drive current in the rotating coordinate system for each sampling period.
In one embodiment, determining a target rotor angle of the asynchronous machine for each sampling period based on the rotational speed and the slip comprises: determining a target rotor angle of the asynchronous motor for each sampling period according to equation (2):
θ＝∫(ω sl + ω) dt formula (2)
Where θ represents the target rotor angle of the asynchronous motor for each sampling period, and ω represents the rotational speed of the asynchronous motor for each sampling period.
In one embodiment, the motor is a synchronous motor; determining a target rotor angle of the motor for each sampling period according to the rotation speed and the target driving current, comprising: acquiring the rotor angle of the synchronous motor in each sampling period; and determining the target rotor angle of the synchronous motor in each sampling period according to the rotating speed and the rotor angle.
In one embodiment, determining a predicted drive current for the motor for each sample period based on the drive current and the target rotor angle comprises: the predicted drive current of the motor for each sampling period is determined according to equation (3):
wherein i sq Representing the q-axis component, i, of the predicted drive current in the rotating coordinate system for each sampling period sd D-axis component i of predicted driving current in rotating coordinate system representing each sampling period o Representing the zero sequence component caused by three-phase imbalance, and theta represents eachTarget rotor angle of one sampling period, i a 、i b 、i c Respectively representing the current components of the driving current in the three-phase coordinate system in each sampling period.
In one embodiment, in the event that it is determined that the first difference value is not within the first preset range, performing a first preset countermeasure includes: under the condition that the first difference value is not in the first preset range, determining whether the driving current of the current sampling period exceeds a driving current threshold value or not; under the condition that the driving current of the current sampling period is determined to exceed the driving current threshold, controlling the motor to stop; and under the condition that the driving current of the current sampling period is determined not to exceed the driving current threshold value, controlling the rotating speed of the motor to be reduced to a first preset rotating speed.
In one embodiment, in a case where it is determined that the second difference value is not in the second preset range, performing a second preset countermeasure including: under the condition that the second difference value is not in the second preset range, determining whether the target driving current of the current sampling period exceeds a target driving current threshold value or not; under the condition that the target driving current of the current sampling period is determined to exceed the target driving current threshold value, controlling the motor to stop; and under the condition that the target driving current of the current sampling period is determined not to exceed the target driving current threshold, controlling the rotating speed of the motor to be reduced to a second preset rotating speed.
In one embodiment, in a case where it is determined that the third difference value is not within the third preset range, a third preset countermeasure is performed, including: determining whether the predicted driving current of the current sampling period exceeds a predicted driving current threshold under the condition that the third difference is determined not to be in a third preset range; under the condition that the predicted driving current of the current sampling period is determined to exceed the predicted driving current threshold, controlling the motor to stop; and under the condition that the predicted driving current of the current sampling period is determined not to exceed the predicted driving current threshold value, controlling the rotating speed of the motor to be reduced to a third preset rotating speed.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a control device for a tower crane provided in an embodiment of the present application. As shown in fig. 9, in an embodiment of the present application, there is provided a control device for a tower crane, including:
a current detection device 10 configured to detect a drive current of a motor of the tower crane for each sampling period; and
a controller 20 configured to execute the above-described control method for the tower crane.
Further, in one embodiment, the control device further comprises:
an encoder 30 configured to detect a rotational speed of the motor for each sampling period.
Specifically, the current detection device 10 may employ a hall-type current sensor, and is mounted on a frequency converter of the motor, and the encoder 30 may be built in the frequency converter.
It should be noted that, when the apparatus provided in the foregoing embodiment performs related operations, only the division of each program module is used as an example, and in actual application, the processing allocation may be completed by different program modules as needed, that is, the internal structure of the terminal is divided into different program modules, so as to complete all or part of the processing described above. In addition, the apparatus provided in the above embodiment and the method embodiment in the above embodiment belong to the same concept, and the specific implementation process thereof is described in the method embodiment, which is not described herein again.
Based on the hardware implementation of the program module, in order to implement the method of the embodiment of the present application, an embodiment of the present application further provides a tower crane, which includes the control device for a tower crane.
In one embodiment, the tower crane may further comprise:
the communication interface can carry out information interaction with other equipment (such as network equipment, a terminal and the like);
the processor is connected with the communication interface to realize information interaction with other equipment, and is used for executing the method provided by one or more technical schemes when running a computer program;
a memory for storing a computer program capable of running on the processor.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more, and the method provided by one or more technical schemes is realized by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
It should be noted that, the specific process of the processor executing the above operations is shown in the method embodiment, and is not described herein again.
In practical application, various components in the tower crane can be coupled together through a bus system. It will be appreciated that a bus system is used to enable the connection communication between these components. The bus system includes a power bus, a control bus, and a status signal bus in addition to a data bus.
The memory in the embodiment of the application is used for storing various types of data to support the operation of the tower crane. Examples of such data include: any computer program for operating on a tower machine.
The method disclosed by the embodiment of the present application can be applied to a processor, or can be implemented by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, etc. The processor may implement or perform the methods, steps, and logic blocks disclosed in the embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium having a memory and a processor reading the information in the memory and combining the hardware to perform the steps of the method.
In an exemplary embodiment, the processor may be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general purpose processors, controllers, Micro Controllers (MCUs), microprocessors (microprocessors), or other electronic components for performing the foregoing methods.
It will be appreciated that the memory of embodiments of the present application can be either volatile memory or nonvolatile memory, and can include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a magnetic random access Memory (FRAM), a magnetic random access Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read Only Memory (CD ROM); the magnetic surface storage may be disk storage or tape storage. The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of illustration, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (ESDRAM), Enhanced Synchronous Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (DRAM), Direct Random Access Memory (DRmb Access Memory). The memories described in the embodiments of the present application are intended to comprise, without being limited to, these and any other suitable types of memory.
The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions, and the instructions, when executed by the processor, enable the processor to execute the control method for the tower crane.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 10. The computer apparatus includes a processor a01, a network interface a02, a display screen a04, an input device a05, and a memory (not shown in the figure) connected through a system bus. Wherein processor a01 of the computer device is used to provide computing and control capabilities. The memory of the computer device comprises an internal memory a03 and a non-volatile storage medium a 06. The nonvolatile storage medium a06 stores an operating system B01 and a computer program B02. The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a 06. The network interface a02 of the computer apparatus is used for communication with an external terminal through a network connection. The computer program is executed by the processor a01 to implement the method of any of the above embodiments. The display screen a04 of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device a05 of the computer device may be a touch layer covered on the display screen, a button, a trackball or a touch pad arranged on a casing of the computer device, or an external keyboard, a touch pad or a mouse.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
An apparatus is also provided in an embodiment of the present application, where the apparatus includes a processor, a memory, and a program stored in the memory and capable of being executed on the processor, and the processor implements the method according to any one of the above embodiments when executing the program.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (17)
1. A control method for a tower crane is characterized by comprising the following steps:
acquiring the driving current of a motor of the tower crane in each sampling period;
determining whether a first difference value between the driving current of a current sampling period and the driving current of a previous sampling period is within a first preset range;
and executing a first preset countermeasure under the condition that the first difference value is determined not to be in the first preset range.
2. The control method according to claim 1, characterized by further comprising:
acquiring the rotating speed of the motor in each sampling period;
determining a target driving current of the motor in each sampling period according to the rotating speed and the target rotating speed of the motor;
determining whether a second difference value between the target driving current of the current sampling period and the target driving current of the previous sampling period is within a second preset range;
and executing a second preset countermeasure under the condition that the second difference value is determined not to be in the second preset range.
3. The control method according to claim 2, wherein the determining the target drive current of the motor for each sampling period based on the rotation speed and the target rotation speed of the motor includes:
and carrying out PID operation on the difference value between the rotating speed and the target rotating speed of the motor to obtain the target driving current of the motor in each sampling period.
4. The control method according to claim 2, characterized by further comprising:
determining a target rotor angle of the motor in each sampling period according to the rotating speed and the target driving current;
determining a predicted drive current of the motor for each sampling period according to the drive current and the target rotor angle;
determining whether a third difference value between the predicted drive current for the current sampling period and the predicted drive current for the previous sampling period is within a third preset range;
and executing a third preset countermeasure under the condition that the third difference value is determined not to be in the third preset range.
5. The control method according to claim 4, wherein the motor is an asynchronous motor;
the determining a target rotor angle of the motor for each sampling period according to the rotation speed and the target driving current comprises:
determining the slip of the asynchronous motor in each sampling period according to the target driving current;
and determining the target rotor angle of the asynchronous motor in each sampling period according to the rotating speed and the slip.
6. The control method of claim 5, wherein said determining a slip of the asynchronous machine for each sampling period from the target drive current comprises:
determining the slip of the asynchronous machine for each sampling period according to equation (1):
wherein, ω is sl Representing the slip, τ, of the asynchronous machine for each sampling period r Represents the rotor time constant of the asynchronous machine, s represents a differential operator,
a q-axis component of the target drive current in a rotating coordinate system representing each sampling period,
a d-axis component of the target drive current in a rotating coordinate system representing each sampling period.
7. The control method of claim 6, wherein said determining a target rotor angle of the asynchronous machine for each sampling period from the rotational speed and the slip comprises:
determining a target rotor angle of the asynchronous machine for each sampling period according to equation (2):
θ＝∫(ω sl + ω) dt formula (2)
Where θ represents a target rotor angle of the asynchronous motor for each sampling period, and ω represents a rotational speed of the asynchronous motor for each sampling period.
8. The control method according to claim 4, wherein the motor is a synchronous motor;
the determining the target rotor angle of the motor in each sampling period according to the rotating speed and the target driving current comprises the following steps:
acquiring the rotor angle of the synchronous motor in each sampling period;
and determining the target rotor angle of the synchronous motor in each sampling period according to the rotating speed and the rotor angle.
9. The control method of claim 4, wherein said determining a predicted drive current for the motor for each sample period based on the drive current and the target rotor angle comprises:
determining a predicted drive current of the motor for each sampling period according to equation (3):
wherein i sq Representing the q-axis component, i, of the predicted drive current in a rotating coordinate system for each sampling period sd A d-axis component, i, of the predicted drive current in a rotating coordinate system for each sampling period o Representing zero sequence components caused by three-phase imbalance, theta representing the target rotor angle for each sampling period, i a 、i b 、i c And respectively representing the current components of the driving current in the three-phase coordinate system in each sampling period.
10. The control method according to claim 1, wherein the executing of a first preset countermeasure in the case where it is determined that the first difference value is not in the first preset range includes:
determining whether the driving current of the current sampling period exceeds a driving current threshold value in the case that it is determined that the first difference value is not within the first preset range;
in the case that the driving current of the current sampling period is determined to exceed the driving current threshold value, controlling the motor to stop;
and under the condition that the driving current of the current sampling period is determined not to exceed the driving current threshold value, controlling the rotating speed of the motor to be reduced to a first preset rotating speed.
11. The control method according to claim 2, wherein the executing of a second preset countermeasure in the case where it is determined that the second difference value is not in the second preset range includes:
determining whether the target driving current of the current sampling period exceeds a target driving current threshold value under the condition that the second difference value is determined not to be in the second preset range;
in the case that the target driving current of the current sampling period is determined to exceed the target driving current threshold, controlling the motor to stop;
and under the condition that the target driving current of the current sampling period is determined not to exceed the target driving current threshold, controlling the rotating speed of the motor to be reduced to a second preset rotating speed.
12. The control method according to claim 4, wherein in a case where it is determined that the third difference value is not in the third preset range, performing a third preset countermeasure includes:
determining whether the predicted drive current for the current sampling period exceeds a predicted drive current threshold if it is determined that the third difference is not within the third preset range;
controlling the motor to shut down if it is determined that the predicted drive current for the current sampling period exceeds the predicted drive current threshold;
and under the condition that the predicted driving current of the current sampling period is determined not to exceed the predicted driving current threshold, controlling the rotating speed of the motor to be reduced to a third preset rotating speed.
13. A controller, characterized by being configured to perform the control method for a tower crane according to any one of claims 1 to 12.
14. A control device for a tower crane, comprising:
a current detection device configured to detect a drive current of a motor of the tower crane for each sampling period; and
the controller of claim 13.
15. The control device according to claim 14, characterized by further comprising:
an encoder configured to detect a rotational speed of the motor for each sampling period.
16. A tower crane, characterized in that it comprises a control device for a tower crane according to claim 15.
17. A machine readable storage medium having instructions stored thereon, which when executed by a processor causes the processor to be configured to perform the control method for a tower crane according to any one of claims 1 to 12.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210429385.8A CN114933241A (en) | 2022-04-22 | 2022-04-22 | Control method and device for tower crane, controller, tower crane and storage medium |
| PCT/CN2022/099252 WO2023201868A1 (en) | 2022-04-22 | 2022-06-16 | Tower crane control method and apparatus, controller, tower crane, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210429385.8A CN114933241A (en) | 2022-04-22 | 2022-04-22 | Control method and device for tower crane, controller, tower crane and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114933241A true CN114933241A (en) | 2022-08-23 |
Family
ID=82862196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210429385.8A Pending CN114933241A (en) | 2022-04-22 | 2022-04-22 | Control method and device for tower crane, controller, tower crane and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114933241A (en) |
| WO (1) | WO2023201868A1 (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102780449B (en) * | 2012-07-23 | 2015-08-12 | 中联重科股份有限公司 | Tower machine revolution speed regulating control equipment, system, method and tower machine |
| DE102015203524A1 (en) * | 2015-02-27 | 2016-09-15 | Robert Bosch Gmbh | Control device for an asynchronous machine and method for operating an asynchronous machine |
| CN111196561B (en) * | 2020-02-19 | 2021-11-05 | 广东博智林机器人有限公司 | Tower crane warning method, device and system |
| CN111232858B (en) * | 2020-03-20 | 2021-06-29 | 陕西建设机械股份有限公司 | A rotational inertia protection system and tower machine for tower machine |
| CN113666265B (en) * | 2021-08-11 | 2024-02-06 | 西门子（中国）有限公司 | Crane control method, crane control device, electronic equipment and storage medium |
| CN113818514B (en) * | 2021-09-16 | 2022-09-09 | 中联重科土方机械有限公司 | Method, controller and device for judging flameout of excavator and excavator |
| CN114123107A (en) * | 2021-11-30 | 2022-03-01 | 中汽创智科技有限公司 | Control system and method for vehicle motor, storage medium and vehicle with system |
-
2022
- 2022-04-22 CN CN202210429385.8A patent/CN114933241A/en active Pending
- 2022-06-16 WO PCT/CN2022/099252 patent/WO2023201868A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023201868A1 (en) | 2023-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2403132B1 (en) | Method and apparatus for controlling motor torque | |
| CN110844810B (en) | Method and equipment for protecting load moment of tower crane | |
| US9146166B2 (en) | Method and apparatus for determining an electrical torque of an electrical machine | |
| CN106494957A (en) | The method and device of detection brake sticking brake power | |
| CN102205507A (en) | Controller for spindle with encoder | |
| CN106927330B (en) | Elevator brake control method and system | |
| JP6769785B2 (en) | How to measure the lifting load of a crane | |
| CN114852868A (en) | Control method, controller and device for crane boom and crane | |
| JP2019011165A (en) | Hoist and hoist overload detection method | |
| CN114933241A (en) | Control method and device for tower crane, controller, tower crane and storage medium | |
| JP6169936B2 (en) | Inverter device | |
| JP2022039968A (en) | Detection method of motor connection failure | |
| WO2024027348A1 (en) | Control method for tower crane, processor, apparatus, and tower crane | |
| JPH11322279A (en) | Variable speed hoisting device | |
| CN104335478B (en) | Method for controlling synchronous reluctance motor | |
| CN106542394B (en) | Detect the method and apparatus of brake sticking brake power | |
| CN114421840B (en) | Control method and device for tower crane, controller, tower crane and storage medium | |
| CN108879613B (en) | Motor protection method and device for marine crane | |
| CN113620191A (en) | Crane operation protection method, device and system and crane | |
| JPH06303788A (en) | Motor-speed deciding method | |
| CN113753751B (en) | Method, controller and device for crane anti-swing control and crane | |
| JP6309854B2 (en) | crane | |
| JPH09294396A (en) | Speed controller | |
| JPS6315697A (en) | Controlling method for ac spindle motor | |
| JP2011010440A (en) | Inverter device and teaching method for the same |
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 |