CN115818448B - Method and device for distributing power of electric crane on crane and electric crane - Google Patents
Method and device for distributing power of electric crane on crane and electric crane Download PDFInfo
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- CN115818448B CN115818448B CN202310157870.9A CN202310157870A CN115818448B CN 115818448 B CN115818448 B CN 115818448B CN 202310157870 A CN202310157870 A CN 202310157870A CN 115818448 B CN115818448 B CN 115818448B
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Abstract
The application relates to the technical field of electric cranes, in particular to a method and a device for distributing power of a crane loading of an electric crane and the electric crane. When the method and the device are applied, the operation instruction input by the operator is acquired, the current vehicle condition of the electric crane is acquired, the required power of each working mechanism can be calculated, and then the total distribution power of the boarding vehicle is known. When the distributable power of the electric crane is sufficient to provide the total distribution power of the boarding, the power is distributed as needed. When the distributable power of the electric crane is insufficient to provide the total distributable power of the boarding, the output power of each working mechanism is limited according to the proportion of the rotation speed demand ratio, so that the action speed ratio of the working mechanisms to each other can execute the action according to the rotation speed demand ratio input by the operator, and the potential safety hazard possibly caused by that the action speed relation of each working mechanism does not accord with the expectation of the operator when the power is insufficient can be avoided.
Description
Technical Field
The application relates to the technical field of electric cranes, in particular to a method and a device for distributing power of a crane loading of an electric crane and the electric crane.
Background
Along with the rapid development of the foundation construction of China, the crane becomes an indispensable hoisting device in factories and projects, and the social progress is greatly promoted. In consideration of the requirements of energy strategy, environmental protection and the like, the electric crane with new energy will become an important development direction.
The electric crane takes electric power as a basic form, the working mechanism of the crane comprises a winch, a slewing mechanism and a crane arm, and the execution of pitching of the winch, the slewing mechanism and the crane arm and the expansion of the crane arm are all electric. When the electric crane works, the power distribution problem of each working mechanism needs to be considered, if the power cannot be reasonably distributed, the phenomena that the actual action speed of the working mechanism is inconsistent with the operation requirement, for example: when the operator needs to operate both the winding and turning mechanisms, but the power can be distributed insufficiently, resulting in only turning action, which is unreasonable and dangerous.
Therefore, how to distribute power to each working mechanism of the electric crane according to the current vehicle condition of the electric crane is a technical problem to be solved in the art.
Disclosure of Invention
In view of the above, the present application provides a method and an apparatus for distributing power for loading an electric crane, and an electric crane, which can reasonably distribute power to each working mechanism of loading an electric crane according to the current vehicle condition of the electric crane, distribute the power as required when the distributable power is enough, and limit the output power of each working mechanism in equal proportion when the distributable power is insufficient, so as to satisfy the expectation of the operator on the action speed relationship of each working mechanism.
In a first aspect, the method for distributing power for loading an electric crane is applied to the electric crane, the whole power type of the electric crane applied in the method is pure electric or hybrid electric, and the power type for finally driving the electric crane to load the electric crane to perform work is electric driving. The power distribution method for the electric crane loading comprises the following steps: acquiring an operation instruction and the current vehicle condition of the electric crane; obtaining a plurality of current postures corresponding to a plurality of working mechanisms of the electric crane on the crane according to the current vehicle condition, and obtaining the required power of each working mechanism according to the operation instruction and the current postures corresponding to the working mechanisms; obtaining total on-board distribution power according to a plurality of required powers and preset on-board reserved power; obtaining distributable power according to the current vehicle condition; if the distributable power is greater than or equal to the total distribution power of the boarding, distributing the required power to each working mechanism; if the distributable power is smaller than the total distribution power of the boarding, obtaining the rotation speed demand ratio of a plurality of working mechanisms according to the operation instruction; and distributing the output power of each working mechanism according to the rotation speed demand ratio, the distributable power, the total distribution power of the boarding vehicles and the boarding reservation power and the rotation speed demand ratio.
When the electric crane power distribution system is used, the operation instruction input by the operator and the current vehicle condition of the electric crane are obtained, the required power of each working mechanism can be calculated, and then the total distribution power of the on-vehicle is obtained. When the distributable power of the electric crane is sufficient to provide the total distribution power of the boarding, the power is distributed as needed. When the distributable power of the electric crane is insufficient to provide the total distributable power of the boarding, the output power of each working mechanism is limited according to the proportion of the rotation speed demand ratio, so that the action speed ratio of the working mechanisms to each other can execute the action according to the rotation speed demand ratio input by the operator, and the potential safety hazard possibly caused by that the action speed relation of each working mechanism does not accord with the expectation of the operator when the power is insufficient can be avoided.
With reference to the first aspect, in one possible implementation manner, the plurality of working mechanisms include a winch, a swing mechanism and an oil pump motor for driving the lifting arm to pitch and retract; the method for obtaining the required power of each working mechanism according to the operation instruction and the current postures corresponding to the working mechanisms comprises the following steps: obtaining a winch rotating speed demand, a revolving rotating speed demand and an oil pump rotating speed demand according to the operation command; obtaining the winch required power of the winch according to the winch rotating speed requirement and the winch required torque of the current winch gesture; obtaining the rotation demand power of the rotation mechanism according to the rotation speed demand and the rotation demand torque of the current gesture of the rotation mechanism; according to the oil pump rotating speed requirement and the oil pump required torque of the current posture of the crane arm, obtaining the oil pump required power of an oil pump motor corresponding to the crane arm; the obtaining the total power allocation for getting on the vehicle according to the plurality of required powers and the preset power reservation for getting on the vehicle comprises the following steps: and obtaining the total distribution power of the boarding according to the winch required power, the rotation required power, the oil pump required power and the boarding reserved power.
With reference to the first aspect, in one possible implementation manner, if the allocable power is greater than or equal to the total allocation power of the boarding, allocating the required power to each working mechanism includes: and if the distributable power is greater than or equal to the total distribution power of the boarding vehicle, distributing power to the winch, the slewing mechanism and the oil pump motor according to the winch required power, the slewing required power and the oil pump required power.
With reference to the first aspect, in one possible implementation manner, if the allocable power is smaller than the total allocation power of the boarding vehicle, obtaining the rotation speed demand ratio of the working mechanisms according to the operation instruction includes: if the distributable power is smaller than the total distribution power of the boarding vehicle, obtaining a first opening of a first operator corresponding to the winch, a second opening of a second operator corresponding to the slewing mechanism and a third opening of a third operator corresponding to the oil pump motor according to the operation instruction; and obtaining the rotation speed demand ratio according to the first opening, the second opening and the third opening.
With reference to the first aspect, in one possible implementation manner, the distributing the output power of each working mechanism according to the ratio of the rotational speed demand ratio, the distributable power, the total distribution power of the boarding vehicle, and the boarding reservation power according to the ratio of the rotational speed demand ratio includes: and distributing the output power of the winch, the slewing mechanism and the oil pump motor according to the rotating speed demand ratio, the distributable power, the total distribution power of the boarding vehicle and the boarding vehicle reserved power.
With reference to the first aspect, in one possible implementation manner, the oil pump motor provides power for the boom, the first brake of the winch, and the second brake of the swing mechanism, and the boarding reserve power includes reserve braking power output by the oil pump motor to the first brake and the second brake; the power distribution system comprises a winch, a slewing mechanism and an oil pump motor, wherein the winch, the slewing mechanism and the oil pump motor are distributed according to the rotating speed demand ratio, the distributable power, the total distribution power of the boarding vehicle and the reserved power of the boarding vehicle, and the output power of the slewing mechanism and the oil pump motor comprises the following components: obtaining a limiting coefficient according to the total distribution power of the on-board vehicles and the distributable power; obtaining a hoisting limiting parameter according to the first opening and the limiting coefficient, and distributing output power of the hoisting according to the hoisting limiting parameter; obtaining a rotation mechanism limiting parameter according to the second opening degree and the limiting coefficient, and distributing output power of the rotation mechanism according to the rotation mechanism limiting parameter; and obtaining an oil pump limiting parameter according to the third opening and the limiting coefficient, and distributing the output power of the oil pump motor according to the oil pump limiting parameter and the reserved braking power.
With reference to the first aspect, in one possible implementation manner, the obtaining a hoisting limit parameter according to the first opening and the limit coefficient, and distributing the output power of the hoisting according to the hoisting limit parameter includes: obtaining a winch rotating speed request according to the winch limiting parameter; and controlling the winch to reel according to the winch rotating speed request; the obtaining the rotation mechanism limiting parameter according to the second opening degree and the limiting coefficient, and distributing the output power of the rotation mechanism according to the rotation mechanism limiting parameter comprises the following steps: obtaining a revolving speed request according to the revolving mechanism limiting parameter; and controlling the slewing mechanism to perform slewing according to the slewing speed request.
With reference to the first aspect, in one possible implementation manner, the obtaining the allocable power according to the current vehicle condition includes: acquiring the real-time battery working condition of the electric crane in real time; and obtaining the distributable power according to the working condition of the real-time battery.
In a second aspect, the present application provides a power distribution device for a crane truck of an electric crane, which is applied to the electric crane; comprising the following steps: a data acquisition module configured to: acquiring an operation instruction and the current vehicle condition of the electric crane; the power acquisition module is in communication connection with the data acquisition module and is configured to: obtaining a plurality of current postures corresponding to a plurality of working mechanisms of the electric crane on the crane according to the current vehicle condition, and obtaining the required power of each working mechanism according to the operation instruction and the current postures corresponding to the working mechanisms; obtaining total on-board distribution power according to a plurality of required powers and preset on-board reserved power; obtaining distributable power according to the current vehicle condition; and a power distribution module communicatively coupled to the power acquisition module, the power distribution module configured to: if the distributable power is greater than or equal to the total distribution power of the boarding, distributing the required power to each working mechanism; if the distributable power is smaller than the total distribution power of the boarding, obtaining the rotation speed demand ratio of a plurality of working mechanisms according to the operation instruction; and distributing the output power of each working mechanism according to the rotation speed demand ratio, the distributable power, the total distribution power of the boarding vehicles and the boarding reservation power and the rotation speed demand ratio.
The second aspect is an apparatus corresponding to the first aspect, and technical effects of the second aspect are not described herein.
In a third aspect, the present application provides an electric crane comprising: the electric crane is used for loading and comprises a plurality of working mechanisms; the batteries are respectively and electrically connected with the working mechanisms; the operation device is used for sending out an operation instruction; the vehicle condition acquisition device is used for acquiring the current vehicle condition of the electric crane; and the power distribution device for the electric crane.
The third aspect includes the second aspect, and technical effects of the third aspect are not described herein.
Drawings
Fig. 1 is a schematic diagram of method steps of a method for distributing power of a crane truck according to an embodiment of the present application.
Fig. 2 is a schematic diagram of method steps of a method for distributing power of a crane truck according to another embodiment of the present application.
Fig. 3 is a schematic diagram of method steps of a method for distributing power of a crane truck according to another embodiment of the present application.
Fig. 4 is a schematic diagram of method steps of a method for distributing power of a crane truck according to another embodiment of the present application.
Fig. 5 is a schematic diagram of method steps of a method for distributing power of a crane truck according to another embodiment of the present application.
Fig. 6 is a schematic diagram of method steps of a method for distributing power for loading an electric crane according to another embodiment of the present application.
Fig. 7 is a schematic flow chart of how to obtain the winding demand power according to another embodiment of the present application.
Fig. 8 is a schematic flow chart of how to obtain the rotation demand power according to another embodiment of the present application.
Fig. 9 shows a schematic flow chart of power distribution.
Fig. 10 is a schematic structural diagram of a power distribution device for a crane truck according to an embodiment of the present application.
Detailed Description
The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
An exemplary electric crane boarding power distribution method is as follows:
fig. 1 is a schematic diagram of method steps of a method for distributing power of a crane truck according to an embodiment of the present application. The application provides a power distribution method for the crane loading of an electric crane, which is applied to the electric crane. As shown in fig. 1, the method includes:
In this step, the manipulator of the electric crane controls the manipulator such as the throttle and the handle to issue an operation command. Current condition parameters of a plurality of components of the electric crane are detected or input, so that current vehicle conditions are obtained. The current vehicle condition can comprise working condition parameters such as current gesture of each working mechanism, power consumption of each working mechanism, speed of the electric crane, power consumption of the whole electric crane and the like.
And 120, obtaining a plurality of current postures corresponding to a plurality of working mechanisms of the electric crane for getting on the vehicle according to the current vehicle condition, and obtaining the required power of each working mechanism according to the operation instruction and the plurality of current postures corresponding to the plurality of working mechanisms.
The current states of the working mechanisms are recorded in the current vehicle condition, and in each working mechanism, different current states correspond to different required torques, and the corresponding relation between the different current states and the different required torques is preset. In this step, the corresponding required torque can be obtained according to the current vehicle condition. According to the operation instruction output by the operator, the rotating speed requirement can be obtained, and the required power of each working mechanism can be obtained by combining the required torque corresponding to the current gesture, wherein the specific calculation formula is as follows:
Demand power = rotational speed demand x demand torque/9550;
the rotation speed requirement of a certain working mechanism can be obtained through accelerator operation data and handle action data when an operator operates the working mechanism, and specifically, the rotation speed requirement is determined by an accelerator opening value and a handle opening value together, which are all in the prior art and are not described herein.
And 130, obtaining the total on-board distribution power according to the plurality of required powers and the preset on-board reserved power.
In the step, a plurality of required powers corresponding to a plurality of working mechanisms are added, and additionally, the on-board reserved power is added, so that the on-board total distribution power is obtained. Wherein the reserve power for boarding is used for providing some crane boarding equipment that must be operated, and for emergency use.
And 140, obtaining the distributable power according to the current vehicle condition.
In this step, the current vehicle condition includes the current energy left by the electric crane, and the available power for distribution can be obtained according to the remaining energy, i.e. the available power for distribution can be obtained. The corresponding relation between different residual energy sources and different distributable powers is preset.
And judging whether the distributable power is greater than or equal to the total distribution power of the boarding, if so, executing step 150, and distributing the required power to each working mechanism.
In this step, when the distributable power is greater than or equal to the total distribution power of the boarding vehicle, it is indicated that the remaining energy is sufficient to provide the total distribution power of the boarding vehicle at this time, and the power is distributed to each working mechanism according to the required power required by each working mechanism.
If the distributable power is smaller than the total distribution power of the boarding vehicle, step 160 is executed to obtain the rotation speed demand ratio of the working mechanisms according to the operation instruction.
In this step, if the assignable power is smaller than the total power allocated for getting on the vehicle, it is indicated that the remaining energy is insufficient to provide the total power allocated for getting on the vehicle. The rotating speed requirement of an operator for each working mechanism is obtained according to the operating instruction, and then the rotating speed requirements of the working mechanisms are compared, so that the rotating speed requirement ratio of the working mechanisms can be known.
And step 170, distributing the output power of each working mechanism according to the ratio of the rotating speed demand, the distributable power, the total distribution power of the boarding and the reserved boarding power and the ratio of the rotating speed demand.
In the step, the output power of each working mechanism is limited according to the ratio of the rotating speed requirement ratio so as to reduce the required power of each working mechanism, thereby enabling the total distribution power of the boarding vehicle to be smaller than the distributable power.
When the electric crane control system is used, the operation instruction input by the operator and the current vehicle condition of the electric crane are obtained, the required power of each working mechanism can be calculated, and then the total distribution power of the on-board is obtained. When the distributable power of the electric crane is sufficient to provide the total distribution power of the boarding, the power is distributed as needed. When the distributable power of the electric crane is insufficient to provide the total distributable power of the boarding, the output power of each working mechanism is limited according to the proportion of the rotation speed demand ratio, so that the action speed ratio of the working mechanisms to each other can execute the action according to the rotation speed demand ratio input by the operator, and the potential safety hazard possibly caused by that the action speed relation of each working mechanism does not accord with the expectation of the operator when the power is insufficient can be avoided.
Fig. 2 is a schematic diagram of method steps of a method for distributing power of a crane truck according to another embodiment of the present application. In one embodiment, the plurality of work mechanisms includes a hoist, a swing mechanism, and an oil pump motor for driving boom pitch and retraction, wherein the oil pump motor can switchably power the boom pitch or power the boom retraction. As shown in fig. 2, step 120 includes:
In this step, when the operator needs to control the winding, the swing mechanism and the oil pump motor to perform the working chamber, the operator needs to issue corresponding operation instructions for the three. Fig. 7 is a schematic flow chart of how to obtain the winding demand power according to another embodiment of the present application. Fig. 8 is a schematic flow chart of how to obtain the rotation demand power according to another embodiment of the present application. As shown in fig. 7, based on the minimum accelerator calibration value and the maximum accelerator calibration value, the accelerator sampling value and the handle sampling value are obtained according to the operation instruction of the operator on the winch, and the winch rotating speed requirement of the operator on the winch can be obtained by combining other equipment parameters. As shown in fig. 8, based on the minimum and maximum accelerator calibration values, the accelerator sampling value and the handle sampling value are obtained according to the operation instruction of the operator to the slewing mechanism, and the requirement of the operator on the slewing speed of the slewing mechanism can be obtained by combining other equipment parameters. The oil pump rotation speed requirement can be obtained in the same way. The hoisting rotation speed requirement corresponds to the lifting speed requirement of the manipulator for the electric crane, the rotation speed requirement corresponds to the rotation speed requirement of the manipulator for the rotation mechanism, and the oil pump rotation speed requirement corresponds to the pitching speed requirement or the telescoping speed requirement of the manipulator for the crane boom of the electric crane.
And 122, obtaining the winch required power of the winch according to the winch rotating speed requirement and the winch required torque of the current winch gesture.
In the step, the current gesture of the winch can be obtained according to the current vehicle condition, and the winch required torque corresponding to the current gesture can be obtained through the corresponding relation between different gestures and different winch required torques. By the formula:
winding demand power = winding speed demand x winding demand torque/9550;
the current winding power required by the winding can be obtained. Specifically, as shown in fig. 7, parameters such as the weight of the hoisting load, the weight of the hoisting tool, the multiplying power of the steel wire rope, the efficiency of each mechanism, the transmission ratio of the speed reducer, the diameter of the winding drum and the like are detected or input, and the required torque of the winding can be obtained according to the parameters.
And 123, obtaining the rotation required power of the rotation mechanism according to the rotation speed requirement and the rotation required torque of the current posture of the rotation mechanism.
In the step, the current gesture of the slewing mechanism can be obtained according to the current vehicle condition, and then the corresponding relation between different gestures and different slewing required torques can be used for obtaining the slewing required torque corresponding to the current gesture. By the formula:
swing demand power = swing speed demand x swing demand torque/9550;
The current rotation required power of the rotation mechanism can be obtained. Specifically, as shown in fig. 8, parameters such as the weight of the turntable, the weight of the boom, the amplitude of the boom, the length of the boom, the weight of the counterweight, the reduction ratio of the speed reducer, etc. are detected or inputted, and the rotation required torque can be obtained according to the parameters.
And 124, obtaining the oil pump required power of the oil pump motor corresponding to the crane arm according to the oil pump rotation speed requirement and the oil pump required torque of the current posture of the crane arm.
In the step, the current gesture of the crane boom can be obtained according to the current vehicle condition, and the oil pump required torque corresponding to the current gesture can be obtained through the corresponding relation between different gestures and different oil pump required torques. If the operator needs to stretch the boom currently, the current oil pump required torque required by stretching is obtained through the current gesture of the boom; and if the operator needs to pitch the crane boom currently, obtaining the oil pump required torque required by current pitching through the current posture of the crane boom. By the formula:
oil pump demand power = oil pump speed demand x oil pump demand torque/9550;
the current oil pump required power of the oil pump motor can be obtained.
Wherein step 130 comprises:
and 131, obtaining the total distribution power of the boarding according to the winch required power, the rotation required power, the oil pump required power and the boarding reserved power.
In the step, the winding demand power, the rotation demand power, the oil pump demand power and the boarding reservation power are added to obtain the boarding total distribution power.
According to the embodiment, the winch demand power, the rotation demand power and the oil pump demand power can be respectively and specifically calculated, and specific total distribution power of the on-board vehicle is finally obtained according to the demand power of each working mechanism.
In one embodiment, as shown in fig. 3, if the allocable power is greater than or equal to the total allocation power, step 150 includes: and 151, distributing power to the winch, the slewing mechanism and the oil pump motor according to the winch required power, the slewing required power and the oil pump required power.
In this embodiment, when the remaining energy sources of the electric crane are sufficient to provide power for the hoisting mechanism, the slewing mechanism and the oil pump motor, the power distribution is performed according to the respective requirements of the hoisting mechanism, the slewing mechanism and the oil pump motor.
Fig. 3 is a schematic diagram of method steps of a method for distributing power of a crane truck according to another embodiment of the present application. In one embodiment, as shown in fig. 3, if the allocable power is smaller than the total allocation power, step 160 includes: step 161, obtaining a first opening of a first operator corresponding to the winch, a second opening of a second operator corresponding to the slewing mechanism and a third opening of a third operator corresponding to the oil pump motor according to the operation instruction.
In this step, the first operator is used for controlling the hoisting operation, and the first operator may include an accelerator and a handle, where the result of the comprehensive operation of the accelerator and the handle generates a first opening, and the first opening corresponds to a speed for controlling the hoisting. The second operator may include a throttle and a handle, and the result of the combined operation of the throttle and the handle generates a second opening corresponding to a speed of turning for controlling the turning mechanism. The third operator may include a throttle and a handle, and the result of the combined operation of the throttle and the handle generates a third opening corresponding to a speed for controlling the motor of the oil pump.
And 162, obtaining a rotation speed demand ratio according to the first opening, the second opening and the third opening.
In the step, the first opening, the second opening and the third opening are interacted to obtain a first opening/second opening/third opening, and the first opening/second opening/third opening is the rotation speed demand ratio.
In one embodiment, as shown in FIG. 3, step 170 includes:
and 171, distributing output power of the winch, the slewing mechanism and the oil pump motor according to the rotation speed demand ratio, the distributable power, the total distribution power of the boarding vehicle and the reserved boarding vehicle power.
In this embodiment, according to the first opening/the second opening/the third opening, the winch, the swing mechanism and the oil pump motor are subjected to equal-proportion speed limiting, so that the total distribution power of the boarding vehicle is reduced, the total distribution power of the boarding vehicle is smaller than the distributable power, and the current energy source of the electric crane is enough to provide the total distribution power of the boarding vehicle.
Fig. 4 is a schematic diagram of method steps of a method for distributing power of a crane truck according to another embodiment of the present application. In an embodiment, as shown in fig. 4, the oil pump motor provides power for the boom, the first brake of the winch and the second brake of the swing mechanism, and the boarding reserve power includes reserve braking power output by the oil pump motor to the first brake and the second brake, i.e. the oil pump motor is also used for driving the first brake and the second brake, so that the reserved braking power for driving the first brake and the second brake needs to be reserved for the oil pump motor for ensuring safety.
Wherein step 171 comprises:
and 1711, obtaining a limiting coefficient according to the total allocated power and the allocable power of the on-board vehicle.
In this step, the total allocated power for the boarding is divided by the allocable power to obtain a limiting coefficient. For example, if the total allocated power of the vehicle is 100kw and the allocable power is 50kw, the limiting coefficient is 0.5.
And 1712, obtaining a hoisting limiting parameter according to the first opening and the limiting coefficient, and distributing output power of the hoisting according to the hoisting limiting parameter.
In the step, the first opening and the limiting coefficient are multiplied to obtain a winding limiting parameter, and the output power of winding is reduced according to the winding limiting parameter. For example, if the first opening is 100% and the limiting coefficient is 0.5, the winding limit parameter is 50%, that is, the winding is controlled to perform the operation at 50% of the full speed.
And 1713, obtaining a rotation mechanism limiting parameter according to the second opening degree and the limiting coefficient, and distributing the output power of the rotation mechanism according to the rotation mechanism limiting parameter.
In the step, the second opening degree is multiplied by the limiting coefficient to obtain a rotation mechanism limiting parameter, and the output power of the rotation mechanism is reduced according to the rotation mechanism limiting parameter. For example, if the second opening is 50% and the limiting coefficient is 0.5, the hoisting limiting parameter is 25%, that is, the slewing mechanism is controlled to execute the operation at 25% of the full speed.
And 1714, obtaining an oil pump limiting parameter according to the third opening and the limiting coefficient, and distributing the output power of the oil pump motor according to the oil pump limiting parameter and the reserved braking power.
In the step, the third opening and the limiting coefficient are multiplied to obtain an oil pump limiting parameter, and the output power of the oil pump motor is reduced according to the oil pump limiting parameter. For example, the third opening degree is 40%, the limiting coefficient is 0.5, the winding limiting parameter is 20%, the preset reserved braking power is 5kw, that is, the oil pump motor is controlled to perform the action at 25% of the full speed, and at the same time, 5kw is fixedly allocated as the reserved braking power to the oil pump motor from the allocable power.
In the embodiment, the limiting parameters of the winch, the slewing mechanism and the oil pump motor are respectively calculated through the limiting coefficients, the output power of the winch, the slewing mechanism and the oil pump motor is reduced according to the respective limiting parameters, the reserved braking power is ensured to be provided for the oil pump motor to ensure the braking safety, and the rotating speed expectation of operators on the winch, the slewing mechanism and the oil pump motor is met.
Fig. 5 is a schematic diagram showing steps of a method for allocating power for crane loading provided in another embodiment of the present application, and in an embodiment, as shown in fig. 5, step 1712 includes:
and 1715, obtaining a winch rotating speed request according to the winch limiting parameters.
In this step, for example, the winding limit parameter is 50%, that is, the winding is controlled to perform the action at 50% of the full speed, and the winding rotation speed request is: the motor that is required to drive the winding is operated at 50% of full speed.
And 1716, controlling the winding to wind and unwind according to the winding rotating speed request.
In the step, a winch rotating speed request is sent to a motor control module for controlling the winch, so that the winch is controlled to lift at 50% of full speed.
Wherein step 1713 includes:
and 1717, obtaining a revolution speed request according to the revolution mechanism limiting parameter.
In this step, for example, the revolution limit parameter is 25%, that is, the revolution speed request is given by controlling the revolution mechanism to execute the operation at 25% of the full speed: the motor that is required to drive the swing mechanism is operated at 25% of full speed.
And 1718, controlling the slewing mechanism to perform slewing according to the slewing speed request.
In this step, the revolution speed request is sent to the motor control module that controls the revolution mechanism, so that the revolution mechanism is controlled to rise and fall at 25% of full speed.
Fig. 6 is a schematic diagram of method steps of a method for distributing power for loading an electric crane according to another embodiment of the present application. In one embodiment, as shown in FIG. 6, step 140 includes:
And 142, obtaining the distributable power according to the working condition of the real-time battery.
In this embodiment, the monitoring module of the battery is used to collect the working conditions of the battery in real time, and based on the performance principle of the battery, different working conditions of the battery in real time correspond to different allocable powers, and the corresponding relationship is preset, so that the allocable powers can be obtained.
As shown in fig. 9, fig. 9 shows a schematic flow chart of power distribution. Firstly, power distribution is carried out according to distributable power, reserved power for getting on a vehicle, required power for winding, required power for rotation and required power for an oil pump, and if the distributable power is insufficient, equal-proportion limitation is carried out on the winding, the rotation mechanism and the oil pump motor according to the speed expectation of an operator for each working mechanism. Finally, the winch power limit, the rotation power limit and the oil pump power limit are performed in equal proportion, and the winch rotating speed request and the rotation rotating speed request in the step 1715 and the step 1717 are sent to a motor control module of the winch and the rotation mechanism to reduce the rotating speed.
An exemplary electric crane boarding power distribution device is as follows:
fig. 10 is a schematic structural diagram of a power distribution device for a crane truck according to an embodiment of the present application. The application also provides a power distribution device for the electric crane to get on the vehicle, which is applied to the electric crane. As shown in fig. 10, the apparatus includes a data acquisition module 901, a power acquisition module 902, and a power distribution module 903.
A data acquisition module 901 configured to: and acquiring the operation instruction and the current vehicle condition of the electric crane.
The power acquisition module 902 is communicatively connected with the data acquisition module 901, and the power acquisition module 902 is configured to: obtaining a plurality of current postures corresponding to a plurality of working mechanisms of the electric crane on the crane according to the current vehicle condition, and obtaining the required power of each working mechanism according to the operation instruction and the plurality of current postures corresponding to the plurality of working mechanisms; obtaining total power allocation for getting on the vehicle according to the multiple required powers and the preset reserved power for getting on the vehicle; and obtaining the distributable power according to the current vehicle condition.
A power distribution module 903 communicatively coupled to the power harvesting module 902, the power distribution module 903 configured to: if the distributable power is greater than or equal to the total distribution power of the boarding, distributing the required power to each working mechanism; if the distributable power is smaller than the total distribution power of the boarding vehicle, obtaining the rotation speed demand ratio of a plurality of working mechanisms according to the operation instruction; and distributing the output power of each working mechanism according to the ratio of the rotating speed demand, the distributable power, the total distribution power of the boarding and the reserved power of the boarding.
When the electric crane control system is used, the operation instruction input by the operator and the current vehicle condition of the electric crane are obtained, the required power of each working mechanism can be calculated, and then the total distribution power of the on-board is obtained. When the distributable power of the electric crane is sufficient to provide the total distribution power of the boarding, the power is distributed as needed. When the distributable power of the electric crane is insufficient to provide the total distributable power of the boarding, the output power of each working mechanism is limited according to the proportion of the rotation speed demand ratio, so that the action speed ratio of the working mechanisms to each other can execute the action according to the rotation speed demand ratio input by the operator, and the potential safety hazard possibly caused by that the action speed relation of each working mechanism does not accord with the expectation of the operator when the power is insufficient can be avoided.
An exemplary electric crane is as follows:
the application also provides an electric crane, including electric crane boarding, battery, operating device, car condition acquisition equipment and foretell electric crane boarding power distribution device, electric crane boarding includes a plurality of operating mechanism, and a plurality of operating mechanism include hoist, slewing mechanism to and drive the oil pump motor that the lifting arm is every single move and stretch out and draw back. The battery is electrically connected with the working mechanisms respectively to supply power, the operation equipment is used for sending out operation instructions, and the operation equipment can comprise operators such as a throttle handle and the like. The vehicle condition acquisition equipment is used for acquiring the current vehicle condition of the electric crane, wherein various sensors can monitor some vehicle condition data, workers can input some equipment parameters and lifting parameters, and finally the current vehicle condition is comprehensively obtained by the vehicle condition data, the equipment parameters and the lifting parameters.
The basic principles of the present application have been described above in connection with specific embodiments, however, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are merely examples and not limiting, and these advantages, benefits, effects, etc. are not to be considered as necessarily possessed by the various embodiments of the present application. Furthermore, the specific details disclosed herein are for purposes of illustration and understanding only, and are not intended to be limiting, as the application is not intended to be limited to the details disclosed herein as such.
The block diagrams of the devices, apparatuses, devices, systems referred to in this application are only illustrative examples and are not intended to require or imply that the connections, arrangements, configurations must be made in the manner shown in the block diagrams. As will be appreciated by one of skill in the art, the devices, apparatuses, devices, systems may be connected, arranged, configured in any manner. Words such as "including," "comprising," "having," and the like are words of openness and mean "including but not limited to," and are used interchangeably therewith. The terms "or" and "as used herein refer to and are used interchangeably with the term" and/or "unless the context clearly indicates otherwise. The term "such as" as used herein refers to, and is used interchangeably with, the phrase "such as, but not limited to.
It is also noted that in the apparatus, devices and methods of the present application, the components or steps may be disassembled and/or assembled. Such decomposition and/or recombination should be considered as equivalent to the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description of the preferred embodiments of the present invention is not intended to limit the invention to the precise form disclosed, and any modifications, equivalents, and alternatives falling within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. The power distribution method for the electric crane is characterized by being applied to the electric crane; comprising the following steps:
acquiring an operation instruction and the current vehicle condition of the electric crane;
obtaining a plurality of current postures corresponding to a plurality of working mechanisms of the electric crane on the crane according to the current vehicle condition, and obtaining the required power of each working mechanism according to the operation instruction and the current postures corresponding to the working mechanisms;
Obtaining total on-board distribution power according to a plurality of required powers and preset on-board reserved power;
obtaining distributable power according to the current vehicle condition;
if the distributable power is greater than or equal to the total distribution power of the boarding, distributing the required power to each working mechanism;
if the distributable power is smaller than the total distribution power of the boarding, obtaining the rotation speed demand ratio of a plurality of working mechanisms according to the operation instruction; and
distributing the output power of each working mechanism according to the ratio of the rotating speed demand, the distributable power, the total distribution power of the boarding vehicle and the reserved boarding vehicle power and the ratio of the rotating speed demand;
the working mechanisms comprise a winch, a slewing mechanism and an oil pump motor for driving the lifting arm to pitch and stretch;
the method for obtaining the required power of each working mechanism according to the operation instruction and the current postures corresponding to the working mechanisms comprises the following steps:
obtaining a winch rotating speed demand, a revolving rotating speed demand and an oil pump rotating speed demand according to the operation command;
Obtaining the winch required power of the winch according to the winch rotating speed requirement and the winch required torque of the current winch gesture;
obtaining the rotation demand power of the rotation mechanism according to the rotation speed demand and the rotation demand torque of the current gesture of the rotation mechanism; and
obtaining oil pump demand power of an oil pump motor corresponding to the lifting arm according to the oil pump rotating speed demand and the oil pump demand torque of the lifting arm in the current posture;
the obtaining the total power allocation for getting on the vehicle according to the plurality of required powers and the preset power reservation for getting on the vehicle comprises the following steps:
obtaining the total distribution power of the boarding according to the winch required power, the rotation required power, the oil pump required power and the boarding reserved power;
if the distributable power is smaller than the total distribution power of the boarding, obtaining the rotation speed demand ratio of the working mechanisms according to the operation instruction comprises the following steps:
if the distributable power is smaller than the total distribution power of the boarding vehicle, obtaining a first opening of a first operator corresponding to the winch, a second opening of a second operator corresponding to the slewing mechanism and a third opening of a third operator corresponding to the oil pump motor according to the operation instruction; and
Obtaining the rotation speed demand ratio according to the first opening, the second opening and the third opening;
the distributing the output power of each working mechanism according to the rotation speed demand ratio, the distributable power, the total distribution power of the boarding vehicle and the boarding vehicle reserved power and the rotation speed demand ratio comprises the following steps:
distributing output power of the winch, the slewing mechanism and the oil pump motor according to the rotating speed demand ratio, the distributable power, the total distribution power of the boarding vehicle and the boarding vehicle reserved power;
the oil pump motor provides power for the crane boom, the first brake of the winch and the second brake of the slewing mechanism, and the boarding reserved power comprises reserved braking power output by the oil pump motor to the first brake and the second brake;
the power distribution system comprises a winch, a slewing mechanism and an oil pump motor, wherein the winch, the slewing mechanism and the oil pump motor are distributed according to the rotating speed demand ratio, the distributable power, the total distribution power of the boarding vehicle and the reserved power of the boarding vehicle, and the output power of the slewing mechanism and the oil pump motor comprises the following components:
obtaining a limiting coefficient according to the total distribution power of the on-board vehicles and the distributable power;
Obtaining a hoisting limiting parameter according to the first opening and the limiting coefficient, and distributing output power of the hoisting according to the hoisting limiting parameter;
obtaining a rotation mechanism limiting parameter according to the second opening degree and the limiting coefficient, and distributing output power of the rotation mechanism according to the rotation mechanism limiting parameter; and
obtaining an oil pump limiting parameter according to the third opening and the limiting coefficient, and distributing output power of the oil pump motor according to the oil pump limiting parameter and the reserved braking power;
obtaining a hoisting limiting parameter according to the first opening and the limiting coefficient, and distributing the hoisting output power according to the hoisting limiting parameter comprises the following steps:
obtaining a winch rotating speed request according to the winch limiting parameter; and
controlling the winch to reel according to the winch rotating speed request;
the obtaining the rotation mechanism limiting parameter according to the second opening degree and the limiting coefficient, and distributing the output power of the rotation mechanism according to the rotation mechanism limiting parameter comprises the following steps:
obtaining a revolving speed request according to the revolving mechanism limiting parameter; and
and controlling the slewing mechanism to perform slewing according to the slewing speed request.
2. The method for distributing power for crane boarding according to claim 1, wherein,
if the allocable power is greater than or equal to the total allocation power, allocating the required power to each working mechanism includes:
and if the distributable power is greater than or equal to the total distribution power of the boarding vehicle, distributing power to the winch, the slewing mechanism and the oil pump motor according to the winch required power, the slewing required power and the oil pump required power.
3. The method for distributing power to get on a crane according to claim 1, wherein the obtaining the distributable power according to the current vehicle condition comprises:
acquiring the real-time battery working condition of the electric crane in real time; and
and obtaining the distributable power according to the working condition of the real-time battery.
4. The power distribution device for the electric crane is characterized by being applied to the electric crane; comprising the following steps:
a data acquisition module configured to: acquiring an operation instruction and the current vehicle condition of the electric crane;
the power acquisition module is in communication connection with the data acquisition module and is configured to: obtaining a plurality of current postures corresponding to a plurality of working mechanisms of the electric crane on the crane according to the current vehicle condition, and obtaining the required power of each working mechanism according to the operation instruction and the current postures corresponding to the working mechanisms; obtaining total on-board distribution power according to a plurality of required powers and preset on-board reserved power; obtaining distributable power according to the current vehicle condition; and
The power distribution module is in communication connection with the power acquisition module and is configured to: if the distributable power is greater than or equal to the total distribution power of the boarding, distributing the required power to each working mechanism; if the distributable power is smaller than the total distribution power of the boarding, obtaining the rotation speed demand ratio of a plurality of working mechanisms according to the operation instruction; the output power of each working mechanism is distributed according to the rotation speed demand ratio, the distributable power, the total distribution power of the boarding vehicle and the boarding vehicle reserved power and the rotation speed demand ratio;
the working mechanisms comprise a winch, a slewing mechanism and an oil pump motor for driving the lifting arm to pitch and stretch;
wherein the power distribution module is further configured to:
obtaining a winch rotating speed demand, a revolving rotating speed demand and an oil pump rotating speed demand according to the operation command; obtaining the winch required power of the winch according to the winch rotating speed requirement and the winch required torque of the current winch gesture; obtaining the rotation demand power of the rotation mechanism according to the rotation speed demand and the rotation demand torque of the current gesture of the rotation mechanism; according to the oil pump rotating speed requirement and the oil pump required torque of the current posture of the crane arm, obtaining the oil pump required power of an oil pump motor corresponding to the crane arm; obtaining the total distribution power of the boarding according to the winch required power, the rotation required power, the oil pump required power and the boarding reserved power; if the distributable power is smaller than the total distribution power of the boarding vehicle, obtaining a first opening of a first operator corresponding to the winch, a second opening of a second operator corresponding to the slewing mechanism and a third opening of a third operator corresponding to the oil pump motor according to the operation instruction; obtaining the rotation speed demand ratio according to the first opening, the second opening and the third opening; distributing output power of the winch, the slewing mechanism and the oil pump motor according to the rotating speed demand ratio, the distributable power, the total distribution power of the boarding vehicle and the boarding vehicle reserved power; the oil pump motor provides power for the crane boom, the first brake of the winch and the second brake of the slewing mechanism, and the boarding reserved power comprises reserved braking power output by the oil pump motor to the first brake and the second brake; obtaining a limiting coefficient according to the total distribution power of the on-board vehicles and the distributable power; obtaining a hoisting limiting parameter according to the first opening and the limiting coefficient, and distributing output power of the hoisting according to the hoisting limiting parameter; obtaining a rotation mechanism limiting parameter according to the second opening degree and the limiting coefficient, and distributing output power of the rotation mechanism according to the rotation mechanism limiting parameter; obtaining an oil pump limiting parameter according to the third opening and the limiting coefficient, and distributing the output power of the oil pump motor according to the oil pump limiting parameter and the reserved braking power; obtaining a winch rotating speed request according to the winch limiting parameter; and controlling the winch to reel according to the winch rotating speed request; obtaining a revolving speed request according to the revolving mechanism limiting parameter; and controlling the slewing mechanism to perform slewing according to the slewing speed request.
5. An electric hoist, characterized by comprising:
the electric crane is used for loading and comprises a plurality of working mechanisms;
the batteries are respectively and electrically connected with the working mechanisms;
the operation device is used for sending out an operation instruction;
the vehicle condition acquisition device is used for acquiring the current vehicle condition of the electric crane; and
the electric hoist boarding power distribution device of claim 4.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310157870.9A CN115818448B (en) | 2023-02-23 | 2023-02-23 | Method and device for distributing power of electric crane on crane and electric crane |
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| CN202310157870.9A CN115818448B (en) | 2023-02-23 | 2023-02-23 | Method and device for distributing power of electric crane on crane and electric crane |
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| FR3120619B1 (en) * | 2021-03-10 | 2023-12-01 | Manitowoc Crane Group France | Method for distributing electrical power to crane equipment |
| FR3120618B1 (en) * | 2021-03-10 | 2023-11-03 | Manitowoc Crane Group France | Method for managing the electrical power of a crane from a primary source and a rechargeable secondary source |
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| JP2013100174A (en) * | 2011-11-09 | 2013-05-23 | Furukawa Unic Corp | Interlocking operation control device of crane |
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| CN115818448A (en) | 2023-03-21 |
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