CN116332031A - Full-automatic control method and system for track crane - Google Patents
Full-automatic control method and system for track crane Download PDFInfo
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- CN116332031A CN116332031A CN202310148119.2A CN202310148119A CN116332031A CN 116332031 A CN116332031 A CN 116332031A CN 202310148119 A CN202310148119 A CN 202310148119A CN 116332031 A CN116332031 A CN 116332031A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/16—Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a full-automatic control method and a full-automatic control system for a track crane, and relates to the technical field of crane control, wherein the method comprises the steps of detecting whether a wheel center line and a track center line deviate or not, and judging whether the deviation exceeds a deviation threshold value if the deviation occurs; if the deviation threshold value is exceeded, deviation is adjusted, and the operation parameters of the first side driving motor and the second side driving motor are adjusted until the release condition is met; and if the deviation adjusting time exceeds the time threshold and the clearance condition is not met, a fault alarm is sent out. According to the method, the deviation adjustment processing is carried out by adjusting the operation parameters of the driving motor, so that the wheels on two sides of the crane are synchronous, rail gnawing accidents are avoided, the wheel synchronism is improved, and the accuracy is improved.
Description
Technical Field
The application relates to the technical field of crane control, in particular to a full-automatic control method and system of a track crane.
Background
The track type crane is a traveling type swing crane which is driven on a track laid along the ground and is disassembled and reinstalled when transferring a work site. The existing crane running mechanism mostly adopts a separate driving mode, namely wheels at two sides are controlled by two groups of driving motors respectively, and the phenomenon that the wheels driven by the motors at two sides are out of sync when the running speed of the crane is higher and the distance is longer is caused because of the difference of output characteristics among a plurality of motors, so that the crane runs at one side in a deflection way, the abrasion between the wheels and a track is serious, and the rail biting phenomenon can be caused for a long time.
Therefore, how to improve the accuracy of the synchronization of the wheels at two sides is a technical problem to be solved at present.
Disclosure of Invention
The invention provides a full-automatic control method of a track crane, which is used for solving the technical problem that wheels on two sides are asynchronous in the prior art. The method comprises the following steps:
detecting whether the wheel center line and the track center line deviate, if so, judging whether the deviation exceeds a deviation threshold value;
if the deviation threshold value is exceeded, deviation is adjusted, and the operation parameters of the first side driving motor and the second side driving motor are adjusted until the release condition is met;
and if the deviation adjusting time exceeds the time threshold and the clearance condition is not met, a fault alarm is sent out.
In some embodiments of the present application, the method further comprises:
and if the detected wheel center line and the track center line are not deviated, monitoring the operation parameters of the first side driving motor and the second side driving motor.
In some embodiments of the present application, the method further comprises:
if the offset does not exceed the offset threshold, filtering the gap size signal, and judging whether the filtered gap size signal exceeds the offset threshold;
if the offset threshold value is exceeded, performing offset adjustment;
and if the offset threshold is not exceeded, monitoring the operation parameters of the first side driving motor and the second side driving motor.
In some embodiments of the present application, the release condition includes:
the offset signal disappears and the first side wheel and the second side wheel are at the same speed.
In some embodiments of the present application, adjusting the operating parameters of the first side drive motor and the second side drive motor includes:
the operating parameters include rotational speed and braking torque of the brake;
judging whether the rotating speeds of the first side driving motor and the second side driving motor are in a standard interval value range or not;
and if the rotation speeds of the first side driving motor and the second side driving motor are in the standard interval value range, determining a target rotation speed according to the rotation speeds of the first side driving motor and the second side driving motor, and adjusting the rotation speeds of the first side driving motor and the second side driving motor according to the target rotation speed.
In some embodiments of the present application, adjusting the operating parameters of the first side drive motor and the second side drive motor further includes:
if the rotation speeds of the first side driving motor and the second side driving motor are not in the standard interval value range, determining the rotation speed of the first side driving motor and the rotation speed of the second side driving motor which are closest to the standard interval value, taking the rotation speeds as target rotation speeds, and adjusting the rotation speeds of the first side driving motor and the second side driving motor according to the target rotation speeds.
In some embodiments of the present application, adjusting the operating parameters of the first side drive motor and the second side drive motor further includes:
if only one of the rotation speeds of the first side driving motor and the second side driving motor is in the standard interval value range, the rotation speed of the driving motor in the standard interval value range is taken as a target rotation speed, and the rotation speed of the first side driving motor or the second side driving motor is adjusted according to the target rotation speed.
In some embodiments of the present application, adjusting the operating parameters of the first side drive motor and the second side drive motor further includes:
obtaining the span of the limiting bridge and the wheel distances at two sides, obtaining a deflection ratio according to the span of the limiting bridge and the wheel distances at two sides, obtaining the braking moment of the brake according to the torque of the motor, correcting the braking moment according to the deflection ratio, and controlling according to the corrected braking moment.
In some embodiments of the present application, the wheel speeds of the first side and the second side are determined based on the rotational speeds of the first side drive motor and the second side drive motor.
Correspondingly, the application also provides a full-automatic control system of the track crane, and the system comprises:
the detection module is used for detecting whether the wheel center line and the track center line deviate or not, and judging whether the deviation exceeds a deviation threshold value or not if the deviation occurs;
the adjusting module is used for adjusting the offset if the offset threshold value is exceeded, and adjusting the operation parameters of the first side driving motor and the second side driving motor until the release condition is met;
and the early warning module is used for sending out fault warning if the deviation adjusting time exceeds the time threshold and the clearance condition is not met.
By applying the technical scheme, whether the wheel center line and the track center line deviate or not is detected, and if so, whether the deviation exceeds a deviation threshold value or not is judged; if the deviation threshold value is exceeded, deviation is adjusted, and the operation parameters of the first side driving motor and the second side driving motor are adjusted until the release condition is met; and if the deviation adjusting time exceeds the time threshold and the clearance condition is not met, a fault alarm is sent out. According to the method, the deviation adjustment processing is carried out by adjusting the operation parameters of the driving motor, so that the wheels on two sides of the crane are synchronous, rail gnawing accidents are avoided, the wheel synchronism is improved, and the accuracy is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a flow diagram of a full-automatic control method of a track crane according to an embodiment of the present invention;
fig. 2 shows a schematic structural diagram of a full-automatic control system of a track crane according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The embodiment of the application provides a full-automatic control method of a track crane, as shown in fig. 1, the method comprises the following steps:
step S101, whether the wheel center line and the track center line deviate is detected, and if so, whether the deviation exceeds a deviation threshold value is judged.
In this embodiment, a proximity switch is installed on the crane, and the proximity switch detects the wheel offset and whether the wheel offset is offset. If the offset is within a reasonable range, no adjustment is needed, and if the offset exceeds the reasonable range, corresponding adjustment is needed.
In order to improve the reliability of detection, in some embodiments of the present application, the method further includes:
and if the detected wheel center line and the track center line are not deviated, monitoring the operation parameters of the first side driving motor and the second side driving motor.
And step S102, if the deviation threshold value is exceeded, deviation is adjusted, and the operation parameters of the first side driving motor and the second side driving motor are adjusted until the release condition is met.
In this embodiment, the offset is adjusted by adjusting the operation parameters of the driving motors at the two sides, so as to maintain the synchronism of the wheels at the two sides. If the offset exceeds the offset threshold, it is stated that the wheel speeds on both sides are definitely different, and the driving parameters of the driving motor are different internal factors.
In order to improve detection accuracy, in some embodiments of the present application, the method further includes: if the offset does not exceed the offset threshold, filtering the gap size signal, and judging whether the filtered gap size signal exceeds the offset threshold; if the offset threshold value is exceeded, performing offset adjustment; and if the offset threshold is not exceeded, monitoring the operation parameters of the first side driving motor and the second side driving motor.
In this embodiment, the offset is obtained by obtaining a gap size signal between the wheel rim and the side of the track via the proximity switch. If the offset does not exceed the offset threshold, it may be that the acquired signal has a bit of noise interference, and in order to reduce the error, it is necessary to perform filtering processing on the acquired signal, where the filtering means or method belongs to a conventional technical means in the field, and will not be described herein. And judging the gap size signal after filtering again, so that the detection accuracy is improved.
In order to improve the reliability of the control, in some embodiments of the present application, the release condition includes: the offset signal disappears and the first side wheel and the second side wheel are at the same speed.
In this embodiment, the offset signal is sent by the leveling system in the system, and when the offset exceeds a reasonable range, the offset signal is automatically sent. Signal vanishes, indicating that no offset exists or that the offset is within a reasonable range. The disappearance of the offset signal is one of the release conditions, and the second of the release conditions is that the speeds of wheels at two sides are the same, so that the synchronism of the operation of the crane can be maintained. The two release conditions must be satisfied at the same time to release.
It should be noted that, the release conditions may also increase some necessary conditions according to actual situations to ensure the accuracy of the offset adjustment.
In order to improve accuracy of control, in some embodiments of the present application, adjusting operation parameters of the first side driving motor and the second side driving motor includes: the operating parameters include rotational speed and braking torque of the brake; judging whether the rotating speeds of the first side driving motor and the second side driving motor are in a standard interval value range or not; and if the rotation speeds of the first side driving motor and the second side driving motor are in the standard interval value range, determining a target rotation speed according to the rotation speeds of the first side driving motor and the second side driving motor, and adjusting the rotation speeds of the first side driving motor and the second side driving motor according to the target rotation speed.
In this embodiment, the standard interval value refers to a standard range of rotational speeds, and this value may be obtained according to historical data, from which rotational speed data of normal operating conditions is selected to form the standard interval value. If the rotating speeds of the first side driving motor and the second side driving motor are in the standard interval value range, the average value of the rotating speeds of the first side driving motor and the second side driving motor is selected as the target rotating speed, so that the rotating speeds of the driving motors on the two sides can be quickly adjusted to the target rotating speed, and the target rotating speed is the final value of the adjustment of the driving motors on the two sides.
In order to further improve accuracy of control, in some embodiments of the present application, adjusting operation parameters of the first side driving motor and the second side driving motor further includes: if the rotation speeds of the first side driving motor and the second side driving motor are not in the standard interval value range, determining the rotation speed of the first side driving motor and the rotation speed of the second side driving motor which are closest to the standard interval value, taking the rotation speeds as target rotation speeds, and adjusting the rotation speeds of the first side driving motor and the second side driving motor according to the target rotation speeds.
In this embodiment, if the rotation speeds of the first side driving motor and the second side driving motor are not within the standard interval value range, the distances between the rotation speeds of the motors at the two sides and the standard interval value are calculated, and the nearest point is taken as the target rotation speed. For example, if the motor speeds at both sides are 20 and 23, respectively, and the standard interval value is 30-45, the motor speed at both sides is closest to 30, and 30 is the target speed. Thus, the rotation speeds of the driving motors at the two sides can be quickly adjusted to the target rotation speed.
In order to further improve accuracy of control, in some embodiments of the present application, adjusting operation parameters of the first side driving motor and the second side driving motor further includes: if only one of the rotation speeds of the first side driving motor and the second side driving motor is in the standard interval value range, the rotation speed of the driving motor in the standard interval value range is taken as a target rotation speed, and the rotation speed of the first side driving motor or the second side driving motor is adjusted according to the target rotation speed.
In this embodiment, the same processing is performed, and the motor rotation speed within the standard interval value range is taken as the target rotation speed, so that the rotation speeds of the driving motors on the two sides can be quickly adjusted to the target rotation speed.
In order to further improve accuracy of control, in some embodiments of the present application, adjusting operation parameters of the first side driving motor and the second side driving motor further includes: obtaining the span of the limiting bridge and the wheel distances at two sides, obtaining a deflection ratio according to the span of the limiting bridge and the wheel distances at two sides, obtaining the braking moment of the brake according to the torque of the motor, correcting the braking moment according to the deflection ratio, and controlling according to the corrected braking moment.
In this embodiment, first, the motor rotation speed (target rotation speed), P (power) =t (torque) ×n (rotation speed) ×k (coefficient) can be determined through the above steps, and in normal operation, the power is kept constant at the rated power, and the torque is obtained according to the power and the rotation speed. The braking torque of the brake required for different torques is different.
The braking torque of a brake of the driving motor is obtained according to the motor torque, and the braking torque is specifically as follows:
presetting a motor torque array T0 (T1, T2, T3, T4), wherein T1, T2, T3 and T4 are all preset values, and T1 is more than T2 and less than T3 and less than T4;
setting the braking torque of a brake as C, and presetting a braking torque array C0 (C1, C2, C3 and C4), wherein C1, C2, C3 and C4 are all preset values, and C1 is more than C2 and less than C3 and less than C4;
and determining the braking moment of the brake according to the relation between the motor torque and each preset motor torque.
If T is smaller than T1, determining a first preset braking moment C1 as the braking moment of the brake;
if T1 is less than or equal to T2, determining a second preset braking moment C2 as the braking moment of the brake;
if T2 is less than or equal to T3, determining a third preset braking moment C3 as the braking moment of the brake;
if T3 is less than or equal to T4, determining a fourth preset braking moment C4 as the braking moment of the brake.
Setting the span of the limiting bridge as A, setting the wheel distance at two sides as B, and setting the inclination ratio as B/A. The deflection ratio affects the bridge level stiffness to some extent, allowing some degree of free deflection when the crane is in operation. By free deflection is meant the leading distance of the raised edge of the wheel from the opposite side of the bridge to that allowed by the rail contact, which is proportional to B/a. I.e. the larger B, the less susceptible it is to rail gnawing. The braking torque is corrected accordingly.
Setting the inclination ratio as D, D=B/A, determining a correction coefficient of the braking moment according to the inclination ratio, and correcting the braking moment according to the correction coefficient.
Presetting an inclination ratio array D0 (D1, D2, D3, D4), wherein D1, D2, D3, D4 are all preset values, and D1 is more than D2 and less than D3 and less than D4;
a correction coefficient array Q0 (Q1, Q2, Q3, Q4) of preset braking torque, wherein Q1, Q2, Q3, Q4 are all preset values, and Q4 is more than 0.8 and less than Q3 and Q2 is more than 0.2 and less than Q1 and less than 1.2;
determining a correction coefficient of the braking torque according to the relation between the inclination ratio and each preset inclination ratio, and correcting the torque;
if D is smaller than D1, determining a correction coefficient Q1 of a first preset braking torque as a correction coefficient, wherein the braking torque after correction is C1-Q1;
if D1 is less than or equal to D2, determining a correction coefficient Q2 of a second preset braking torque as a correction coefficient, wherein the corrected braking torque is C2 x Q2;
if D2 is less than or equal to D3, determining a correction coefficient Q3 of a third preset braking torque as a correction coefficient, wherein the braking torque after correction is C3;
if D3 is less than or equal to D4, determining a correction coefficient Q4 of a fourth preset braking torque as a correction coefficient, wherein the corrected braking torque is C4Q 4.
And step S103, if the deviation adjusting time exceeds a time threshold and the clearance condition is not met, a fault alarm is sent out.
In this embodiment, if the deviation always meets the release condition within the specified time, it indicates that there is a fault, and the deviation cannot be controlled by the motor operation parameters.
In some embodiments of the present application, the wheel speeds of the first side and the second side are determined based on the rotational speeds of the first side drive motor and the second side drive motor.
In this embodiment, the wheel speed is the rotation speed of the motor/the speed ratio of the reduction gearbox, and the wheel circumference is calculated according to the rotation speed of the motor.
By applying the technical scheme, whether the wheel center line and the track center line deviate or not is detected, and if so, whether the deviation exceeds a deviation threshold value or not is judged; if the deviation threshold value is exceeded, deviation is adjusted, and the operation parameters of the first side driving motor and the second side driving motor are adjusted until the release condition is met; and if the deviation adjusting time exceeds the time threshold and the clearance condition is not met, a fault alarm is sent out. According to the method, the deviation adjustment processing is carried out by adjusting the operation parameters of the driving motor, so that the wheels on two sides of the crane are synchronous, rail gnawing accidents are avoided, the wheel synchronism is improved, and the accuracy is improved.
From the above description of the embodiments, it will be clear to those skilled in the art that the present invention may be implemented in hardware, or may be implemented by means of software plus necessary general hardware platforms. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.), and includes several instructions for causing a computer device (may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective implementation scenario of the present invention.
In order to further explain the technical idea of the invention, the technical scheme of the invention is described with specific application scenarios.
Correspondingly, the application also provides a full-automatic control system of the track crane, as shown in fig. 2, the system comprises:
the detection module 201 is configured to detect whether a wheel center line and a track center line deviate, and if so, determine whether the deviation exceeds a deviation threshold;
the adjusting module 202 is configured to adjust the offset if the offset threshold is exceeded, and adjust the operation parameters of the first side driving motor and the second side driving motor until the release condition is satisfied;
and the early warning module 203 is configured to issue a fault alarm if the deviation adjustment time exceeds the time threshold and the clearance condition is not satisfied.
In some embodiments of the present application, the system further comprises a first module for:
and if the detected wheel center line and the track center line are not deviated, monitoring the operation parameters of the first side driving motor and the second side driving motor.
In some embodiments of the present application, the system further comprises a second module for:
if the offset does not exceed the offset threshold, filtering the gap size signal, and judging whether the filtered gap size signal exceeds the offset threshold;
if the offset threshold value is exceeded, performing offset adjustment;
and if the offset threshold is not exceeded, monitoring the operation parameters of the first side driving motor and the second side driving motor.
In some embodiments of the present application, the adjustment module 202 is configured to:
the offset signal disappears and the first side wheel and the second side wheel are at the same speed.
In some embodiments of the present application, the adjustment module 202 is configured to:
the operating parameters include rotational speed and braking torque of the brake;
judging whether the rotating speeds of the first side driving motor and the second side driving motor are in a standard interval value range or not;
and if the rotation speeds of the first side driving motor and the second side driving motor are in the standard interval value range, determining a target rotation speed according to the rotation speeds of the first side driving motor and the second side driving motor, and adjusting the rotation speeds of the first side driving motor and the second side driving motor according to the target rotation speed.
In some embodiments of the present application, the adjustment module 202 is configured to:
if the rotation speeds of the first side driving motor and the second side driving motor are not in the standard interval value range, determining the rotation speed of the first side driving motor and the rotation speed of the second side driving motor which are closest to the standard interval value, taking the rotation speeds as target rotation speeds, and adjusting the rotation speeds of the first side driving motor and the second side driving motor according to the target rotation speeds.
In some embodiments of the present application, the adjustment module 202 is configured to:
if only one of the rotation speeds of the first side driving motor and the second side driving motor is in the standard interval value range, the rotation speed of the driving motor in the standard interval value range is taken as a target rotation speed, and the rotation speed of the first side driving motor or the second side driving motor is adjusted according to the target rotation speed.
In some embodiments of the present application, the adjustment module 202 is configured to:
obtaining the span of the limiting bridge and the wheel distances at two sides, obtaining a deflection ratio according to the span of the limiting bridge and the wheel distances at two sides, obtaining the braking moment of the brake according to the torque of the motor, correcting the braking moment according to the deflection ratio, and controlling according to the corrected braking moment.
In some embodiments of the present application, a third module is further included for:
wheel speeds of the first side and the second side are determined based on rotational speeds of the first side drive motor and the second side drive motor.
Those skilled in the art will appreciate that modules in an apparatus in an implementation scenario may be distributed in an apparatus in an implementation scenario according to an implementation scenario description, or that corresponding changes may be located in one or more apparatuses different from the implementation scenario. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, one of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A full-automatic control method of a track crane, the method comprising:
detecting whether the wheel center line and the track center line deviate, if so, judging whether the deviation exceeds a deviation threshold value;
if the deviation threshold value is exceeded, deviation is adjusted, and the operation parameters of the first side driving motor and the second side driving motor are adjusted until the release condition is met;
and if the deviation adjusting time exceeds the time threshold and the clearance condition is not met, a fault alarm is sent out.
2. The method of claim 1, wherein the method further comprises:
and if the detected wheel center line and the track center line are not deviated, monitoring the operation parameters of the first side driving motor and the second side driving motor.
3. The method of claim 2, wherein the method further comprises:
if the offset does not exceed the offset threshold, filtering the gap size signal, and judging whether the filtered gap size signal exceeds the offset threshold;
if the offset threshold value is exceeded, performing offset adjustment;
and if the offset threshold is not exceeded, monitoring the operation parameters of the first side driving motor and the second side driving motor.
4. The method of claim 1, wherein the release condition comprises:
the offset signal disappears and the first side wheel and the second side wheel are at the same speed.
5. The method of claim 1, wherein adjusting the operating parameters of the first side drive motor and the second side drive motor comprises:
the operating parameters include rotational speed and braking torque of the brake;
judging whether the rotating speeds of the first side driving motor and the second side driving motor are in a standard interval value range or not;
and if the rotation speeds of the first side driving motor and the second side driving motor are in the standard interval value range, determining a target rotation speed according to the rotation speeds of the first side driving motor and the second side driving motor, and adjusting the rotation speeds of the first side driving motor and the second side driving motor according to the target rotation speed.
6. The method of claim 5, wherein adjusting the operating parameters of the first side drive motor and the second side drive motor further comprises:
if the rotation speeds of the first side driving motor and the second side driving motor are not in the standard interval value range, determining the rotation speed of the first side driving motor and the rotation speed of the second side driving motor which are closest to the standard interval value, taking the rotation speeds as target rotation speeds, and adjusting the rotation speeds of the first side driving motor and the second side driving motor according to the target rotation speeds.
7. The method of claim 5, wherein adjusting the operating parameters of the first side drive motor and the second side drive motor further comprises:
if only one of the rotation speeds of the first side driving motor and the second side driving motor is in the standard interval value range, the rotation speed of the driving motor in the standard interval value range is taken as a target rotation speed, and the rotation speed of the first side driving motor or the second side driving motor is adjusted according to the target rotation speed.
8. The method of claim 5, wherein adjusting the operating parameters of the first side drive motor and the second side drive motor further comprises:
obtaining the span of the limiting bridge and the wheel distances at two sides, obtaining a deflection ratio according to the span of the limiting bridge and the wheel distances at two sides, obtaining the braking moment of the brake according to the torque of the motor, correcting the braking moment according to the deflection ratio, and controlling according to the corrected braking moment.
9. A method according to any one of claims 5-7, characterized in that the wheel speeds of the first side and the second side are determined on the basis of the rotational speeds of the first side drive motor and the second side drive motor.
10. A fully automatic control system for a track crane, the system comprising:
the detection module is used for detecting whether the wheel center line and the track center line deviate or not, and judging whether the deviation exceeds a deviation threshold value or not if the deviation occurs;
the adjusting module is used for adjusting the offset if the offset threshold value is exceeded, and adjusting the operation parameters of the first side driving motor and the second side driving motor until the release condition is met;
and the early warning module is used for sending out fault warning if the deviation adjusting time exceeds the time threshold and the clearance condition is not met.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310148119.2A CN116332031A (en) | 2023-02-15 | 2023-02-15 | Full-automatic control method and system for track crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310148119.2A CN116332031A (en) | 2023-02-15 | 2023-02-15 | Full-automatic control method and system for track crane |
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| CN116332031A true CN116332031A (en) | 2023-06-27 |
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| CN202310148119.2A Pending CN116332031A (en) | 2023-02-15 | 2023-02-15 | Full-automatic control method and system for track crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116588812A (en) * | 2023-07-13 | 2023-08-15 | 河南工学院 | Crane monitoring system adopting artificial intelligence |
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2023
- 2023-02-15 CN CN202310148119.2A patent/CN116332031A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116588812A (en) * | 2023-07-13 | 2023-08-15 | 河南工学院 | Crane monitoring system adopting artificial intelligence |
| CN116588812B (en) * | 2023-07-13 | 2023-10-03 | 河南工学院 | Crane monitoring system adopting artificial intelligence |
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