CN116730231A - Hoisting control method and device and hoisting equipment - Google Patents

Abstract

The embodiment of the application provides a lifting control method and device and lifting equipment, belongs to the technical field of engineering machinery, and solves the problems that in the prior art, accurate hovering torque cannot be provided during zero-speed hovering, and load slipping is easy to cause. The method comprises the following steps: when a displacement signal of a hoisting handle is received and a current hoisting step is determined to be secondary hoisting according to a hoisting step determining strategy, determining a hovering torque of the secondary hoisting according to a first hovering reference torque in a previous hoisting process and a second hovering reference torque in the previous hoisting process; and controlling the secondary lifting process according to the hovering torque and the motor target speed corresponding to the displacement signal, wherein the first hovering reference torque is the average torque in the previous lifting process, and the second hovering reference torque is the hovering torque in the previous lifting process. The embodiment of the application is suitable for the hoisting process of hoisting equipment.

Description

Hoisting control method and device and hoisting equipment

Technical Field

The application relates to the technical field of engineering machinery, in particular to a lifting control method and device and lifting equipment.

Background

The zero-speed hovering technology refers to that under the required condition, the hoisting equipment lifts a load with a certain weight through the pretorque provided by starting, and the load is hovered at a certain height for a period of time only by virtue of a hoisting mechanism, and a brake does not band-type brake during the period. When the device is in practical application, after a hoisting mechanism of hoisting equipment is started, the motor rapidly loads torque to a specified torque value, and zero-speed hovering during starting is realized through PID control.

However, the control mode of zero-speed hovering does not provide a method for estimating or calculating the pretorque for keeping zero-speed hovering, and cannot directly give accurate load demand torque during load lifting, so that the phenomenon of load slipping during lifting is easy to occur.

Disclosure of Invention

The embodiment of the application aims to provide a lifting control method, a lifting control device and lifting equipment, which solve the problems that in the prior art, accurate suspension torque cannot be provided in zero-speed suspension and load slip is easy to cause, after the fact that the lifting step is secondary lifting is determined, the suspension torque in the secondary lifting is determined through the average torque in the previous lifting process and the suspension torque in the previous lifting process, the accuracy of the suspension torque in the secondary lifting process is improved, and the problem of load slip in the secondary lifting process is effectively avoided.

In order to achieve the above object, an embodiment of the present application provides a hanging control method, including: when a displacement signal of a hoisting handle is received and a current hoisting step is determined to be secondary hoisting according to a hoisting step determining strategy, determining a hovering torque of the secondary hoisting according to a first hovering reference torque in a previous hoisting process and a second hovering reference torque in the previous hoisting process; and controlling the secondary lifting process according to the hovering torque and the motor target speed corresponding to the displacement signal, wherein the first hovering reference torque is the average torque in the previous lifting process, and the second hovering reference torque is the hovering torque in the previous lifting process.

Further, the hoisting step includes a primary hoisting step of applying a load to the load from the hoisting mechanism and a secondary hoisting step of controlling the load suspended in the air to go up or down by the hoisting mechanism after stopping braking by the control brake.

Further, the lifting step determining strategy includes: after the previous lifting process is finished, obtaining the first hovering reference torque according to the experience time length of the previous lifting process and the instantaneous motor torque; and determining a lifting step corresponding to the lifting process according to a comparison result of the first hovering reference torque and the preset empty hook uplink torque.

Further, the obtaining the first hover reference torque according to the duration of the previous hoisting process and the instantaneous motor torque includes: according toObtaining a first hover reference torque M _h1 Wherein T is the duration of the previous lifting process, m _i And (3) the instant motor torque at the ith time point in the experience period.

Further, according to the comparison result of the first hover reference torque and the preset empty hook uplink torque, determining the lifting step corresponding to the lifting process includes: when the first hovering reference torque is smaller than or equal to the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is one-time lifting; and when the first hovering reference torque is larger than the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is secondary lifting.

Further, wherein the second hover reference torque is obtained by: when the displacement signal of the hoisting handle is received and the current hoisting is determined to be one-time hoisting according to the hoisting step determining strategy, setting a control mode of the motor controller to be a torque control mode, and controlling the motor to load torque; when the motor is controlled to load torque to the preset empty hook uplink torque, a brake is controlled to stop braking and the movement speed of the lifting hook is monitored; when the movement speed of the lifting hook is monitored to be zero and the duration time is set time, controlling the motor to load torque at a set frequency, and monitoring a motor rotating speed signal; when the motor speed signal is monitored to be non-zero, determining the current torque as the second hover reference torque and controlling the brake to start braking.

Further, the set frequency is set torque which is increased in each unit time, and the difference value of motor torque required by the total static friction force and the total dynamic friction force of the hoisting system is overcome under the condition that the set torque is an empty hook.

Further, the determining the hover torque for the secondary hoist according to the first hover reference torque during the previous hoist and the second hover reference torque during the previous hoist comprises: comparing the magnitudes of the first hover reference torque and the second hover reference torque, and taking the maximum value of the first hover reference torque and the second hover reference torque as the hover torque of the secondary hoisting.

Correspondingly, the embodiment of the application also provides a lifting control device, which comprises: the suspension torque determining module is used for determining suspension torque of secondary hoisting according to a first suspension reference torque in a previous hoisting process and a second suspension reference torque in a previous hoisting process when a displacement signal of a hoisting handle is received and a current hoisting step is determined to be secondary hoisting according to a hoisting step determining strategy, wherein the first suspension reference torque is an average torque in the previous hoisting process, and the second suspension reference torque is a suspension torque in the previous hoisting process; and the lifting control module is used for controlling the secondary lifting process according to the hovering torque and the motor target speed corresponding to the displacement signal.

Further, the hoisting step includes a primary hoisting step of applying a load to the load from the hoisting mechanism and a secondary hoisting step of controlling the load suspended in the air to go up or down by the hoisting mechanism after stopping braking by the control brake.

Further, the device further comprises a lifting step determining module comprising: the reference torque determining submodule is used for obtaining the first hovering reference torque according to the experience time length of the previous lifting process and the instantaneous motor torque after the previous lifting process is finished; and the hoisting step determining submodule is used for determining a hoisting step corresponding to the hoisting process according to a comparison result of the first hovering reference torque and the preset empty hook uplink torque.

Further, the reference torque determination submodule is specifically configured to: according toObtaining a first hover reference torque M _h1 Wherein T is the duration of the previous lifting process, m _i And (3) the instant motor torque at the ith time point in the experience period.

Further, the lifting step determining submodule is specifically configured to: when the first hovering reference torque is smaller than or equal to the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is one-time lifting; and when the first hovering reference torque is larger than the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is secondary lifting.

Further, the apparatus further comprises a second hover reference torque determining module, in particular for: when the displacement signal of the hoisting handle is received and the current hoisting is determined to be one-time hoisting according to the hoisting step determining strategy, setting a control mode of the motor controller to be a torque control mode, and controlling the motor to load torque; when the motor is controlled to load torque to the preset empty hook uplink torque, a brake is controlled to stop braking and the movement speed of the lifting hook is monitored; when the movement speed of the lifting hook is monitored to be zero and the duration time is set time, controlling the motor to load torque at a set frequency, and monitoring a motor rotating speed signal; when the motor speed signal is monitored to be non-zero, determining the current torque as the second hover reference torque and controlling the brake to start braking.

Further, the set frequency is set torque which is increased in each unit time, and the difference value of motor torque required by the total static friction force and the total dynamic friction force of the hoisting system is overcome under the condition that the set torque is an empty hook.

Further, the hover torque determining module is further configured to: comparing the magnitudes of the first hover reference torque and the second hover reference torque, and taking the maximum value of the first hover reference torque and the second hover reference torque as the hover torque of the secondary hoisting.

Correspondingly, the embodiment of the application also provides hoisting equipment, which comprises the hoisting control device.

Accordingly, embodiments of the present application also provide a machine-readable storage medium having stored thereon instructions for causing a machine to perform a load control method as described above.

Through the technical scheme, after the secondary hoisting step is determined, the hovering torque in the secondary hoisting is determined through the average torque in the previous hoisting process and the hovering torque in the previous hoisting process, so that the accuracy of the hovering torque in the secondary hoisting process is improved, and the problem of downward sliding of the load in the secondary hoisting process is effectively avoided.

Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:

fig. 1 is a schematic flow chart of a lifting control method according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of determining a second hover reference torque provided by embodiments of the application;

FIG. 3 is a schematic diagram of a functional relationship between a brake state, a motor output torque, a motor rotation speed and time of an automobile crane in a lifting control method according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a lifting control device according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of another lifting control device according to an embodiment of the present application.

Detailed Description

The following describes the detailed implementation of the embodiments of the present application with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the application, are not intended to limit the application.

In the prior art, aiming at the problem of preventing slipping hooks in the secondary lifting process, the suspension torque is given in advance, namely, the brake is controlled to stop braking after the torque reaches the suspension torque required by the current load. However, the measure cannot give accurate hovering torque, and after a slight upward or downward motion of a load is required, the PID control is adopted to adjust the motor torque to realize the anti-slip hook control, so that the phenomenon of load slipping in the secondary lifting process cannot be avoided. The technical scheme provided by the embodiment of the application is that the new energy automobile crane based on direct drive of the motor gives accurate hovering torque in the secondary lifting process so as to avoid the problem of downward sliding of load in the secondary lifting process.

Fig. 1 is a schematic flow chart of a lifting control method according to an embodiment of the present application. As shown in fig. 1, the method is applied to a loading controller in an automobile crane or a lifting control device of a tower crane, and the control steps are as follows:

step 101, when a displacement signal of a hoisting handle is received and a current hoisting step is determined to be secondary hoisting according to a hoisting step determining strategy, determining a hover torque of the secondary hoisting according to a first hover reference torque in a previous hoisting process and a second hover reference torque in a previous hoisting process, wherein the first hover reference torque is an average torque in the previous hoisting process, and the second hover reference torque is a hover torque in the previous hoisting process;

and 102, controlling the secondary hoisting process according to the hovering torque and the motor target speed corresponding to the displacement signal.

In the embodiment of the present application, a complete lifting process is defined as: and receiving a displacement signal of a hoisting handle, and controlling the load hoisting according to a target speed corresponding to the displacement signal until the speed for controlling the load hoisting is reduced to zero and a brake is controlled to start braking. According to the definition of the lifting process, the lifting steps corresponding to the lifting process are divided into two lifting steps of primary lifting and secondary lifting in the embodiment of the application. The primary lifting refers to a lifting step of applying a load to a lifting load from a hoisting mechanism, and the secondary lifting refers to a lifting step of controlling the lifting mechanism to lift or lower the load suspended in the air after the brake is controlled to stop braking.

In the normal hoisting operation flow of the truck crane, the truck crane must have a primary hoisting before the load is secondarily hoisted. Therefore, in the embodiment of the application, the hovering torque in the secondary hoisting process is determined by utilizing the hovering torque in the primary hoisting before the secondary hoisting and the average torque in the previous hoisting process before the secondary hoisting, so that the hovering torque in the secondary hoisting process is more accurate, and the downward sliding risk of a load is effectively avoided.

After the previous lifting process is finished, the lifting step corresponding to the current lifting process can be determined through a lifting step determining strategy. Specifically, after the previous hoisting process is completed, the first hover reference torque M is obtained according to the following formula (1) _h1 Namely, according to the experience time length of the previous lifting process and the instantaneous motor torque, the first hovering reference torque is obtained:

wherein T is the duration of the previous lifting process, m _i The instant motor torque at the ith time point in the experience time period can be understood as the instant motor torque corresponding to a plurality of time points acquired by the motor controller in the experience time period, wherein the time points can be set to be the same interval or different intervals, and can be specifically set according to actual conditions.

And then, determining a lifting step corresponding to the lifting process according to a comparison result of the first hovering reference torque and the preset empty hook uplink torque. When the first hovering reference torque is smaller than or equal to the preset empty hook uplink torque, determining that a lifting step corresponding to the lifting process is one-time lifting; and when the first hovering reference torque is larger than the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is secondary lifting. The preset empty hook uplink torque can be obtained through a lifting operation test under the empty hook state, and can be corrected at intervals of a certain time according to the actual working condition.

And after each lifting process is finished, calculating the first hovering reference torque so as to be used for determining the corresponding lifting step of the next lifting process and the hovering torque of the next secondary lifting.

For determining the second hover reference torque, which is another value of the hover torque of the secondary hoisting, since there must be one primary hoisting before the secondary hoisting, the second hover reference torque can be obtained in the process of determining that the current hoisting is one primary hoisting according to the hoisting step determining strategy, as shown in fig. 2, and specifically includes the following steps:

step 201, when receiving the displacement signal of the hoisting handle and determining that the current hoisting is one-time hoisting according to the hoisting step determining strategy, setting a control mode of the motor controller to be a torque control mode and controlling the motor to load torque.

And after receiving a displacement signal of a driver operating the winch handle, looking up a table according to the displacement signal to obtain the corresponding motor target speed. In addition, when the displacement signal is received, the current lifting step is determined to be lifting once according to a lifting step determining strategy when the previous lifting process is finished, and a control mode of a motor controller is set to be a torque control mode, and meanwhile, the motor loading torque is controlled, and the control method corresponds to a stage t0-t1 in a control timing diagram of the automobile crane as shown in fig. 3. The control timing diagrams shown in fig. 3 are schematic diagrams of functions of a brake state, a motor output torque, a motor rotation speed and time of the automobile crane in a primary lifting process in the embodiment of the application.

And 202, when the motor is controlled to load the torque to the preset empty hook uplink torque, controlling a brake to stop braking and monitoring the movement speed of the lifting hook.

Because the current lifting step is judged to be one-time lifting, when the loading controller monitors that the motor loads torque to the preset empty hook uplink torque, the lifting hook moves and controls the steel wire rope in the lifting mechanism to be gradually tensioned, and the lifting mechanism corresponds to the t1-t2 stage shown in fig. 3.

And 203, controlling the motor to load torque at a set frequency when the movement speed of the lifting hook is monitored to be zero and the duration time is set time, and monitoring a motor rotating speed signal.

In order to obtain the second hovering reference torque in the current lifting process more accurately, the steel wire rope is firstly required to be tensioned, so that upward tension can be applied to the load. Thus, when the hook is monitored to be moving at zero speed for a set time period, indicating that the hook has applied an upward pull to the load, a continuous loading torque signal may be sent to the motor controller. The set time can be obtained by debugging according to the actual working condition. In addition, when the motor is controlled to load at a set frequency, the set frequency is set to increase set torque in unit time, and the difference value of motor torque required by the total static friction force and the total dynamic friction force of a hoisting system is overcome under the condition that the set torque is an empty hook.

Step 204, when it is monitored that the motor speed signal is not zero, determining the current torque as the second hover reference torque and controlling the brake to start braking.

In the current hoisting process, a method of stopping braking and slowly loading torque to a hoisting mechanism to generate micro motions so as to obtain hover torque is adopted, namely when the motor rotating speed signal is monitored to be non-zero, namely the hoisting mechanism is monitored to generate micro motions, the current torque can be determined to be the hover torque in one hoisting process, namely the second hover reference torque. The hover torque obtained by the method can ensure that the calculated hover torque is slightly larger than the actual hover torque, ensure the accuracy of the calculation of the second hover reference torque, and not only can be used for determining the hover torque in the secondary hoisting process, but also can be used for estimating the hoisting weight of the automobile crane. Step 204 corresponds to the t4-t5 stage shown in fig. 3.

After controlling the brake to start braking, torque can be unloaded, the control mode of the motor controller is set to be a speed control mode, meanwhile, the boarding controller sends starting pre-torque and a motor target speed to the motor controller, when the pre-torque of the motor is monitored to reach the second hovering reference torque, the brake is controlled to stop braking, and the motor controller is controlled to regulate the speed to the motor target speed, and the part of operation corresponds to a period t5-t11 shown in fig. 3.

The second hover reference torque may be obtained by the embodiment shown in fig. 2, and in step 101, the magnitudes of the first hover reference torque and the second hover reference torque may be compared, and the maximum value of the two may be used as the hover torque for the secondary hoist. And then, controlling the secondary lifting process according to the determined hovering torque and the motor target speed corresponding to the displacement signal, wherein the control process is the same as a t5-t11 stage shown in the figure 3 corresponding to the lifting process, and when the fact that the torque reaches the hovering torque is monitored, the brake is controlled to stop braking, and the motor controller is controlled to regulate the speed to the motor target speed.

In order to facilitate understanding of the embodiments of the present application, the embodiments of the present application will be described below in terms of different lifting steps determined by the lifting step determination strategy and different hover torques for the determined secondary lifting. The lifting step determining strategy is used for determining that the lifting is secondary lifting or primary lifting is used for describing the lifting.

And (3) after the current lifting process is finished, obtaining the first hovering reference torque by using the formula (1) according to the experience time length of the previous lifting process and the instantaneous motor torque. And then, comparing the first hovering reference torque with the preset empty hook uplink torque, wherein two comparison results exist below, so that whether the hoisting is particularly primary hoisting or secondary hoisting is determined.

And when the first hovering reference torque is smaller than or equal to the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is one-time lifting. The following is the process of lifting once.

After receiving the displacement signal of the operator to the hoisting handle, the hoisting device indicates that the corresponding one-time hoisting in the current hoisting process is started. Referring to the steps shown in fig. 2, the second hover reference torque in the current hoisting process is finally obtained. Similarly, after the current hoisting process is finished, the first hover reference torque is also calculated by using the above formula (1). And then, comparing the first hovering reference torque in the current lifting process with the uplink torque of the preset empty hook, and determining whether the next lifting is primary lifting or secondary lifting according to the comparison result. Of course, if the load is not dismounted in the primary lifting process, the next lifting process can be determined to be secondary lifting according to the comparison result of the first hovering reference torque in the current lifting process and the preset empty hook uplink torque. In contrast, if the load is lifted off by primary lifting in the current lifting process and then secondary lifting does not exist, the next lifting can be determined to be primary lifting according to the comparison result of the first hovering reference torque in the current lifting process and the preset empty hook uplink torque. If it is determined that the next lifting is one lifting, the processing procedure is the same as the above example.

If it is determined that the next hoisting is the secondary hoisting, after receiving a displacement signal of an operator for the hoisting handle, indicating that the next secondary hoisting process has started, the steps shown in fig. 1 may be referred to, a first hover reference torque and a second hover reference torque obtained in the primary hoisting process before the secondary hoisting are compared, and the maximum value of the first hover reference torque and the second hover reference torque is determined as the hover torque of the secondary hoisting, that is, when the first hover reference torque is the maximum, the first hover reference torque is the hover torque of the secondary hoisting, and when the second hover reference torque is the maximum, the second hover reference torque is the hover torque of the secondary hoisting, and the secondary hoisting process is controlled according to the hover torque and a motor target speed corresponding to the displacement signal.

And after the current lifting process is finished, comparing the obtained first hovering reference torque with the preset empty hook uplink torque, and determining that the lifting step corresponding to the current lifting process is performed for secondary lifting when the first hovering reference torque is larger than the preset empty hook uplink torque. The subsequent secondary lifting process can also refer to the steps shown in fig. 1, and the first hovering reference torque obtained in the previous lifting process is compared with the second hovering reference torque obtained in the previous lifting process. The second suspension reference torque in the previous lifting process is the second suspension reference torque in the previous lifting process. That is, the magnitudes of the first hover reference torque and the second hover reference torque in the previous hoisting process are directly compared, the maximum value of the first hover reference torque and the second hover reference torque is selected as the hover torque in the current secondary hoisting process, and the secondary hoisting process is controlled according to the hover torque and the motor target speed corresponding to the displacement signal.

According to the embodiment of the application, after the secondary hoisting is determined in the hoisting step, the hovering torque in the secondary hoisting is determined by the average torque in the previous hoisting process and the hovering torque in the previous hoisting process, so that the accuracy of the hovering torque in the secondary hoisting process is improved, and the problem of downward sliding of the load in the secondary hoisting process is effectively avoided. In addition, in the previous hoisting process, a method of stopping braking and slowly loading torque to a hoisting mechanism to generate micro motion so as to obtain hover torque is adopted, the hover torque obtained by the method can ensure that the calculated hover torque is slightly larger than the actual hover torque, the accuracy of calculating the second hover reference torque is ensured, and the method can be used for determining the hover torque in the secondary hoisting process and estimating the hoisting weight of the automobile crane.

Fig. 4 is a schematic structural diagram of a lifting control device according to an embodiment of the present application. As shown in fig. 4, the apparatus 40 includes: a hover torque determining module 41, configured to determine, when a displacement signal of a hoisting handle is received and a current hoisting step is determined to be secondary hoisting according to a hoisting step determining policy, a hover torque of the secondary hoisting according to a first hover reference torque in a previous hoisting process and a second hover reference torque in a previous hoisting process, where the first hover reference torque is an average torque in the previous hoisting process, and the second hover reference torque is a hover torque in the previous hoisting process; and the lifting control module 42 is used for controlling the secondary lifting process according to the hovering torque and the motor target speed corresponding to the displacement signal.

Further, the hoisting step includes a primary hoisting step of applying a load to the load from the hoisting mechanism and a secondary hoisting step of controlling the load suspended in the air to go up or down by the hoisting mechanism after stopping braking by the control brake.

Further, as shown in fig. 5, the apparatus further includes a lifting step determining module 43, including: a reference torque determining sub-module 431, configured to obtain the first hover reference torque according to the duration of the previous hoisting process and the instantaneous motor torque after the previous hoisting process ends; and a lifting step determining submodule 432, configured to determine a lifting step corresponding to the current lifting process according to a comparison result of the first hovering reference torque and a preset empty hook uplink torque.

Further, the reference torque determination submoduleThe block is specifically for: according toObtaining a first hover reference torque M _h1 Wherein T is the duration of the previous lifting process, m _i And (3) the instant motor torque at the ith time point in the experience period.

Further, the lifting step determining submodule is specifically configured to: when the first hovering reference torque is smaller than or equal to the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is one-time lifting; and when the first hovering reference torque is larger than the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is secondary lifting.

Further, the apparatus comprises a second hover reference torque determining module 44, in particular for: when the displacement signal of the hoisting handle is received and the current hoisting is determined to be one-time hoisting according to the hoisting step determining strategy, setting a control mode of the motor controller to be a torque control mode, and controlling the motor to load torque; when the motor is controlled to load torque to the preset empty hook uplink torque, a brake is controlled to stop braking and the movement speed of the lifting hook is monitored; when the movement speed of the lifting hook is monitored to be zero and the duration time is set time, controlling the motor to load torque at a set frequency, and monitoring a motor rotating speed signal; when the motor speed signal is monitored to be non-zero, determining the current torque as the second hover reference torque and controlling the brake to start braking.

Further, the set frequency is set torque which is increased in each unit time, and the difference value of motor torque required by the total static friction force and the total dynamic friction force of the hoisting system is overcome under the condition that the set torque is an empty hook.

Further, the hover torque determining module is further configured to: comparing the magnitudes of the first hover reference torque and the second hover reference torque, and taking the maximum value of the first hover reference torque and the second hover reference torque as the hover torque of the secondary hoisting.

The specific working principle and benefits of the lifting control device provided by the embodiment of the present application are similar to those of the lifting control method provided by the embodiment of the present application, and will not be described herein again.

In addition, another aspect of the embodiment of the present application further provides a hoisting device, where the hoisting device includes the hoisting control apparatus described in the foregoing embodiment. For example, the hoisting equipment is an automobile crane, a tower crane and the like.

Still another aspect of the embodiments of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the load control method described in the above embodiments.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.

Claims (18)

1. A method of controlling a load, comprising:

when a displacement signal of a hoisting handle is received and a current hoisting step is determined to be secondary hoisting according to a hoisting step determining strategy, determining a hovering torque of the secondary hoisting according to a first hovering reference torque in a previous hoisting process and a second hovering reference torque in the previous hoisting process;

controlling the secondary hoisting process according to the hovering torque and the motor target speed corresponding to the displacement signal,

wherein the first hover reference torque is an average torque during the previous hoist process, and the second hover reference torque is a hover torque during the previous hoist process.

2. The method of claim 1, wherein the lifting step comprises primary lifting and secondary lifting.

3. The method of claim 1, wherein the step of determining a strategy for lifting comprises:

after the previous lifting process is finished, obtaining the first hovering reference torque according to the experience time length of the previous lifting process and the instantaneous motor torque;

and determining a lifting step corresponding to the lifting process according to a comparison result of the first hovering reference torque and the preset empty hook uplink torque.

4. The method of claim 3, wherein obtaining the first hover reference torque based on the elapsed time of the previous hoist process and the instantaneous motor torque comprises:

according toObtaining a first hover reference torque M _h1 Wherein T is the duration of the previous lifting process, m _i And (3) the instant motor torque at the ith time point in the experience period.

5. The method of claim 3, wherein the step of determining a lifting procedure corresponding to the current lifting procedure according to a comparison result of the first hover reference torque and a preset empty hook uplink torque includes:

when the first hovering reference torque is smaller than or equal to the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is one-time lifting;

and when the first hovering reference torque is larger than the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is secondary lifting.

6. The load control method of claim 1, wherein the second hover reference torque is obtained by:

when the displacement signal of the hoisting handle is received and the current hoisting is determined to be one-time hoisting according to the hoisting step determining strategy, setting a control mode of the motor controller to be a torque control mode, and controlling the motor to load torque;

when the motor is controlled to load torque to the preset empty hook uplink torque, a brake is controlled to stop braking and the movement speed of the lifting hook is monitored;

when the movement speed of the lifting hook is monitored to be zero and the duration time is set time, controlling the motor to load torque at a set frequency, and monitoring a motor rotating speed signal;

when the motor speed signal is monitored to be non-zero, determining the current torque as the second hover reference torque and controlling the brake to start braking.

7. The method of claim 6, wherein the set frequency is a set torque that is increased per unit time, and the set torque is a motor torque difference required to overcome a total static friction force and a total dynamic friction force of the hoisting system in a case of a dead hook.

8. The method of claim 1, wherein determining the hover torque for the secondary hoist based on the first hover reference torque for the previous hoist and the second hover reference torque for the previous hoist comprises:

comparing the magnitudes of the first hover reference torque and the second hover reference torque, and taking the maximum value of the first hover reference torque and the second hover reference torque as the hover torque of the secondary hoisting.

9. A lifting control device, comprising:

the suspension torque determining module is used for determining suspension torque of secondary hoisting according to a first suspension reference torque in a previous hoisting process and a second suspension reference torque in a previous hoisting process when a displacement signal of a hoisting handle is received and a current hoisting step is determined to be secondary hoisting according to a hoisting step determining strategy, wherein the first suspension reference torque is an average torque in the previous hoisting process, and the second suspension reference torque is a suspension torque in the previous hoisting process;

and the lifting control module is used for controlling the secondary lifting process according to the hovering torque and the motor target speed corresponding to the displacement signal.

10. The lifting control device according to claim 9, wherein the lifting step includes a primary lifting step of applying a load to the load from the hoisting mechanism and a secondary lifting step of controlling the load suspended in the air to go up or down after stopping braking by the control brake.

11. The lifting control device of claim 9, further comprising a lifting step determination module comprising:

the reference torque determining submodule is used for obtaining the first hovering reference torque according to the experience time length of the previous lifting process and the instantaneous motor torque after the previous lifting process is finished;

and the hoisting step determining submodule is used for determining a hoisting step corresponding to the hoisting process according to a comparison result of the first hovering reference torque and the preset empty hook uplink torque.

12. The lifting control device of claim 11, wherein the reference torque determination submodule is specifically configured to:

according toObtaining a first hover reference torque M _h1 Wherein T is the duration of the previous lifting process, m _i And (3) the instant motor torque at the ith time point in the experience period.

13. The lifting control device of claim 11, wherein the lifting step determining submodule is specifically configured to:

when the first hovering reference torque is smaller than or equal to the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is one-time lifting;

and when the first hovering reference torque is larger than the preset empty hook uplink torque, determining that the lifting step corresponding to the lifting process is secondary lifting.

14. The lifting control device of claim 9, further comprising a second hover reference torque determination module, in particular for:

when the displacement signal of the hoisting handle is received and the current hoisting is determined to be one-time hoisting according to the hoisting step determining strategy, setting a control mode of the motor controller to be a torque control mode, and controlling the motor to load torque;

when the motor is controlled to load torque to the preset empty hook uplink torque, a brake is controlled to stop braking and the movement speed of the lifting hook is monitored;

when the movement speed of the lifting hook is monitored to be zero and the duration time is set time, controlling the motor to load torque at a set frequency, and monitoring a motor rotating speed signal;

when the motor speed signal is monitored to be non-zero, determining the current torque as the second hover reference torque and controlling the brake to start braking.

15. The lifting control device of claim 14, wherein the set frequency is a set torque increase per unit time, the set torque being a motor torque difference required to overcome a total static friction force and a total dynamic friction force of the hoisting system in a case of a dead hook.

16. The lifting control device of claim 9, wherein the hover torque determining module is further configured to:

comparing the magnitudes of the first hover reference torque and the second hover reference torque, and taking the maximum value of the first hover reference torque and the second hover reference torque as the hover torque of the secondary hoisting.

17. Hoisting device, characterized in that it comprises a hoisting control device according to any one of claims 9-16.

18. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the load control method of any one of claims 1-8.