CN117566593A - Method, processor, crane and device for determining critical rotational angular velocity - Google Patents

Method, processor, crane and device for determining critical rotational angular velocity Download PDF

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Publication number
CN117566593A
CN117566593A CN202310952660.9A CN202310952660A CN117566593A CN 117566593 A CN117566593 A CN 117566593A CN 202310952660 A CN202310952660 A CN 202310952660A CN 117566593 A CN117566593 A CN 117566593A
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China
Prior art keywords
crane
current
critical
determining
moment
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CN202310952660.9A
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Chinese (zh)
Inventor
戴隆翔
倪长辉
刘豪
张慧
李小阳
陈婷婷
张洋
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Zoomlion Heavy Industry Science and Technology Co Ltd
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Priority to CN202310952660.9A priority Critical patent/CN117566593A/en
Publication of CN117566593A publication Critical patent/CN117566593A/en
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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
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

The present disclosure relates to the field of engineering machinery, and in particular, to a method, a processor, a crane, and a device for determining critical rotational angular velocity. Comprising the following steps: acquiring mechanical parameters and working parameters of the crane in the current working posture; determining initial stabilizing moment, initial overturning moment, lifting weight of the crane and centrifugal force generated by the crane body under the current working posture according to the mechanical parameters and the working parameters; determining a centrifugal stabilizing moment and a centrifugal overturning moment corresponding to the centrifugal force; determining a target stabilizing moment according to the initial stabilizing moment and the centrifugal stabilizing moment; determining a target overturning moment according to the initial overturning moment and the centrifugal overturning moment; and under the condition that the functional relation between the target stabilizing moment and the target overturning moment accords with the functional relation corresponding to the preset critical safety margin of the crane, determining the rotary angular speed corresponding to the target stabilizing moment and the target overturning moment as the critical rotary angular speed of the crane in the current working posture.

Description

Method, processor, crane and device for determining critical rotational angular velocity
Technical Field
The present application relates to the field of construction machinery, and in particular, to a method, processor, crane and apparatus for determining critical rotational angular velocity.
Background
When the crane works, the rotation angular speed is an important performance parameter, and is directly related to the working efficiency and the safety. At present, the rotation angular speed of a crane is mainly controlled by experience of an operator, and part of vehicle types can preset the maximum rotation angular speed according to different working conditions, but still need manual intervention. The prior art mainly decides the upper limit value of the speed according to the working amplitude, arm length and hanging weight in static state when presetting the rotating angular speed, however, when the crane rotates, the working amplitude and the effective hanging weight can change along with the action of centrifugal force generated in the rotating process, and if the upper limit value of the rotating angular speed is fixed, the risk of tipping can occur.
Disclosure of Invention
It is an object of the present application to provide a method, a processor, a crane and a device for determining a critical rotational angular speed for dynamically determining the critical rotational angular speed of a crane depending on the operational state of the crane.
To achieve the above object, the present application provides a method for determining a critical rotational angular velocity, the method comprising:
acquiring mechanical parameters and working parameters of the crane in the current working posture;
determining initial stabilizing moment, initial overturning moment, lifting weight of the crane and centrifugal force generated by the crane body under the current working posture according to the mechanical parameters and the working parameters;
determining a centrifugal stabilizing moment and a centrifugal overturning moment corresponding to the centrifugal force;
determining a target stabilizing moment of the crane in the current working posture according to the initial stabilizing moment and the centrifugal stabilizing moment;
determining a target overturning moment of the crane in the current working posture according to the initial overturning moment and the centrifugal overturning moment;
and under the condition that the functional relation between the target stabilizing moment and the target overturning moment accords with the functional relation corresponding to the preset critical safety margin of the crane, determining the rotary angular speed corresponding to the target stabilizing moment and the target overturning moment as the critical rotary angular speed of the crane in the current working posture.
In the embodiment of the application, acquiring the mechanical parameters of the crane in the current working posture includes: acquiring the initial load amplitude of the crane before the crane rotates; acquiring real-time load amplitude of a crane; determining that the mechanical parameter comprises an initial load amplitude under the condition that the difference between the real-time load amplitude and the initial load amplitude is smaller than a preset amplitude value; in the event that the difference between the real-time load amplitude and the initial load amplitude is greater than or equal to a preset amplitude value, determining the mechanical parameter includes the real-time load amplitude.
A second aspect of the present application provides a control method for a crane, the control method including:
determining the critical rotation angular speed of the crane based on the method for determining the critical rotation angular speed during the operation of the crane;
acquiring the real-time rotation angular speed of the crane;
under the condition that the real-time rotation angular speed is larger than the critical rotation angular speed, determining critical current corresponding to the critical rotation angular speed according to a preset current mapping relation;
acquiring a handle current corresponding to the handle opening of the crane;
the opening degree of the rotary valve of the crane is adjusted based on the handle current and the critical current so as to adjust the speed of the rotary mechanism of the crane, so that the crane can safely operate.
In this embodiment of the present application, comparing the handle current with the critical current, and controlling the rotary valve according to the comparison result to change the opening degree of the rotary valve, so as to reduce the speed of the rotary mechanism includes: under the condition that the critical current is smaller than the handle current, controlling the opening of the rotary valve according to the critical current to reduce the speed of the rotary mechanism, so that the crane can safely operate, and determining the critical current as the handle current corresponding to the handle opening of the crane; and under the condition that the critical current is greater than or equal to the handle current, controlling the opening degree of the rotary valve according to the handle current so as to adjust the speed of the rotary mechanism, so that the crane can safely operate.
In an embodiment of the present application, the control method further includes: under the condition that the real-time rotary angular speed is smaller than the critical rotary angular speed, acquiring a handle current corresponding to the handle opening of the crane; the opening degree of the rotary valve is controlled according to the handle current, so that the speed of the rotary mechanism is adjusted.
A third aspect of the present application provides a processor configured to perform a method for determining a critical rotational angular velocity according to any of the above.
A fourth aspect of the present application provides a processor configured to perform a control method for a crane according to any one of the above.
A fifth aspect of the present application provides a crane comprising a processor as described above configured to perform a method for determining a critical rotational angular velocity and a processor configured to perform a control method for a crane.
A sixth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform a method for determining critical rotational speed according to any of the above.
A seventh aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to be configured to perform a control method for a crane according to any of the above.
According to the technical scheme, the mechanical parameters and the working parameters of the crane are obtained in real time, the critical rotation angular speed corresponding to the current working posture of the crane is determined according to the mechanical parameters and the working parameters corresponding to the current working posture of the crane, the real-time rotation angular speed of the crane is obtained, and the real-time rotation angular speed is timely adjusted, so that the real-time rotation angular speed is ensured to be smaller than the critical rotation angular speed corresponding to the current posture, the safe operation of the crane is ensured, and the crane is prevented from tipping in the working process.
Additional features and advantages of the present application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate the application and, together with the description, do not limit the application. In the drawings:
FIG. 1 schematically illustrates a flow chart for determining critical rotational angular velocity in accordance with an embodiment of the present application;
fig. 2 schematically shows a flow diagram of a control method for a crane according to an embodiment of the application;
fig. 3 schematically shows a flow diagram of a control method for a crane according to another embodiment of the application;
fig. 4 schematically shows an internal structural diagram of a computer device according to an embodiment of the present application.
Detailed Description
The following detailed description of specific embodiments of the present application refers to the accompanying drawings. It should be understood that the detailed description is presented herein for purposes of illustration and explanation only and is not intended to limit the present application.
It should be noted that, in the embodiment of the present application, directional indications (such as up, down, left, right, front, and rear … …) are referred to, and the directional indications are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.
Fig. 1 schematically shows a flow chart for determining critical rotational angular velocity according to an embodiment of the present application. As shown in fig. 1, in one embodiment of the present application, there is provided a method for determining a critical rotational angular velocity, comprising the steps of:
step 101, acquiring mechanical parameters and working parameters of a crane in a current working posture;
102, determining initial stabilizing moment, initial overturning moment, lifting weight of the crane and centrifugal force generated by a crane body under the current working posture according to mechanical parameters and working parameters;
step 103, determining a centrifugal stabilizing moment and a centrifugal overturning moment corresponding to the centrifugal force;
104, determining a target stabilizing moment of the crane in the current working posture according to the initial stabilizing moment and the centrifugal stabilizing moment;
step 105, determining a target overturning moment of the crane in the current working posture according to the initial overturning moment and the centrifugal overturning moment;
and 106, determining the rotation angular speed corresponding to the target stabilizing moment and the target overturning moment as the critical rotation angular speed of the crane in the current working posture under the condition that the functional relation between the target stabilizing moment and the target overturning moment accords with the functional relation corresponding to the preset critical safety margin of the crane.
In the process of crane operation rotation, the rotation angular speed of the crane can influence the centrifugal force of the crane, and the crane can be overturned in the operation process due to the fact that the rotation angular speed is too high. Therefore, the processor can firstly determine the critical rotation angular speed of the crane in the current working state, so that the rotation angular speed does not exceed the critical rotation angular speed of the crane in the process of controlling the rotation angular speed of the crane, and the crane is ensured not to tip over in the process of working. The processor can acquire mechanical parameters and working parameters of the crane in the current working posture, and determines initial stabilizing moment, initial overturning moment, lifting weight of the crane and centrifugal force generated by the crane body of the crane in the current working posture according to the mechanical parameters and the working parameters of the crane. The processor can determine a centrifugal stabilizing moment and a centrifugal overturning moment corresponding to the centrifugal force, the processor can determine algebraic sum of the initial stabilizing moment and the centrifugal stabilizing moment as a target stabilizing moment of the crane in the current working posture, and determine algebraic sum of the initial overturning moment and the initial stabilizing moment as the target overturning moment of the crane in the current working posture. The processor can determine a critical safety margin of the crane set by a user, namely, a safety margin for avoiding the crane from tipping, and determine the revolving angular speed corresponding to the target stabilizing moment and the target tipping moment as the revolving angular speed of the crane in the current working posture under the condition that the functional relationship between the target stabilizing moment and the target tipping moment accords with the functional relationship corresponding to the critical safety margin of the crane.
In one embodiment, acquiring mechanical parameters of the crane at the current working pose comprises: acquiring the initial load amplitude of the crane before the crane rotates; acquiring real-time load amplitude of a crane; under the condition that the change value between the real-time load amplitude and the initial load amplitude is smaller than a preset amplitude value, determining that the mechanical parameter comprises the initial load amplitude; in the event that the value of the change between the real-time load amplitude and the initial load amplitude is greater than or equal to a preset amplitude value, determining the mechanical parameter includes the real-time load amplitude.
The mechanical parameter of the crane may include a load amplitude of the crane, the processor may acquire an initial load amplitude of the crane before the crane performs the swing operation, when the crane starts the swing operation, the processor may acquire a real-time load amplitude of a current working posture of the crane, and compare the real-time load amplitude with the initial load amplitude, when a difference between the real-time load amplitude and the initial load amplitude is smaller than a preset amplitude value set by the processor, the processor may determine that the load amplitude included in the mechanical parameter is the initial load amplitude, thereby determining a critical rotation angular velocity of the crane in the current working posture of the crane according to the mechanical parameter including the initial load amplitude and the working parameter, when the processor determines that the difference between the real-time load amplitude and the initial load amplitude is greater than or equal to the preset amplitude value set by the processor, the processor may re-determine the mechanical parameter, thereby determining that the load amplitude included in the mechanical parameter is the real-time load amplitude, thereby determining a critical rotation angular velocity of the crane in the current working posture according to the mechanical parameter including the real-time load amplitude and the working parameter, and determining a maximum critical rotation angular velocity of the crane in the current working posture, thereby guaranteeing a maximum critical rotation velocity of the crane in the current working posture according to the mechanical parameter obtained in real time.
In one embodiment, a processor is provided that is configured to perform the method for determining critical rotational angular velocity of any of the above.
In one embodiment, as shown in fig. 2, a flow diagram of a control method for a crane according to an embodiment of the present application is schematically shown. As shown in fig. 2, in one embodiment of the present application, there is provided a control method for a crane, including the steps of:
step 201, determining critical rotation angular velocity of the crane based on the method for determining critical rotation angular velocity as shown in fig. 1 during crane operation;
step 202, acquiring real-time rotation angular speed of a crane;
step 203, determining a critical current corresponding to the critical rotational angular velocity according to a preset current mapping relationship when the real-time rotational angular velocity is greater than the critical rotational angular velocity;
step 204, obtaining a handle current corresponding to the handle opening of the crane;
and step 205, adjusting the opening degree of a rotary valve of the crane based on the handle current and the critical current to adjust the speed of a rotary mechanism of the crane so as to ensure safe operation of the crane.
After determining the critical rotation angular velocity of the crane in the current working posture, the processor can acquire the real-time rotation angular velocity of the crane in the working process of the crane, compare the acquired real-time rotation angular velocity with the determined critical rotation angular velocity of the crane, and determine the critical current corresponding to the critical rotation angular velocity according to the preset current mapping relation when the real-time rotation angular velocity is larger than the critical rotation angular velocity, and control the rotary valve of the crane based on the handle current and the critical current, so as to adjust the opening of the rotary valve of the crane to change the output flow of the rotary valve, the output flow of the rotary valve acts on the hydraulic motor of the rotary mechanism, and adjust the speed of the rotary mechanism of the crane, so that the crane can perform safe operation.
In one embodiment, comparing the handle current to the threshold current, and controlling the rotary valve to vary the opening of the rotary valve based on the comparison, thereby reducing the speed of the rotary mechanism comprises: under the condition that the critical current is smaller than the handle current, controlling the opening of the rotary valve according to the critical current to reduce the speed of the rotary mechanism, so that the crane can safely operate, and determining the critical current as the handle current corresponding to the handle opening of the crane; and under the condition that the critical current is greater than or equal to the handle current, controlling the opening degree of the rotary valve according to the handle current so as to adjust the speed of the rotary mechanism, so that the crane can safely operate.
After obtaining the critical current corresponding to the critical rotation angular speed and the handle current corresponding to the current handle opening, the processor can compare the handle current with the critical current, and under the condition that the critical current is smaller than the handle current, that is, the handle current corresponding to the handle opening exceeds the critical current corresponding to the critical rotation angular speed of the crane, if the crane is continuously controlled according to the handle current, the crane can be overturned, so that the processor can control the rotary valve according to the critical current to adjust the opening of the rotary valve, reduce the speed of the rotary mechanism, ensure that the crane can safely work, and update the handle current corresponding to the current handle opening to the critical current. When the processor determines that the critical current is greater than or equal to the handle current, that is, the handle current corresponding to the current handle opening can ensure that the crane is in safe operation, the processor can control the opening of the rotary valve according to the handle current so as to adjust the speed of the hydraulic motor of the rotary mechanism.
In one embodiment, the control method further comprises: under the condition that the real-time rotary angular speed is smaller than the critical rotary angular speed, acquiring a handle current corresponding to the handle opening of the crane; the opening degree of the rotary valve is controlled according to the handle current, so that the speed of the rotary mechanism is adjusted.
The processor can acquire the rotating angular speed of the crane in real time in the working process of the crane, and under the condition that the real-time rotating angular speed of the crane is smaller than the critical rotating angular speed determined by the processor, that is, the processor is in safe operation, the processor can acquire the handle current corresponding to the handle opening of the crane and control the rotary valve of the crane according to the handle current so as to change the opening of the rotary valve, thereby adjusting the speed of the rotary mechanism according to the handle current.
In an embodiment, a processor is provided that is configured to perform the control method for a crane of any of the above.
In one embodiment, a crane is provided, the crane comprising a processor configured to perform a method for determining a critical rotational angular velocity and a processor configured to perform a control method for the crane.
In one embodiment, as shown in fig. 3, a control method for a crane is schematically illustrated, comprising the steps of:
step 301, powering up a crane;
step 302, acquiring initial mechanical parameters of a crane and working parameters under the current working posture according to working conditions of the crane, wherein the initial mechanical parameters comprise initial load amplitude;
step 303, determining the critical rotation angular speed of the crane according to the initial mechanical parameters and the working parameters of the crane;
step 304, acquiring real-time load amplitude of a crane and initial load amplitude before the rotation operation;
step 305, comparing the real-time load amplitude with the initial load amplitude, judging whether the difference between the real-time load amplitude and the initial load amplitude is larger than a preset difference, if not, executing step 303, if so, executing step 306;
step 306, replacing the initial load amplitude included in the initial mechanical parameters with the real-time load amplitude, and determining the critical rotation angular speed of the crane by using the mechanical parameters and the working parameters including the real-time load amplitude;
step 307, acquiring the real-time rotation angular speed of the crane;
step 308, judging whether the real-time rotation angular velocity is smaller than the critical rotation angular velocity; if yes, go to step 313, if no, go to step 309;
step 309, determining a critical current corresponding to the critical rotation angular velocity according to a preset current mapping relationship;
step 310, obtaining a handle current corresponding to the current handle opening, and judging whether the critical current is smaller than the handle current; if yes, go to step 311, if not, go to step 313;
step 311, controlling the opening degree of a rotary valve of the crane according to the critical current to change the output flow rate of the rotary valve, thereby changing the rotating speed of a hydraulic motor of the rotary mechanism to reduce the rotating speed of the crane, and returning to step 307;
step 312, determining the critical current as the handle current corresponding to the current handle opening;
step 313, controlling the opening degree of the rotary valve of the crane according to the handle current to adjust the speed of the rotary mechanism, and returning to step 307.
After the crane is electrified, the processor can acquire initial mechanical parameters of the crane and working parameters under the current working posture according to working conditions of the crane, and determine initial stabilizing moment, initial overturning moment, lifting weight of the crane and centrifugal force generated by the crane body under the current working posture according to the mechanical parameters and the working parameters of the crane. The processor can determine a centrifugal stabilizing moment and a centrifugal overturning moment corresponding to the centrifugal force, the processor can determine algebraic sum of the initial stabilizing moment and the centrifugal stabilizing moment as a target stabilizing moment of the crane in the current working posture, and determine algebraic sum of the initial overturning moment and the initial stabilizing moment as the target overturning moment of the crane in the current working posture. The processor can determine a critical safety margin of the crane set by a user, namely, a safety margin for avoiding the crane from tipping, and determine the revolving angular speed corresponding to the target stabilizing moment and the target tipping moment as the revolving angular speed of the crane in the current working posture under the condition that the functional relationship between the target stabilizing moment and the target tipping moment accords with the functional relationship corresponding to the critical safety margin of the crane. Because the crane can be mechanically deformed due to the hoisting weight in the process of rotating, the deformation can change the moment of the crane, thereby changing the critical rotation angular speed corresponding to the crane. Therefore, the processor can acquire the real-time load amplitude of the crane after the crane starts to rotate, compares the real-time load amplitude with the initial load amplitude before rotating, if the difference between the real-time load amplitude and the initial load amplitude is smaller than the preset amplitude set by the processor, the processor does not need to confirm the critical rotation angular speed of the crane again, if the difference between the real-time load amplitude and the initial load amplitude is larger than the preset amplitude set by the processor, the processor needs to correspondingly adjust the critical rotation angular speed to ensure the stability of the crane, and therefore the processor can confirm the critical rotation angular speed of the crane again according to the real-time load amplitude and update the critical rotation angular speed determined according to the initial load amplitude.
After determining the revolving angular speed of the crane, the processor can acquire the real-time revolving angular speed of the crane, and can also acquire the handle current corresponding to the current handle opening of the crane. The processor can compare the obtained real-time rotational angular velocity with the determined critical rotational angular velocity of the crane, and if the real-time rotational angular velocity is smaller than the critical rotational angular velocity, the processor can control the opening degree of the rotary valve of the crane according to the handle current so as to adjust the speed of the rotary mechanism. If the real-time rotation angular velocity is greater than the critical rotation angular velocity, the processor can determine a critical current corresponding to the critical rotation angular velocity according to a preset current mapping relation, compare the critical current with the handle current, and when the critical current is smaller than the handle current, that is, when the handle current corresponding to the opening degree of the handle exceeds the critical current corresponding to the critical rotation angular velocity of the crane, if the crane is controlled continuously according to the handle current, the crane can possibly tip over, so that the processor can control the rotary valve according to the critical current to adjust the opening degree of the rotary valve, reduce the speed of the rotary mechanism, ensure that the crane can safely work, and update the handle current corresponding to the current opening degree of the handle into the critical current. When the processor determines that the critical current is greater than or equal to the handle current, that is, the handle current corresponding to the current handle opening can ensure that the crane is in safe operation, the processor can control the opening of the rotary valve according to the handle current so as to adjust the speed of the hydraulic motor of the rotary mechanism. The processor can acquire the real-time rotary angular speed of the crane in the process of adjusting the speed of the hydraulic motor, and control the crane to ensure that the real-time rotary angular speed is smaller than the critical rotary angular speed so as to ensure the safe operation of the crane.
According to the technical scheme, the mechanical parameters and the working parameters of the crane are obtained in real time, the critical rotation angular speed corresponding to the current working posture of the crane is determined according to the mechanical parameters and the working parameters corresponding to the current working posture of the crane, the real-time rotation angular speed of the crane is obtained, and the real-time rotation angular speed is timely adjusted, so that the real-time rotation angular speed is ensured to be smaller than the critical rotation angular speed corresponding to the current posture, the safe operation of the crane is ensured, and the crane is prevented from tipping in the working process. The critical rotation angular speed of the processor can be determined along with the real-time working posture of the crane, so that the safe operation of the crane under different working conditions is ensured.
In one embodiment, a machine-readable storage medium is provided having instructions stored thereon that, when executed by a processor, cause the processor to be configured to perform a method for determining critical rotational speed according to any of the above.
In one embodiment, a machine-readable storage medium is provided having instructions stored thereon that, when executed by a processor, cause the processor to be configured to perform a control method for a crane according to any of the above.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer device includes a processor a01, a network interface a02, a memory (not shown) and a database (not shown) connected by a system bus. Wherein the processor a01 of the computer device is adapted to provide computing and control capabilities. The memory of the computer device includes internal memory a03 and nonvolatile storage medium a04. The nonvolatile storage medium a04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory a03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium a04. The database of the computer device is used for storing relevant data of the engineering machine. The network interface a02 of the computer device is used for communication with an external terminal through a network connection. The computer program B02, when executed by the processor a01, implements a method for determining the critical rotational angular velocity and/or a control method for a crane.
FIG. 1 is a flow chart of a method for determining critical rotational speed in one embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly stated herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps: acquiring mechanical parameters and working parameters of the crane in the current working posture; determining initial stabilizing moment, initial overturning moment, lifting weight of the crane and centrifugal force generated by the crane body under the current working posture according to the mechanical parameters and the working parameters; determining a centrifugal stabilizing moment and a centrifugal overturning moment corresponding to the centrifugal force; determining a target stabilizing moment of the crane in the current working posture according to the initial stabilizing moment and the centrifugal stabilizing moment; determining a target overturning moment of the crane in the current working posture according to the initial overturning moment and the centrifugal overturning moment; and under the condition that the functional relation between the target stabilizing moment and the target overturning moment accords with the functional relation corresponding to the preset critical safety margin of the crane, determining the rotary angular speed corresponding to the target stabilizing moment and the target overturning moment as the critical rotary angular speed of the crane in the current working posture.
In one embodiment, acquiring mechanical parameters of the crane at the current working pose comprises: acquiring the initial load amplitude of the crane before the crane rotates; acquiring real-time load amplitude of a crane; determining that the mechanical parameter comprises an initial load amplitude under the condition that the difference between the real-time load amplitude and the initial load amplitude is smaller than a preset amplitude value; in the event that the difference between the real-time load amplitude and the initial load amplitude is greater than or equal to a preset amplitude value, determining the mechanical parameter includes the real-time load amplitude.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps: determining the critical rotational speed of the crane during operation of the crane based on the method for determining critical rotational angular speed of claim 1; acquiring the real-time rotation angular speed of the crane; under the condition that the real-time rotation angular speed is larger than the critical rotation angular speed, determining critical current corresponding to the critical rotation angular speed according to a preset current mapping relation; acquiring a handle current corresponding to the handle opening of the crane; the opening degree of the rotary valve of the crane is adjusted based on the handle current and the critical current so as to adjust the speed of the rotary mechanism of the crane, so that the crane can safely operate.
In one embodiment, comparing the handle current to the threshold current, and controlling the rotary valve to vary the opening of the rotary valve based on the comparison, thereby reducing the speed of the rotary mechanism comprises: under the condition that the critical current is smaller than the handle current, controlling the opening of the rotary valve according to the critical current to reduce the speed of the rotary mechanism, so that the crane can safely operate, and determining the critical current as the handle current corresponding to the handle opening of the crane; and under the condition that the critical current is greater than or equal to the handle current, controlling the opening degree of the rotary valve according to the handle current so as to adjust the speed of the rotary mechanism, so that the crane can safely operate.
In one embodiment, the control method further comprises: under the condition that the real-time rotary angular speed is smaller than the critical rotary angular speed, acquiring a handle current corresponding to the handle opening of the crane; the opening degree of the rotary valve is controlled according to the handle current, so that the speed of the rotary mechanism is adjusted.
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 changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. that fall within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.

Claims (10)

1. A method for determining a critical rotational angular velocity, the method comprising:
acquiring mechanical parameters and working parameters of the crane in the current working posture;
determining initial stabilizing moment, initial overturning moment, lifting weight of the crane and centrifugal force generated by the crane body of the crane under the current working posture according to the mechanical parameters and the working parameters;
determining a centrifugal stabilizing moment and a centrifugal overturning moment corresponding to the centrifugal force;
determining a target stabilizing moment of the crane in the current working posture according to the initial stabilizing moment and the centrifugal stabilizing moment;
determining a target overturning moment of the crane in the current working posture according to the initial overturning moment and the centrifugal overturning moment;
and under the condition that the functional relation between the target stabilizing moment and the target overturning moment accords with the functional relation corresponding to the preset critical safety margin of the crane, determining the revolving angular speed corresponding to the target stabilizing moment and the target overturning moment as the critical revolving angular speed of the crane in the current working posture.
2. The method for determining critical rotational angular velocity according to claim 1, wherein obtaining mechanical parameters of the crane at the current working attitude comprises:
acquiring an initial load amplitude of the crane before the crane performs the rotation operation;
acquiring real-time load amplitude of the crane;
determining that the mechanical parameter comprises an initial load amplitude if the difference between the real-time load amplitude and the initial load amplitude is less than a preset amplitude value;
and determining that the mechanical parameter comprises the real-time load amplitude under the condition that the difference value between the real-time load amplitude and the initial load amplitude is larger than or equal to a preset amplitude value.
3. A control method for a crane, the control method comprising:
determining a critical rotational angular velocity of the crane during operation of the crane based on the method for determining a critical rotational angular velocity of claim 1;
acquiring the real-time rotation angular speed of the crane;
determining critical current corresponding to the critical rotational angular speed according to a preset current mapping relation under the condition that the real-time rotational angular speed is larger than the critical rotational angular speed;
acquiring a handle current corresponding to the handle opening of the crane;
and adjusting the opening degree of a rotary valve of the crane based on the handle current and the critical current to adjust the speed of a rotary mechanism of the crane, so that the crane can safely operate.
4. A control method for a crane according to claim 3, wherein the comparing the handle current with the critical current, and controlling the rotary valve to change the opening degree of the rotary valve according to the comparison result, thereby reducing the speed of the rotary mechanism comprises:
controlling the opening of the rotary valve according to the critical current under the condition that the critical current is smaller than the handle current so as to reduce the speed of the rotary mechanism, so that the crane can safely operate, and determining the critical current as the handle current corresponding to the handle opening of the crane;
and under the condition that the critical current is greater than or equal to the handle current, controlling the opening of the rotary valve according to the handle current so as to adjust the speed of the rotary mechanism, so that the crane can safely operate.
5. A control method for a crane according to claim 3, characterized in that the control method further comprises:
acquiring a handle current corresponding to the handle opening of the crane under the condition that the real-time rotary angular speed is smaller than the critical rotary angular speed;
and controlling the opening degree of the rotary valve according to the handle current, so as to adjust the speed of the rotary mechanism.
6. A processor configured to perform the method for determining critical rotational angular velocity according to any of claims 1 to 2.
7. A processor, characterized by being configured to perform the control method for a crane according to any one of claims 3 to 5.
8. A crane, characterized in that it comprises a processor according to claim 6 and claim 7.
9. A storage medium having instructions stored thereon, wherein the instructions, when executed by a processor, cause the processor to be configured to perform the method for determining critical rotational speed according to any of claims 1 to 2.
10. A storage medium having instructions stored thereon, characterized in that the instructions, when executed by a processor, cause the processor to be configured to perform the control method for a crane according to any of claims 3 to 5.
CN202310952660.9A 2023-07-31 2023-07-31 Method, processor, crane and device for determining critical rotational angular velocity Pending CN117566593A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310952660.9A CN117566593A (en) 2023-07-31 2023-07-31 Method, processor, crane and device for determining critical rotational angular velocity

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310952660.9A CN117566593A (en) 2023-07-31 2023-07-31 Method, processor, crane and device for determining critical rotational angular velocity

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CN117566593A true CN117566593A (en) 2024-02-20

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