CN117699678A - Balance control method based on balance arm counterweight movement of tower crane - Google Patents
Balance control method based on balance arm counterweight movement of tower crane Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
A balance control method based on the balance arm counterweight movement of a tower crane comprises the following steps: s1: acquiring the moment of a crane boom and the moment of a balance arm of the tower crane; s2: acquiring the position of a balance arm counterweight trolley according to the moment of the crane boom and the moment of the balance arm, and automatically adjusting the position of the counterweight trolley according to the working state of the tower crane; s3: judging that when the difference between the moment of the lifting arm and the moment of the balance arm is larger than a high threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at a high speed; when the difference between the moment of the crane arm and the moment of the balance arm is larger than a middle threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at medium speed; when the difference between the moment of the crane arm and the moment of the balance arm is larger than a low threshold value and smaller than a medium threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at a low speed; when the difference between the moment of the crane arm and the moment of the balance arm is smaller than the low threshold value, the tower crane is in a balanced state, and each movement device is kept unchanged. The invention can greatly improve the response speed, stability and adjustment accuracy.
Description
Technical Field
The invention relates to the technical field of tower crane control, in particular to a balance control method based on balance weight movement of a balance arm of a tower crane.
Background
The tower crane boom and the counterweight arm are two important components of the tower crane and bear the tasks of supporting and counterweight the main body of the tower crane and lifting cargoes. The weight trolley of the balance arm is a device for adjusting the weight of the balance arm, and the weight is adjusted by moving the weight trolley to different positions to change the gravity center position of the balance arm.
The existing self-balancing control method of the tower crane mainly comprises the steps of monitoring the inclination degree and direction of a balance arm of the tower crane by using an inclination sensor, judging which side needs to be balanced and adjusted according to the inclination degree and direction, monitoring the weight states of the balance arm and a counterweight of the tower crane by using a weight sensor, and adjusting the position of the counterweight according to the gravity position of the balance arm and the counterweight; the position and the movement state of the weight trolley are monitored through a position sensor so as to determine the current position and the movement distance of the weight trolley, and therefore the movement of the weight trolley is controlled; and then, the controller reads the sensor data and executes a corresponding algorithm to adjust the displacement of the counterweight trolley so as to realize the automatic adjustment of the balance arm of the tower crane. However, the sensor has more data, the data acquisition and processing of the sensor needs a certain time, and the response time is delayed: and the displacement of the counterweight trolley cannot be finely adjusted, so that the stability and the safety of the balance arm are reduced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a balance control method with high accuracy, safety and reliability based on the balance arm counterweight movement of the tower crane.
The technical scheme of the invention is as follows: a balance control method based on the balance arm counterweight movement of a tower crane comprises the following steps:
s1: acquiring the moment of a crane boom and the moment of a balance arm of the tower crane;
s2: acquiring the position of a balance arm counterweight trolley according to the moment of the crane boom and the moment of the balance arm, and automatically adjusting the position of the counterweight trolley according to the working state of the tower crane;
s3: judging that when the difference between the moment of the lifting arm and the moment of the balance arm is larger than a high threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at a high speed; when the difference between the moment of the crane arm and the moment of the balance arm is larger than a middle threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at medium speed; when the difference between the moment of the crane arm and the moment of the balance arm is larger than a low threshold value and smaller than a medium threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at a low speed; when the difference between the moment of the crane arm and the moment of the balance arm is smaller than the low threshold value, the tower crane is in a balanced state, and each movement device is kept unchanged.
Further, the method further comprises the step S4: and (3) hoisting a main hook of the tower crane, wherein a main hook frequency converter drives a main hook alternating current motor to slowly hoist the hook, and repeating the steps S1-S3 until a new balance state is achieved.
Further, the method further comprises the step S5: when the main hook hoisted object is lifted off the ground, the main hook frequency converter drives the main hook alternating current motor to lift the hook at a normal speed, and the steps S1-S3 are repeated until a new balance state is achieved.
Further, the method further comprises the step S6: when the hanging object of the main hook reaches the safe height, the frequency converter of the trolley of the main hook drives the alternating current motor of the main hook to normally advance or retreat, and the steps S1-S3 are repeated until a new balance state is reached.
Further, the method further comprises the step S7: in the self-balancing process, when the balance arm counterweight trolley and the main hook reach the front limit and the rear limit, the balance arm counterweight trolley and the main hook are respectively protected by three paths of displacement sensor limit values, travel switch limit values and mechanical limit values, and simultaneously alarm and prompt are carried out.
Further, in step S1, the boom moment M 1 Obtained by the following formula: m is M 1 =G 1 ╳L 1 The method comprises the steps of carrying out a first treatment on the surface of the Moment M of the balance arm 2 Obtained by the following formula: m is M 2 =G 2 ╳L 2 ；
Wherein G is 1 For gravity of boom truss, L 1 The distance from the gravity center of the crane boom to the center of the tower body; g 2 To balance the gravity of the arm truss, L 2 Is the distance from the center of gravity of the balance arm to the center of the tower body.
Further, in S2, according to the boom moment M 1 Balance arm moment M 2 Obtaining: m is M 1 +G 3 ╳ L 3 = M 2 + G 4 ╳ L 4 ；
Wherein G is 3 To hang the weight of heavy objects, L 3 The distance from the gravity center of the suspended heavy object to the center of the tower body; g 4 Is the gravity of the counterweight trolley, L 4 The distance from the gravity center of the counterweight trolley to the center of the tower body; by dynamically calculating the moment of the suspended weightAnd then, according to the gravity of the counterweight trolley, the position of the counterweight trolley is reversely calculated.
Further, in S3, the high threshold is 200kN.m or less than-200 kN.m; the medium threshold is 75kN.m or less than-75 kN.m; the low threshold is 50kn.m or less than-50 kn.m.
In the step S3, the high-speed movement range of the alternating current motor is 28-32Hz, the medium-speed movement range is 23-27Hz, and the low-speed movement range is 18-22Hz.
Further, L 1 And L 2 The gravity center position is calculated by displacement data measured by displacement sensors on the lifting arm and the balance arm respectively; the gravity of the suspended heavy object is obtained through a hoisting side tension sensor value; distance L from center of gravity of suspended heavy object to center of tower body 3 And calculating according to the value of the hoisting side tension sensor and the central displacement of the displacement sensor.
The invention has the beneficial effects that: on one hand, the counterweight trolley is obtained through the moment of the crane arm and the moment of the balance arm, and the counterweight frequency converter of the balance arm is controlled to drive the alternating current motor to act at corresponding speed according to the comparison between the moment of the crane arm and the moment of the balance arm and different thresholds, so that the counterweight trolley is automatically adjusted, the response speed, stability and adjustment accuracy are greatly improved, and the advantages of good visibility, simplicity in operation, simplicity in algorithm, high intelligent degree, convenience in maintenance, strong adaptability and the like are achieved, the crane is suitable for various different working conditions, and the safe work of the crane is ensured; on the other hand, the position of the counterweight trolley is automatically adjusted in the process of lifting the main hook, lifting the object away from the ground and lifting the object path to the safe height, so that the safety and stability of the tower crane are ensured; furthermore, through setting up three protections in the self-balancing process, can improve the accuracy, security and the reliability that counter weight dolly and main hook dolly reach extreme position greatly.
Drawings
Fig. 1 is a schematic structural diagram of a tower crane according to an embodiment of the present invention.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific examples.
A balance control method based on the balance arm counterweight movement of a tower crane comprises the following steps:
s101: and acquiring the moment of a crane boom and the moment of a balance arm of the tower crane.
Specifically, the tower crane is including locating the jib loading boom 1 and the balance arm 2 of body both sides respectively, wherein is equipped with the balancing weight on the balance arm 2, and installs the balancing weight on the balance arm, because the balancing weight is movable structure, this is jointly referred to as counter weight dolly 3 with the movable structure with the balancing weight, and counter weight dolly 3 can follow the removal of balance arm 2 to adjust the skew condition of jib loading boom hoist and mount in-process focus position. The crane arm 1 and the balance arm 2 are provided with displacement sensors for detecting respective movement data. The crane arm is provided with a tension sensor at the position of the hanging weight for weighing the hanging weight.
Moment M of crane boom 1 Obtained by the following formula: m is M 1 =G 1 ╳L 1 ；
Moment M of balance arm 2 Obtained by the following formula: m is M 2 =G 2 ╳L 2 。
Wherein G is 1 For gravity of boom truss, L 1 G is the distance from the center of gravity of the boom to the center of the tower body 2 To balance the gravity of the arm truss, L 2 Is the distance from the center of gravity of the balance arm to the center of the tower body.
Wherein G is 1 And G 2 Is of a known constant value, L 1 And L 2 The displacement of the crane arm and the balance arm can be measured through displacement sensors on the crane arm and the balance arm respectively, and then the position of the gravity center can be calculated through a related algorithm.
S102: and acquiring the position of the balance arm counterweight trolley according to the moment of the crane boom and the moment of the balance arm, so as to realize automatic adjustment of the counterweight.
In particular, according to the boom moment M 1 Balance arm moment M 2 Obtaining: m is M 1 +G 3 ╳ L 3 = M 2 + G 4 ╳ L 4 。
Wherein G is 3 To hang the weight of heavy objects, L 3 For suspending the distance from the centre of gravity of the heavy object to the centre of the tower body；G 4 Is the gravity of the counterweight trolley, L 4 Is the distance from the gravity center of the counterweight trolley to the center of the tower body.
In the above parameters of the embodiment, the gravity of the suspended heavy object is obtained through the value of the hoisting side tension sensor, and the system can automatically calculate the gravity of the suspended heavy object when different heavy objects are hoisted. Distance L from center of gravity of suspended heavy object to center of tower body 3 The central displacement of the displacement sensor is calculated according to the value of the lifting side tension sensor; the weight of the counterweight trolley is a known fixed value, so the formula is used for dynamically calculating the sum of the moment of the suspended weight and the moment of the lifting arm and the difference between the moment of the suspended weight and the moment of the balancing arm, and then the position of the counterweight trolley is calculated reversely according to the weight of the counterweight trolley, so that the automatic adjustment of the counterweight is realized. After the self-balancing system of the embodiment is started, the system can finally acquire the position of the counterweight trolley according to the value of the hoisting side tension sensor and the central displacement of each displacement sensor, and the deviation condition of the gravity center position in the hoisting process is mastered in real time, so that the safety and stability of hoisting operation are ensured. The crane arm moment and the balance arm moment can be calculated to be constant values, and the position of the counterweight trolley can be obtained by calculating the gravity of different suspended weights and the gravity center distance of the suspended weights, so that the response speed is high, and the calculation is simple.
S103: judging that when the difference between the moment of the lifting arm and the moment of the balance arm is larger than a high threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at a high speed; when the difference between the moment of the crane arm and the moment of the balance arm is larger than a middle threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at medium speed; when the difference between the moment of the crane arm and the moment of the balance arm is larger than a low threshold value and smaller than a medium threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at a low speed; when the difference between the moment of the crane arm and the moment of the balance arm is smaller than the low threshold value, the tower crane is in a balanced state, and each movement device is kept unchanged.
Specifically, the high threshold is 200kN.m or less than-200 kN.m; the medium threshold is 75kN.m or less than-75 kN.m; the low threshold is 50kn.m or less than-50 kn.m. The high-speed movement range of the motor is 28-32Hz, the medium-speed movement range is 23-27Hz, and the low-speed movement range is 18-22Hz; it is further preferred that the motor has a high speed range of 29-31Hz, a medium speed range of 24-26Hz, and a low speed range of 19-21Hz.
When the difference between the boom moment and the balance arm moment is greater than the high threshold, the balance arm counterweight inverter drives the alternating current motor to move at a high speed so as to control the counterweight on the balance arm to move, and the position of the counterweight is obtained through calculation in the step S102. When the weights of the suspended weights are different, the balance weight on the balance arm is adjusted to ensure that the balance arm is in a balance state, so that the crane is prevented from losing control due to unstable gravity center.
In this embodiment, by setting different thresholds, on the one hand, accuracy optimization of the counterweight movement can be achieved: for example, the low threshold value can enable the tower crane to be finely adjusted in the case of small deviation, so that the positioning accuracy is improved; the middle threshold value is suitable for common balance weight adjustment, so that the balance of the tower crane is ensured; the high threshold value is suitable for the condition that the quick or large-scale adjustment is needed, and the adjustment speed and the adjustment efficiency are improved. On the other hand, the motion speed and response sensitivity of the counterweight alternating current motor can be controlled, the stability of the system is improved, and the possibility of shaking and swinging is reduced. The system can adapt to different working scenes and requirements by setting different thresholds, namely, a low threshold can be used in a job task requiring high precision and stability; a high threshold is used in job tasks that require fast adjustment and high efficiency. The flexibility can be adjusted according to specific requirements, and the adaptability of the tower crane is improved. In addition, under the condition of low threshold value, the motor movement speed is lower, so that the energy consumption is reduced; under the condition of high threshold, the motor movement speed is high, and although the energy consumption can be increased, the adjustment task can be rapidly completed, so that the efficiency is improved.
According to the embodiment, the alternating current motor is controlled to move according to the comparison between the moment of the lifting arm and the moment of the balance arm and different thresholds, on one hand, stepless speed regulation is achieved, the response speed is high, ms-level operation output is achieved, namely once the moment difference is detected to exceed the threshold, the motor can immediately start to move, the balance state is adjusted immediately, and the response speed of the tower crane is improved; on the other hand, the control accuracy and stability are high: the moment difference value is compared with a threshold value to trigger the motor to move, so that the balance weight can be finely adjusted; and through real-time monitoring and adjusting the counter weight, the balance state of the tower crane can be kept, and the shaking or out of control of the tower crane caused by unstable gravity center is prevented, so that the safety and stability of lifting operation are improved. Moreover, the system has the advantages of good visibility, simplicity in operation, high intelligent degree, convenience in maintenance, strong adaptability and the like, can adapt to various different working conditions, and ensures safe operation of the tower crane.
S104: and (3) hoisting the main hook 4, driving the main hook alternating current motor to slowly lift the main hook by the main hook frequency converter, and repeating the steps 101-103 by the self-balancing system after the main hook is stressed.
Specifically, in the process that the main hook frequency converter drives the main hook alternating current motor to control the main hook at the crane boom to move and lift, the self-balancing system can continuously dynamically calculate the position of the balance weight trolley, and the balance weight frequency converter drives the alternating current motor to select proper speed to work according to the difference between the moment of the crane boom and the moment of the balance boom and the threshold value, so that the balance weight trolley can perform distance adjustment, and the balance state between the crane boom and the balance boom can be maintained in the process of lifting the main hook.
S105: when the main hook hoisted object is lifted off the ground, the main hook frequency converter drives the main hook alternating current motor to lift the hook at a normal speed, and the self-balancing system repeats the steps 101-103 until a new balance state is reached.
S106: when the main hook suspended object reaches the safe height, the main hook frequency converter drives the main hook alternating current motor to normally advance or retreat, and the self-balancing system repeats steps 101-103 until a new balance state is reached.
S107: in the self-balancing process, when the balance arm counterweight trolley and the main hook 4 (namely the main hook trolley) reach the front limit and the rear limit, the balance arm counterweight trolley and the main hook trolley are respectively protected by three paths of displacement sensor limit values, travel switch limit values and mechanical limit values, and meanwhile, the touch screen can give out alarm reminding.
The limit value of the displacement sensor belongs to the first layer of protection of soft limit, the travel switch belongs to the second layer of protection of hard limit, and the mechanical limit belongs to the third layer of protection of limit. Through the three protection, the balance arm counterweight trolley and the main hook trolley can be ensured not to exceed the safety range in the movement process, so that accidents and equipment damage are avoided; the limit value of the displacement sensor and the limit of the travel switch can provide higher accuracy, accurately detect the position of the trolley, timely trigger protective measures, avoid excessive adjustment or movement exceeding a preset range and ensure the stable operation of equipment; the mechanical limit is realized through physical structural design, so that the effect of preventing misoperation can be achieved, and once the trolley reaches the mechanical limit, the protection measures can be triggered to avoid further movement or damage. In addition, even if one protection device fails or fails, other protection devices still exist, and the protection device can play a role in supplementing and guarantee the limitation and protection of the trolley.
In summary, the invention obtains the counterweight trolley through the moment of the crane arm and the moment of the balance arm, controls the balance arm counterweight frequency converter to drive the alternating current motor to act at corresponding speed according to the comparison between the moment of the crane arm and the moment of the balance arm and different thresholds, so that the counterweight trolley can automatically adjust, the response speed, the stability and the adjustment accuracy are greatly improved, the visibility is good, the operation is simple, the algorithm is simple and intelligent, the maintenance is convenient, the adaptability is strong, and the like, and the invention can adapt to various different working conditions and ensure the safe work of the tower crane; on the other hand, the position of the counterweight trolley is automatically adjusted in the process of lifting the main hook, lifting the object away from the ground and lifting the object path to the safe height, so that the safety and stability of the tower crane are ensured; furthermore, through setting up three protections in the self-balancing process, can improve the accuracy, security and the reliability that counter weight dolly and main hook dolly reach extreme position greatly.
Claims (10)
1. The balance control method based on the balance arm counterweight movement of the tower crane is characterized by comprising the following steps of:
s1: acquiring the moment of a crane boom and the moment of a balance arm of the tower crane;
s2: acquiring the position of a balance arm counterweight trolley according to the moment of the crane boom and the moment of the balance arm, and automatically adjusting the position of the counterweight trolley according to the working state of the tower crane;
s3: judging that when the difference between the moment of the lifting arm and the moment of the balance arm is larger than a high threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at a high speed; when the difference between the moment of the crane arm and the moment of the balance arm is larger than a middle threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at medium speed; when the difference between the moment of the crane arm and the moment of the balance arm is larger than a low threshold value and smaller than a medium threshold value, the balance arm counterweight frequency converter drives the alternating current motor to move at a low speed; when the difference between the moment of the crane arm and the moment of the balance arm is smaller than the low threshold value, the tower crane is in a balanced state, and each movement device is kept unchanged.
2. The balance control method based on the counterweight movement of the tower crane balance arm according to claim 1, further comprising step S4: and (3) hoisting a main hook of the tower crane, wherein a main hook frequency converter drives a main hook alternating current motor to slowly hoist the hook, and repeating the steps S1-S3 until a new balance state is achieved.
3. The balance control method based on the counterweight movement of the tower crane balance arm according to claim 2, further comprising step S5: when the main hook hoisted object is lifted off the ground, the main hook frequency converter drives the main hook alternating current motor to lift the hook at a normal speed, and the steps S1-S3 are repeated until a new balance state is achieved.
4. The balance control method based on the counterweight movement of the balance arm of the tower crane according to claim 3, further comprising step S6: when the hanging object of the main hook reaches the safe height, the frequency converter of the trolley of the main hook drives the alternating current motor of the main hook to normally advance or retreat, and the steps S1-S3 are repeated until a new balance state is reached.
5. The balance control method based on the counterweight movement of the tower crane balance arm according to claim 4, further comprising step S7: in the self-balancing process, when the balance arm counterweight trolley and the main hook reach the front limit and the rear limit, the balance arm counterweight trolley and the main hook are respectively protected by three paths of displacement sensor limit values, travel switch limit values and mechanical limit values, and simultaneously alarm and prompt are carried out.
6. The balance control method based on the counterweight movement of the crane balance arm according to any one of claims 1 to 5, wherein in step S1, the crane arm moment M 1 Obtained by the following formula: m is M 1 =G 1 ╳L 1 The method comprises the steps of carrying out a first treatment on the surface of the Moment M of the balance arm 2 Obtained by the following formula: m is M 2 =G 2 ╳L 2 ；
Wherein G is 1 For gravity of boom truss, L 1 The distance from the gravity center of the crane boom to the center of the tower body; g 2 To balance the gravity of the arm truss, L 2 Is the distance from the center of gravity of the balance arm to the center of the tower body.
7. The balance control method based on the counterweight movement of the crane balance arm according to claim 6, wherein in S2, the moment M of the crane arm 1 Balance arm moment M 2 Obtaining: m is M 1 +G 3 ╳ L 3 = M 2 + G 4 ╳ L 4 ；
Wherein G is 3 To hang the weight of heavy objects, L 3 The distance from the gravity center of the suspended heavy object to the center of the tower body; g 4 Is the gravity of the counterweight trolley, L 4 The distance from the gravity center of the counterweight trolley to the center of the tower body; the position of the counterweight trolley is calculated reversely according to the gravity of the counterweight trolley by dynamically calculating the sum of the moment of the suspended heavy object and the moment of the lifting arm and the moment difference of the balance arm.
8. The balance control method based on the counterweight movement of the balance arm of the tower crane according to any one of claims 1 to 5, wherein in S3, the high threshold is 200kn.m or less than-200 kn.m; the medium threshold is 75kN.m or less than-75 kN.m; the low threshold is 50kn.m or less than-50 kn.m.
9. The balance control method based on the counterweight movement of the balance arm of the tower crane according to any one of claims 1 to 5, wherein in S3, the high-speed movement range of the alternating current motor is 28 to 32Hz, the medium-speed movement range is 23 to 27Hz, and the low-speed movement range is 18 to 22Hz.
10. The balance control method based on the counterweight movement of the balance arm of the tower crane according to claim 7, wherein the balance control method comprises the following steps of，L 1 And L 2 The gravity center position is calculated by displacement data measured by displacement sensors on the lifting arm and the balance arm respectively; the gravity of the suspended heavy object is obtained through a hoisting side tension sensor value; distance L from center of gravity of suspended heavy object to center of tower body 3 And calculating according to the value of the hoisting side tension sensor and the central displacement of the displacement sensor.
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