CN117800205A - Intelligent anti-swing method, system and equipment for tower crane - Google Patents
Intelligent anti-swing method, system and equipment for tower crane Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent control of tower cranes, in particular to an intelligent anti-swing method, an intelligent anti-swing system and intelligent anti-swing equipment for a tower crane, which comprise the following steps: starting the anti-swing device after starting the crane, wherein the anti-swing device is arranged on the crane arm and simultaneously starts the timer; the method comprises the steps of establishing a swinging model according to parameters of each part of a base crane, decomposing gravity received by a crane lifting hook into a direction along a cycloid and a direction perpendicular to the cycloid, monitoring the position, the posture, the load, the running speed and the wind speed of the lifting hook in real time by a sensor arranged on the lifting hook, and preprocessing the data; further processing data according to the processed data, wherein the relationship between the swing amplitude and the rope length and the speed is analyzed, and the anti-swing mechanism, the anti-swing at the starting stage, the anti-swing at the moving stage and the anti-swing at the stopping stage are analyzed; and finally, sending an instruction to the anti-swing device according to the obtained data. The invention can effectively eliminate the swing in a short time by controlling the anti-swing device.
Description
Technical Field
The invention relates to the technical field of intelligent control of tower cranes, in particular to an intelligent anti-swing method, an intelligent anti-swing system and intelligent anti-swing equipment for a tower crane.
Background
The tower crane is a most common material handling tool in the field of building construction, and has the main function of handling various materials and equipment on a construction site. The existing tower crane mainly adopts a manual visual operation mode, a tower crane worker operates a tower crane lifting hook to reach a designated position through an interphone and observation, and as the tower crane carries various loads such as materials and the like through ropes, the loads are inevitably swayed, and when the loads sway, the load unloading operation cannot be performed for safety, so that the tower crane driver is required to have higher operation proficiency and safety consciousness, and in order to enable the loads not to sway or the swaying amplitude to be in a controllable range, a plurality of anti-sway control methods are available. The anti-shake technology is a key technology which is necessary to be adopted in the intelligent crane, and can be mainly divided into a mechanical anti-shake mode and an electronic anti-shake mode according to the mode of realizing anti-shake of the intelligent crane. The electronic anti-shake and mechanical anti-shake have the advantages and characteristics, and are applied to different lifting occasions according to the characteristics. For some occasions with high positioning precision and lower operation efficiency requirements, such as paper mills, waste purchasing stations and the like, a mechanical anti-shake technology is generally adopted; for some occasions with high operation efficiency requirements, electronic anti-swing technology is generally adopted, the characteristics of load swing are approximately simulated by a simple pendulum model, in practical application, the load swing of a crane can be simulated by a pendulum mathematical model which is never linear, the actual load swing of the crane needs to consider and not be limited to the influences of load size and shape, movement speed of a horn, a travelling crane, wind power, damping and the like, and the model of anti-swing control is a nonlinear equation formed by superposition of various factors instead of a simple pendulum.
Therefore, the invention provides the intelligent anti-swing method, the intelligent anti-swing system and the intelligent anti-swing equipment for the tower crane, and the swing can be effectively eliminated in a short time by controlling the anti-swing device.
Disclosure of Invention
Aiming at the defects of the prior art, the invention develops the intelligent anti-swing method, the intelligent anti-swing system and intelligent anti-swing equipment for the tower crane, and the swing can be effectively eliminated in a short time by controlling the anti-swing device.
The technical scheme for solving the technical problems is as follows:
an intelligent anti-swing method for a tower crane comprises the following steps:
s1, starting a swing preventing device after starting a crane, wherein the swing preventing device is arranged on a crane arm and simultaneously starts a timer;
s2, building a swinging model according to parameters of each part of the base crane, decomposing gravity received by a crane lifting hook into a direction along a cycloid and a direction perpendicular to the cycloid, monitoring the position, the posture, the load Wg, the running speed and the wind speed of the lifting hook in real time by a sensor arranged on the lifting hook, and preprocessing the data;
s3, further processing data of the relation between the swing amplitude and the rope length and the speed, analyzing an anti-swing mechanism, preventing swing in a starting stage, preventing swing in a moving stage and preventing swing in a stopping stage according to the data in the step S2;
s4, sending an instruction to the anti-swing device according to the data obtained in the step S3.
Further, the specific process of step S2 is: the position of the sensor on the hook for monitoring the hook in real time is recorded as (T) t ,R t ,H t ) Wherein T is t R is the rotation angle of the lifting hook at the current moment t For the amplitude of the lifting hook at the current moment, H t Lifting hook lifting height at the current moment; the attitude is denoted (Roll, pitch, yaw), where Roll is the hook Roll anglePitch is the hook Pitch, and Yaw is the hook Yaw; the load is denoted as W g The method comprises the steps of carrying out a first treatment on the surface of the The running speed was recorded as (V) t ,V r ,V h ) Wherein V is t For the rotation angular velocity of the hook, V r For the amplitude of the lifting hook, V h The lifting speed is the lifting hook lifting speed; and the wind speed is V w The Kalman filter is designed after the data acquisition to carry out data fusion so as to track the real-time motion state of the lifting hook, namely the true value (T) k+1 ,R k+1 ,H k+1 )；
Establishing a state vector:
X k ＝[T t ,R t ,H t ,Roll,Pitch,Yaw,W g ,V t ,V r ,V h ,V w ],
prediction state:
prediction covariance:
P k|k-1 ＝F·P k-1|k-1 ·F T +Q，
wherein F is a state transition matrix, B is an external input matrix, u k For the external input to be made,
calculating Kalman gain:
K k ＝P k|k-1 ·H T ·(H·P k|k-1 ·H T +R) -1 ，
updating the state estimation:
updating covariance:
P k ＝(I-K k ·H)·P k|k-1 ，
wherein H is the measurement matrix, Z k Is a measurement vector, Q is a system noise covariance matrix, R is a measurement noise covariance matrix, and I is a unit matrix;
the hook position truth value (T) is obtained by a filter k+1 ,R k+1 ,H k+1 ) Based on the predicted hook truth value and the hook position (T k ,R k ,H k ) Calculating the included angle theta between the cycloid of the lifting hook and the vertical line:
a swinging model is established by combining data measured by a sensor, the load is analyzed according to the load of a crane hook, the gravity born by the load is decomposed into a direction along a cycloid and a direction vertical to the cycloid, the gravity component along the cycloid is recorded as mgsin (theta), wherein m represents the mass of the pendulum, g represents the gravity acceleration, theta represents the included angle between the cycloid and the vertical line, the acceleration along the cycloid is in direct proportion to the cycloid component of gravity,wherein a represents acceleration of the pendulum bob along a tangential direction of the circular arc path, L represents length of cycloid, and t represents time;
the formula of the swing model is:
the formula of the swing model combined with the wind speed is as follows:
wherein Fw is the component of wind force on the cycloid tangent;
and according to the motion state and trend of the load measured by the sensor, recording the real-time motion speed of the load as v.
Further, the specific process of step S3 is:
(1) Relationship between swing and rope length and speed: the operation formula of the load at the lowest position of the neutral line is as follows:
wherein v represents the running speed of the load at the lowest position of the neutral line, h represents the height of the lifting hook, and d represents the swing amplitude;
(2) Anti-sway mechanism: the anti-swing device of the tower crane is controlled to move along the load in the same direction, so that the torque is reduced, the actual amplitude is reduced, the follow is continuously carried out, the load swing is reduced, and the load swing is stopped;
(3) Anti-sway at the start-up stage: the motion distance of the anti-swing device in the t time is marked as D, and the maximum swing is marked as D max The swing period is recorded as T;
if it isD≤d max The tower crane can continue to move;
if it isD≤d max The tower crane can continue to move;
if it isD≥d max The tower crane stops moving and waits +.>After that, the tower crane can continue to move;
(4) Anti-sway at the exercise stage: make the anti-swing device quickly follow the load in phase when following the speed v 1 >v 2 When the lifting hook is changed from rope pendulum motion to parabolic motion, the operation formula is as follows:
wherein, deltaw is the rope pendulum system lost energy, and unit mass rope pendulum system lost energy is recorded as:
having Δw=m Δw' representing the energy lost by the unit mass pendulum system;
the influence operation of the energy loss of the rope swing system on the rope swing amplitude is as follows:
w 2 ＝w-△w，
wherein h represents the height of the lifting hook, d represents the swing amplitude, w represents the running potential energy of the current lifting hook, and h 1 Represents the vertical height of the current hook swing maximum, d 2 Indicating the maximum horizontal distance of the swing of the lifting hook after the anti-swing device is hooked, h 2 Representing the maximum vertical height of the swing of the lifting hook after the anti-swing device follows the hook, v 2 Indicating the maximum swing speed of the lifting hook after the anti-swing device follows the hook, w 2 The potential energy of the motion of the lifting hook after the anti-swing device is hooked is represented, beta represents the maximum included angle of the swing of the lifting hook after the anti-swing device is hooked, and theta represents the included angle of cycloid and vertical line;
(5) Anti-sway at stop stage: the anti-swing device will continue to advance for a distance d due to inertia when stopping 0 Load movement distance d' =d+d 0 If d' is less than or equal to d max The anti-sway device can be stopped if d' > d max The anti-swing device is required to continue to follow in the same direction until d' is less than or equal to d max 。
The invention also provides an intelligent anti-swing system of the tower crane, which comprises the following modules:
a sensor module: the sensor is arranged on the crane hook, and the position, the gesture and the load of a suspended object, the wind speed and the running speed of the hook are sensed in real time after the crane is started;
and a data acquisition module: collecting data obtained by the sensor module in real time, and classifying and preprocessing the data;
and a data processing module: receiving the preprocessed data, processing the data according to a preset algorithm, transmitting the processed data to an anti-swing control center module, comparing the processed data with a preset threshold value, and judging whether anti-swing operation is needed;
anti-sway control center module: after the anti-swing operation is determined to be needed, an instruction is sent to the anti-swing device.
Further, the method comprises the following hardware components: the sensor, the timer, the mobile control terminal and the inching controller are in wireless communication with the central control system.
The invention also provides a server, comprising:
one or more processors;
and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the intelligent anti-swing method of the tower crane.
The invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements an intelligent anti-sway method for a tower crane.
The invention also provides a tower crane, wherein the intelligent anti-swing system of the tower crane is arranged on the tower crane, and the intelligent anti-swing method of the tower crane is adopted.
The effects provided in the summary of the invention are merely effects of embodiments, not all effects of the invention, and the above technical solution has the following advantages or beneficial effects:
the invention provides an intelligent anti-swing method, system and system for a tower crane, which are characterized in that a load swing intelligent motion model is established by fusing various sensor data information, the nonlinear causality relationship of swing angle, swing time, swing distance and the like is analyzed, driving motion is controlled from three stages of starting, moving and stopping, swing is eliminated in the shortest time, and the swing is ensured not to exceed the maximum limiting swing; the intelligent anti-swing method for the tower crane automatically fuses the data information of the multiple sensors, does not need additional manual operation, is convenient and fast, has stable and reliable algorithm, greatly improves the practicability of the whole system, and practically improves the operation efficiency of the tower crane.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
FIG. 1 is a schematic flow chart of the method of the present invention.
FIG. 2 is a diagram illustrating conservation of kinetic energy of load according to the present invention.
FIG. 3 is a diagram of an anti-sway mechanism according to the present invention.
FIG. 4 is a schematic view of the anti-sway device of the present invention at the start-up stage.
FIG. 5 is a schematic view of the anti-sway device in the exercise stage of the present invention.
Fig. 6 is a diagram showing the energy loss of the rope pendulum in the invention.
FIG. 7 is a schematic diagram of the anti-sway at the stop stage of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1 to 7, an intelligent anti-swing method for a tower crane includes the following steps:
s1, starting a swing preventing device after starting a crane, wherein the swing preventing device is arranged on a crane arm and simultaneously starts a timer;
s2, building a swinging model according to parameters of each part of the foundation crane, decomposing gravity received by a crane lifting hook into a direction along cycloid and a direction perpendicular to cycloid, and monitoring the position, the gesture and the load W of the lifting hook in real time by a sensor arranged on the lifting hook g Preprocessing the data, namely preprocessing the data, the running speed and the wind speed;
s3, further processing data of the relation between the swing amplitude and the rope length and the speed, analyzing an anti-swing mechanism, preventing swing in a starting stage, preventing swing in a moving stage and preventing swing in a stopping stage according to the data in the step S2;
s4, sending an instruction to the anti-swing device according to the data obtained in the step S3.
Further, the specific process of step S2 is: the position of the sensor on the hook for monitoring the hook in real time is recorded as (T) t ,R t ,H t ) Wherein T is t R is the rotation angle of the lifting hook at the current moment t For the amplitude of the lifting hook at the current moment, H t Lifting hook lifting height at the current moment; the pose is noted as (Roll, pitch, yaw), where Roll is the hook Roll angle, pitch is the hook Pitch angle, and Yaw is the hook Yaw angle; the load is denoted as W g The method comprises the steps of carrying out a first treatment on the surface of the The running speed was recorded as (V) t ,V r ,V h ) Wherein V is t For the rotation angular velocity of the hook, V r For the amplitude of the lifting hook, V h The lifting speed is the lifting hook lifting speed; and the wind speed is V w The Kalman filter is designed after the data acquisition to carry out data fusion so as to track the real-time motion state of the lifting hook, namely the true value (T) k+1 ,R k+1 ,H k+1 )；
Establishing a state vector:
X k ＝[T t ,R t ,H t ,Roll,Pitch,Yaw,W g ,V t ,V r ,V h ,V w ],
prediction state:
prediction covariance:
P k|k-1 ＝F·P k-1|k-1 ·F T +Q，
wherein F is a state transition matrix, B is an external input matrix, u k For the external input to be made,
calculating Kalman gain:
K k ＝P k|k-1 ·H T ·(H·P k|k-1 ·H T +R) -1 ，
updating the state estimation:
updating covariance:
P k ＝(I-K k ·H)·P k|k-1 ，
wherein H is the measurement matrix, Z k Is a measurement vector, Q is a system noise covariance matrix, R is a measurement noise covariance matrix, and I is a unit matrix;
the hook position truth value (T) is obtained by a filter k+1 ,R k+1 ,H k+1 ) Based on the predicted hook truth value and the hook position (T k ,R k ,H k ) Calculating the included angle theta between the cycloid of the lifting hook and the vertical line:
a swinging model is established by combining data measured by a sensor, the load is analyzed according to the load of a crane hook, the gravity born by the load is decomposed into a direction along a cycloid and a direction vertical to the cycloid, the gravity component along the cycloid is recorded as mgsin (theta), wherein m represents the mass of the pendulum, g represents the gravity acceleration, theta represents the included angle between the cycloid and the vertical line, the acceleration along the cycloid is in direct proportion to the cycloid component of gravity,wherein a represents acceleration of the pendulum bob along a tangential direction of the circular arc path, L represents length of cycloid, and t represents time;
the formula of the swing model is:
the formula of the swing model combined with the wind speed is as follows:
wherein Fw is the component of wind force on the cycloid tangent;
and according to the motion state and trend of the load measured by the sensor, recording the real-time motion speed of the load as v.
Further, the specific process of step S3 is:
(1) Relationship between swing and rope length and speed: the operation formula of the load at the lowest position of the neutral line is as follows:
wherein v represents the running speed of the load at the lowest position of the neutral line, h represents the height of the lifting hook, and d represents the swing amplitude;
(2) Anti-sway mechanism: the anti-swing device of the tower crane is controlled to move along the load in the same direction, so that the torque is reduced, the actual amplitude is reduced, the follow is continuously carried out, the load swing is reduced, and the load swing is stopped;
as shown in fig. 3, the moment is smaller in a larger moving range, and the anti-swing device moves in the same direction along with the moving direction of the suspended object, so that the moment is reduced, the moment is continuously followed in the later swing, and after a plurality of times, the external damping gradually reduces the swing amplitude of the suspended object until the swing is stopped.
(3) Anti-sway at the start-up stage: the motion distance of the anti-swing device in the t time is marked as D, and the maximum swing is marked as D max The swing period is recorded as T;
if it isD≤d max The tower crane can continue to move;
if it isD≤d max The tower crane can continue to move;
if it isD≥d max The tower crane stops moving and waits +.>After that, the tower crane can continue to move;
during which small amplitude movements in the horizontal direction are ignored;
(4) Anti-sway at the exercise stage: make the anti-swing device quickly follow the load in phase when following the speed v 1 >v 2 When the lifting hook is changed from rope pendulum motion to parabolic motion, the operation formula is as follows:
wherein, deltaw is the rope pendulum system lost energy, and unit mass rope pendulum system lost energy is recorded as:
having Δw=m Δw' representing the energy lost by the unit mass pendulum system;
the influence operation of the energy loss of the rope swing system on the rope swing amplitude is as follows:
w 2 ＝w-△w，
wherein h represents the height of the lifting hook, d represents the swing amplitude, w represents the running potential energy of the current lifting hook, and h 1 Represents the vertical height of the current hook swing maximum, d 2 Indicating the maximum horizontal distance of the swing of the lifting hook after the anti-swing device is hooked, h 2 Representing the maximum vertical height of the swing of the lifting hook after the anti-swing device follows the hook, v 2 Indicating the maximum swing speed of the lifting hook after the anti-swing device follows the hook, w 2 The potential energy of the motion of the lifting hook after the anti-swing device is hooked is represented, beta represents the maximum included angle of the swing of the lifting hook after the anti-swing device is hooked, and theta represents the included angle of cycloid and vertical line;
(5) Anti-sway at stop stage: the anti-swing device will continue to advance for a distance d due to inertia when stopping 0 Load movement distance d' =d+d 0 If d' is less than or equal to d max The anti-sway device can be stopped if d' > d max The anti-swing device is required to continue to follow in the same direction until d' is less than or equal to d max 。
Example 2
An intelligent anti-swing system of a tower crane comprises the following modules:
a sensor module: the sensor is arranged on the crane hook, and the position, the gesture and the load of a suspended object, the wind speed and the running speed of the hook are sensed in real time after the crane is started;
and a data acquisition module: collecting data obtained by the sensor module in real time, and classifying and preprocessing the data;
and a data processing module: receiving the preprocessed data, processing the data according to a preset algorithm, transmitting the processed data to an anti-swing control center module, comparing the processed data with a preset threshold value, and judging whether anti-swing operation is needed;
anti-sway control center module: after the anti-swing operation is determined to be needed, an instruction is sent to the anti-swing device.
Further, the method comprises the following hardware components: the sensor, the timer, the mobile control terminal and the inching controller are in wireless communication with the central control system.
Example 3
A server, comprising:
one or more processors;
and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the intelligent anti-swing method of the tower crane.
Example 4
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements a tower crane intelligent anti-sway method.
Example 5
A tower crane is provided with an intelligent anti-swing system of the tower crane, and an intelligent anti-swing method of the tower crane is adopted.
While the foregoing description of the embodiments of the present invention has been presented with reference to the drawings, it is not intended to limit the scope of the invention, but rather, it is apparent that various modifications or variations can be made by those skilled in the art without the need for inventive work on the basis of the technical solutions of the present invention.
Claims (8)
1. The intelligent anti-swing method for the tower crane is characterized by comprising the following steps of:
s1, starting a swing preventing device after starting a crane, wherein the swing preventing device is arranged on a crane arm and simultaneously starts a timer;
s2, building a swinging model according to parameters of each part of the foundation crane, decomposing gravity received by a crane lifting hook into a direction along cycloid and a direction perpendicular to cycloid, and monitoring sensors arranged on the lifting hook in real timePosition, posture and load W of lifting hook g Preprocessing the data, namely preprocessing the data, the running speed and the wind speed;
s3, further processing data of the relation between the swing amplitude and the rope length and the speed, analyzing an anti-swing mechanism, preventing swing in a starting stage, preventing swing in a moving stage and preventing swing in a stopping stage according to the data in the step S2;
s4, sending an instruction to the anti-swing device according to the data obtained in the step S3.
2. The intelligent anti-swing method of the tower crane according to claim 1, wherein the specific process of the step S2 is as follows:
the position of the sensor on the hook for monitoring the hook in real time is recorded as (T) t ,R t ,H t ) Wherein T is t R is the rotation angle of the lifting hook at the current moment t For the amplitude of the lifting hook at the current moment, H t Lifting hook lifting height at the current moment; the pose is noted as (Roll, pitch, yaw), where Roll is the hook Roll angle, pitch is the hook Pitch angle, and Yaw is the hook Yaw angle; the load is denoted as W g The method comprises the steps of carrying out a first treatment on the surface of the The running speed was recorded as (V) t ,V r ,V h ) Wherein V is t For the rotation angular velocity of the hook, V r For the amplitude of the lifting hook, V h The lifting speed is the lifting hook lifting speed; and the wind speed is V w The Kalman filter is designed after the data acquisition to carry out data fusion so as to track the real-time motion state of the lifting hook, namely the true value (T) k+1 ,R k+1 ,H k+1 )；
Establishing a state vector:
X k ＝[T t ,R t ,H t ,Roll,Pitch,Yaw,W g ,V t ,V r ,V h ,V w ],
prediction state:
prediction covariance:
P k|k-1 ＝F·P k-1|k-1 ·F T +Q，
wherein F is a state transition matrix, B is an external input matrix, u k For the external input to be made,
calculating Kalman gain:
K k ＝P k|k-1 ·H T ·(H·P k|k-1 ·H T +R) -1 ，
updating the state estimation:
updating covariance:
P k ＝(I-K k ·H)·P k|k-1 ，
wherein H is the measurement matrix, Z k Is a measurement vector, Q is a system noise covariance matrix, R is a measurement noise covariance matrix, and I is a unit matrix;
the hook position truth value (T) is obtained by a filter k+1 ,R k+1 ,H k+1 ) Based on the predicted hook truth value and the hook position (T k ,R k ,H k ) Calculating the included angle theta between the cycloid of the lifting hook and the vertical line:
a swinging model is established by combining data measured by a sensor, the load is analyzed according to the load of a crane hook, the gravity born by the load is decomposed into a direction along a cycloid and a direction vertical to the cycloid, the gravity component along the cycloid is recorded as mgsin (theta), wherein m represents the mass of the pendulum, g represents the gravity acceleration, theta represents the included angle between the cycloid and the vertical line, the acceleration along the cycloid is in direct proportion to the cycloid component of gravity,wherein a represents a pendulumAcceleration in the tangential direction of the circular arc path, L representing the length of the cycloid, t representing time;
the formula of the swing model is:
the formula of the swing model combined with the wind speed is as follows:
wherein Fw is the component of wind force on the cycloid tangent;
and according to the motion state and trend of the load measured by the sensor, recording the real-time motion speed of the load as v.
3. The intelligent anti-swing method of the tower crane according to claim 2, wherein the specific process of the step S3 is as follows:
(1) Relationship between swing and rope length and speed: the operation formula of the load at the lowest position of the neutral line is as follows:
wherein v represents the running speed of the load at the lowest position of the neutral line, h represents the height of the lifting hook, and d represents the swing amplitude;
(2) Anti-sway mechanism: the anti-swing device of the tower crane is controlled to move along the load in the same direction, so that the torque is reduced, the actual amplitude is reduced, the follow is continuously carried out, the load swing is reduced, and the load swing is stopped;
(3) Anti-sway at the start-up stage: the motion distance of the anti-swing device in the t time is marked as D, and the maximum swing is marked as D max The swing period is recorded as T;
if it isD≤d max The tower crane can continue to move;
if it isD≤d max The tower crane can continue to move;
if it isD≥d max The tower crane stops moving and waits +.>After that, the tower crane can continue to move;
(4) Anti-sway at the exercise stage: make the anti-swing device quickly follow the load in phase when following the speed v 1 >v 2 When the lifting hook is changed from rope pendulum motion to parabolic motion, the operation formula is as follows:
wherein, deltaw is the rope pendulum system lost energy, and unit mass rope pendulum system lost energy is recorded as:
having Δw=m Δw' representing the energy lost by the unit mass pendulum system;
the influence operation of the energy loss of the rope swing system on the rope swing amplitude is as follows:
w 2 ＝w-Δw，
wherein h represents the height of the lifting hook, d represents the swing amplitude, w represents the running potential energy of the current lifting hook, and h 1 Represents the vertical height of the current hook swing maximum, d 2 Indicating the maximum horizontal distance of the swing of the lifting hook after the anti-swing device is hooked, h 2 Representing the maximum vertical height of the swing of the lifting hook after the anti-swing device follows the hook, v 2 Indicating the maximum swing speed of the lifting hook after the anti-swing device follows the hook, w 2 The potential energy of the motion of the lifting hook after the anti-swing device is hooked is represented, beta represents the maximum included angle of the swing of the lifting hook after the anti-swing device is hooked, and theta represents the included angle of cycloid and vertical line;
(5) Anti-sway at stop stage: the anti-swing device will continue to advance for a distance d due to inertia when stopping 0 Load movement distance d' =d+d 0 If d' is less than or equal to d max The anti-sway device can be stopped if d' > d max The anti-swing device is required to continue to follow in the same direction until d' is less than or equal to d max 。
4. The intelligent anti-swing system of the tower crane is characterized by comprising the following modules:
a sensor module: the sensor is arranged on the crane hook, and the position, the gesture and the load of a suspended object, the wind speed and the running speed of the hook are sensed in real time after the crane is started;
and a data acquisition module: collecting data obtained by the sensor module in real time, and classifying and preprocessing the data;
and a data processing module: receiving the preprocessed data, processing the data according to a preset algorithm, transmitting the processed data to an anti-swing control center module, comparing the processed data with a preset threshold value, and judging whether anti-swing operation is needed;
anti-sway control center module: after the anti-swing operation is determined to be needed, an instruction is sent to the anti-swing device.
5. The intelligent anti-swing system of the tower crane according to claim 4, which is characterized by comprising the following hardware components: the sensor, the timer, the mobile control terminal and the inching controller are in wireless communication with the central control system.
6. A server, comprising:
one or more processors;
and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors realize the intelligent anti-swing method of the tower crane according to any one of claims 1 to 3.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the intelligent anti-sway method of a tower crane according to any one of claims 1 to 3.
8. A tower crane comprising the intelligent anti-sway system of a tower crane according to any one of claims 4 to 5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311770321.5A CN117800205A (en) | 2023-12-21 | 2023-12-21 | Intelligent anti-swing method, system and equipment for tower crane |
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| CN202311770321.5A CN117800205A (en) | 2023-12-21 | 2023-12-21 | Intelligent anti-swing method, system and equipment for tower crane |
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