CN1613746A - Semi-automatic controlling system of crane - Google Patents
Semi-automatic controlling system of crane Download PDFInfo
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- CN1613746A CN1613746A CN 200310113801 CN200310113801A CN1613746A CN 1613746 A CN1613746 A CN 1613746A CN 200310113801 CN200310113801 CN 200310113801 CN 200310113801 A CN200310113801 A CN 200310113801A CN 1613746 A CN1613746 A CN 1613746A
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- crane
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- 238000005259 measurement Methods 0.000 claims description 6
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 3
- 230000009897 systematic effect Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
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Abstract
A semi-automatic control system for crane is composed of control panel, driver, crane system, controller for controlling the movement of crane and eliminating the swinging of weight, the weight height sensor for measuring the height of weight and its lifting speed, position sensor for measuring the position and speed of crane, and angle measuring unit for measuring 2D swinging angle and angle speed.
Description
Technical field
The present invention relates to a kind of semiautomatic control system of crane, particularly comprise the autonomous cruise speed system of a comprehensive weight transportation.
Background technology
Crane has been widely used in places such as workshop, harbour, warehouse, building ground as a kind of weight transportation means.Lifting rope is as the instrument that hangs weight, help the lifting of weight and transfer, improved travelling speed, yet but brought some problems: acceleration, deceleration and external disturbance all can cause the weight swing, in transportation, may cause the collision of weight and other equipment, cause unnecessary loss.This just requires the operator to have quite skilled working experience to reduce the swing of weight in the transportation, must have the workman to carry out the people in the target location simultaneously and be the pendulum that disappears, and weight is put in the desired destination position.
The basic structure of tradition overhead crane control system as shown in Figure 1, W1 is the operator, P1 is a control panel, A1 is an actuator, C1 is a crane system.The principle of this control system is: operator W1 observes by eyes, according to the current location of weight, the pendulum angle of weight, " advancing ", " retreating " and " stopping " key by P1 on the control panel carries out the lifting of weight and the transportation control of both direction through controller A1 to crane C1 then.This control system mainly relies on the operating experience of operator W1, and just by operator's vision formation closed loop control system, precision is very low; The amount that crane system need be controlled is more: the lifting of weight, transfer and stop, the advancing, retreat and stop of both direction transportation, the operator be difficult to comprehensive various factors to crane transportation carry out better controlled.So following mode is adopted in the transportation of current crane usually: at first weight is brought up to certain height, carry out the transportation control of a direction then, carry out the transportation control of another direction again, just put down weight at last.
Also there are many imperfection parts in traditional overhead crane control system: a plurality of transporting directions are difficult to move simultaneously, have increased haulage time greatly; Transportation is difficult to suppress the swing of weight, has increased the safety hazard of transportation; Need the people to be the pendulum that disappears in the target location.
Summary of the invention
Purpose of the present invention overcomes above-mentioned defective exactly, take all factors into consideration the transportation and the control problem such as anti-sway of weight, a kind of S. A. crane safety control system that can shorten haulage time is provided, can realizes the manual or automatic guidance of any one dimension transportation, the automatic guidance of bidimensional transportation.
For achieving the above object, a kind of crane semiautomatic control system comprises control panel, actuator, crane system, also comprises:
Controller, be used to control crane motion and eliminate the swing of weight;
Be installed in the weight height sensor on the weight lifting motor, be used to measure the height and the rising or falling speed of weight;
Position transduser is used to measure the position and the running velocity of crane;
Angle measurement unit is used to measure the pendulum angle and the cireular frequency of two transporting directions.
The present invention has reduced operator's work capacity greatly, need not the operator and carries out anti-sway control, and having reduced the required people in target location is the labour power that disappears and put.Increase the safety of crane transport systems greatly, shortened haulage time.
Description of drawings
Fig. 1 is traditional overhead crane control systematic functional structrue figure;
Fig. 2 is novel crane semiautomatic control systematic functional structrue figure.
The specific embodiment
The target location of weight can accurately not obtain in the actual working environment, need artificial fine setting could arrive actual target locations after arriving the target location of setting, in addition in order to prevent the situation of causing danger, in control process, need operator's participation, thereby be referred to as the semiautomatic control system.When the operator participated in, controller was automatically by the position transduser of configuration, position, height and the pendulum angle that angular transducer detects weight, in order to produce control signal.
1. one dimension is manually controlled
Similar with traditional overhead crane control, use " advancing " that crane is transported forward, but different is that the control algorithm after pressing this key in the controller can make crane disappear when starting and put control, when the crane motor arrives specified travelling speed weight is stopped swinging; It is similar with " advancing " control " to retreat " control; By " stopping " key, control algorithm can make the crane deceleration disappear simultaneously and put control, stops swinging when making weight arrive the target location when near the target location.
2. the automatic guidance of a peacekeeping two dimension
The operator can input to controller by the numerical key on the guidance panel with the target location of weight, and controller calls control program automatically, carries out the automatic guidance of one dimension or two dimension, weight is transported to the target location of setting.In this process, finish transportation simultaneously and disappear pendulum control.
3. fine setting
The target location that the position that weight stops in manually controlling is not necessarily actual, location information is difficult to accurate acquisition in the actual environment, the not necessarily actual target location that requires of desired location in one dimension or the two-dimentional automatic guidance, so in control system, be provided with fine adjustment function, after crane arrives above controlled target, carry out the fine motion of actual position and regulate.
System architecture of the present invention as shown in Figure 2, W2 is the operator among the figure, P2 is a control panel, and I2 is a controller, and A2 is an actuator, C2 is a crane system, D2 is weight lifting control motor, the E2 object height degree sensor (position transduser of two transporting directions is installed on the cooresponding motor equally, omits among the figure) of attaching most importance to, F2 is an angle measurement unit, is used to measure the pendulum angle of two transporting directions.Compare with traditional control structure Fig. 1, the present invention has following difference:
On crane weight lifting motor, dispose the weight height measuring device, measured the height and the rising or falling speed of weight in real time;
The present invention will be further described below in conjunction with accompanying drawing.
The present invention is as shown in Figure 2: when transportation burden occurring, the information that operator W2 at first provides according to position transduser E2 rises to certain height by motor D 2 with weight, manually control or automatic guidance are adopted in decision as the case may be then, as knowing the target location of weight as the operator or roughly can adopt automatic guidance during the target location, otherwise adopt manually control.When adopting one dimension manually to control, the operator is by " advancing " button on the control panel P2, controller I1 calls the control part that advances of manual control program automatically, the information that control algorithm provides according to angular transducer F2 when starting disappears automatically and puts control, weight does not have swing when making crane C2 travelling speed arrive specified travelling speed, does not have the swing transportation with command speed then; It is similar with " advancing " control " to retreat " control; The control algorithm that " stops " among when control controller I1 can make crane speed reduce to zero from command speed, suppresses the swing that occurs because of deceleration simultaneously, makes weight steadily be parked in the appropriate location.When adopting automatic guidance, from control panel P2 input position data, can or be 2-D data for one-dimensional data, the information that controller I1 provides according to the position transduser and the angular transducer of both direction is called automatic control program automatically and is finished transportation burden, wherein having comprised the pendulum control of disappearing, weight does not have swing when arriving the target location of appointment.When finely tuning control, change master mode by control panel P2, " advancing ", " stopping " and " retreating " button during utilization is manually controlled then carries out and manually controls similar control process, and just travelling speed transports far below manual control.More than during the operation of various modes, controller is all in real time by the position transduser of configuration, position, height and the pendulum angle that angular transducer detects weight, in order to the generation control signal.After being transported to actual target location, weight is put down.
Claims (4)
1. a crane semiautomatic control system comprises control panel, actuator, crane system, it is characterized in that also comprising:
Controller, be used to control crane motion and eliminate the swing of weight;
Be installed in the weight height sensor on the weight lifting motor, be used to measure the height and the rising or falling speed of weight;
Position transduser is used to measure the position and the running velocity of crane;
Angle measurement unit is used to measure the pendulum angle and the cireular frequency of two transporting directions.
2. by the described system of claim 1, it is characterized in that described controller comprises control algorithm, be used to realize crane transportation control and eliminate swing control.
3. by the described system of claim 1, it is characterized in that described position transduser is 2.
4. by the described system of claim 1, it is characterized in that described angle measurement unit is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310113801 CN1613746A (en) | 2003-11-04 | 2003-11-04 | Semi-automatic controlling system of crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310113801 CN1613746A (en) | 2003-11-04 | 2003-11-04 | Semi-automatic controlling system of crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1613746A true CN1613746A (en) | 2005-05-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310113801 Pending CN1613746A (en) | 2003-11-04 | 2003-11-04 | Semi-automatic controlling system of crane |
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| CN (1) | CN1613746A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101384503B (en) * | 2006-02-15 | 2011-07-20 | 株式会社安川电机 | Device for preventing sway of suspended load |
| CN102795544A (en) * | 2012-08-16 | 2012-11-28 | 南开大学 | Online trajectory planning based efficient bridge crane swing elimination control method |
| CN103523674A (en) * | 2013-10-30 | 2014-01-22 | 河南江河重工集团有限公司 | Crane operating system |
| EP2939530B1 (en) | 2014-04-29 | 2021-05-05 | John Deere Forestry Oy | A method and a system for controling the crane of a forwarder |
-
2003
- 2003-11-04 CN CN 200310113801 patent/CN1613746A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101384503B (en) * | 2006-02-15 | 2011-07-20 | 株式会社安川电机 | Device for preventing sway of suspended load |
| CN102795544A (en) * | 2012-08-16 | 2012-11-28 | 南开大学 | Online trajectory planning based efficient bridge crane swing elimination control method |
| CN103523674A (en) * | 2013-10-30 | 2014-01-22 | 河南江河重工集团有限公司 | Crane operating system |
| EP2939530B1 (en) | 2014-04-29 | 2021-05-05 | John Deere Forestry Oy | A method and a system for controling the crane of a forwarder |
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