CN201534756U - Rotary mechanism control system for tower type crane - Google Patents

Rotary mechanism control system for tower type crane Download PDF

Info

Publication number
CN201534756U
CN201534756U CN2009202272113U CN200920227211U CN201534756U CN 201534756 U CN201534756 U CN 201534756U CN 2009202272113 U CN2009202272113 U CN 2009202272113U CN 200920227211 U CN200920227211 U CN 200920227211U CN 201534756 U CN201534756 U CN 201534756U
Authority
CN
China
Prior art keywords
mechanism control
tower crane
control system
drive system
links
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2009202272113U
Other languages
Chinese (zh)
Inventor
徐理邦
张文通
赵海沙
赵金鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
QINGDAO LEDBOND INDUSTRIAL CONTROL TECHNOLOGY Co Ltd
Original Assignee
QINGDAO LEDBOND INDUSTRIAL CONTROL TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by QINGDAO LEDBOND INDUSTRIAL CONTROL TECHNOLOGY Co Ltd filed Critical QINGDAO LEDBOND INDUSTRIAL CONTROL TECHNOLOGY Co Ltd
Priority to CN2009202272113U priority Critical patent/CN201534756U/en
Application granted granted Critical
Publication of CN201534756U publication Critical patent/CN201534756U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Abstract

The utility model relates to a rotary mechanism control system for a tower type crane, which comprises a motor system, a driving system and a communication system, wherein the motor system comprises two motors, two braking controller and two circuit breakers, one end of the circuit breakers is connected with the driving system through three power supply wires, the other end of the circuit breakers is connected with the motors, one end of the braking controllers is connected with the output end of the communication system through two brake communication wires, and the other end is connected with the motors through power supply wires. The utility model can solve the uniform acceleration in the starting and stopping process, can realize the winging prevention control and the positioning control, and can realize the adjustable control on the whole process of the motors from operation to stopping, the tower body shaking caused by sudden release of the stress can be reduced to the furthest degree, and the utility model has the advantages of safety, convenience, energy saving, environment protection, low noise and convenient use.

Description

The swing mechanism control system that is used for tower crane
Technical field
The utility model belongs to hoisting crane manufacturing technology field, is specifically related to a kind of swing mechanism control system that is used for tower crane.
Background technology
Tower crane rotation mechanism is the driving device that power is provided for tower machine revolution, and this device generally is made up of the motor of band brake, planetary reduction gear, miniature gears, slewing limiter etc.; Because tower crane rotation mechanism is the integral body that drags tower crane top, tens tons at least of its weight, tons up to a hundred at most, the length of big arm is many more than 60 meters, and fitness for purpose will will reach full speed running about ten seconds, also will stable stopping about 12 seconds.Be in operation when stopping, though it is out of service that turning motor loses power supply, but tower machine forearm, postbrachium still continue the revolution operation of slowing down under huge revolution effect of inertia, short time causes and hangs the sliding destination more of thing, and can't accurately fall, this just requires tower machine operation personnel will shake according to the experience continuous crawl parking of a segment distance in advance.Most tower machine has adopted two cover swing type mechanisms, is distributed in the pivoting support both sides symmetrically, and two motors are rigid connection.Because the particularity of tower crane rotation mechanism controls: swing type mechanism is the most direct transmission device of tower machine inertia impact influence, and jib is long more, influences outstanding more.At present the swing type mechanism mode of tower crane roughly be divided into following several, first, wire-wound examination motor adds fluid coupling control; The second, (0MD) slip electric motor control; Three, the pressure regulation of (RCV) torque motor adds eddy current control; Four, wire-wound examination motor adds eddy current control.There is following deficiency in above mode: reduction gearbox output shaft often takes place and twists off fault in (1), has a strong impact on the normal operation of this equipment, has increased maintenance cost and frequency of maintenance; (2) startup is seriously not steady, and bigger to the body of the tower impact, the safe in operation of steel structure in serious threat, the service life of reduction equipment itself; (3) the body of the tower twisting is serious when stopping, and idol has jitter phenomenon, makes the tower crane driver feel that obviously operation is not steady; (4) the electrical equipment control part damages easily, the fittings cost height; (5) complete machine rocks and impacts greatly, and the motor outage back jib slide car time is long, and in place very difficult, rotary reducer damages easily.
Summary of the invention
The utility model has overcome the deficiencies in the prior art, a kind of novel tower-type crane rotation mechanism has been proposed, its practical novel aim is: rise at tower crane, end and realize even the acceleration in the process, accomplish anti-wave control and positioning control, prevent the velocity jump problem, realization reduces stress release suddenly to greatest extent and causes the body of the tower shake the adjustable control of motor overall process.
In order to solve the problem that prior art exists, the utility model by the following technical solutions:
The utility model comprises electric system, drive system and communication system, it is characterized in that: described electric system comprises two motors, two brake controllers and two circuit breakers; One end of described circuit breaker links to each other with described drive system by three power leads, and its other end links to each other with described motor; One end of described brake controller links to each other with the mouth of described communication system by two drg order wires, and its other end links to each other with described motor by power lead.
Described communication system sends to drg in the electric system with the drg adhesive signal of drive system, and it comprises two RS485 buses, a data input port and a data delivery port; Described RS485 bus links to each other with described drive system; Described quantitative data input mouth one end links to each other with the external data load module, the other end links to each other with described drive system, described data output can provide the output of analog signals and numerical quantities signal, and the one end links to each other with drive system, and the other end links to each other with described electric system and external equipment.
The range of current that described analog signals is exported is 4～20MA.
The voltage range that described analog signals is exported is 0～10V.
The bus architecture of described communication system are the Profiubs communication modes.
The bus architecture of described communication system are the MODBUS communication modes.
The utility model is compared with traditional control system, has the advantage of following 5 aspects:
(1) can be implemented in, end and realize even the acceleration in the process, reduce the unexpected release of stress to greatest extent and the body of the tower shake that causes;
(2) can accomplish anti-wave control and positioning control, not have the problem of the sudden change of speed;
(3) can realize running to of motor stopped the adjustable control of overall process;
(4) can eliminate because of the impact of motor speed sudden change, protect change speed gear box to greatest extent, reduce impact simultaneously the body of the tower steel structure to drop-gear box;
(5) can prolong service life of tower crane to greatest extent, and saves energy.
Description of drawings
Further specify the utility model below in conjunction with the drawings and specific embodiments.
Fig. 1 is a swing type mechanism control circuit scheme drawing of the present utility model.
Fig. 2 driving system structure scheme drawing of the present utility model.
Fig. 3 is a principle of vector control scheme drawing of the present utility model.
Fig. 4 is the utility model communication system circuit scheme drawing.
Among the figure, 1. drive system; 2. communication system; 3. electric system; 4.RS485 bus; 5. quantitative data input mouth; 6. data output; 7. circuit breaker; 8. brake controller; 9. motor; 10. vector control module; 11. the anti-control module of waving; 12. drg order wire.
The specific embodiment
Consult shown in Figure 1ly, the related swing type mechanism control circuit of the utility model comprises three partial contents, drive system 1, communication system 2, electric system 3, and drive system adopts frequency conversion to do the one drag two vector control mode, simultaneously Kong Zhi two motors 9; During two motor 9 operations, same torque and rotating speed are arranged.By the mode of dragging many (two motors of a variable frequency control or multiple electric motors) under vector controlled, can export accurate moment to motor, and powerful braking potential.This drive system is seen as a motor with two motors and carries out the identification of parameter when two All-China Federation of Taiwan Compatriots's spindle motors are carried out Parameter Self-learning.
Electric system 3 comprises two motors 9, two brake controllers 8 and two circuit breakers 7; One end of described circuit breaker 7 links to each other with drive system 1 by three power leads, and its other end links to each other with motor 9; One end of described brake controller 8 links to each other with the mouth of communication system 2 by two drg order wires 12, and its other end links to each other with motor 9 by power lead.Described communication system 2 comprises 4, one data input ports 5 of two RS485 buses and a data delivery port 6; Described RS485 bus 4 links to each other with described drive system 1; Described quantitative data input mouth 5 one ends link to each other with the external data load module, and the other end links to each other with described drive system 1, and described data output 6 one ends link to each other with drive system 1, and the other end links to each other with described electric system 3 and external equipment.
Consult shown in Figure 2, the related drive system 1 of the utility model comprises vector control module 10 and the anti-control module 12 of waving, vector control module 10 adopts vector control mode that motor 9 is driven and brakes, described vector control mode is based on the quadrant compensation Speedless sensor vector control strategy of stator magnetic flux estimation and controls, in the quadrant and zone of low frequency and low pressure, give motor 9 to change apart from compensation, the height that reaches under low frequency or the zero-speed changes distance.
The described anti-control module 11 of waving is controlled the moment of motor 9 when low speed or the zero-speed by exporting corresponding response current in advance.This module can be by the powerful Torque Control in the time of low speed, and zero moment control, just can guarantee behind the location, can not cause skew moving because of the influence of factors such as peripheral wind direction, therefore, wave under the situation of card need not outsourcing, utilize the anti-control module 11 of waving just can realize the accurate crawl of swing arm is controlled, its principle is by to the control of system power with export corresponding response current in advance, just can give rotary system one accurate in locating accurately, so just can improve the work efficiency of tower machine, improve safety, reliability.
Consult shown in Figure 3, the related vector controlled of the utility model is based on the quadrant compensation Speedless sensor vector control strategy of stator magnetic flux estimation and controls, in the quadrant and zone of low frequency and low pressure, give motor to change apart from compensation, the height that reaches under low frequency or the zero-speed changes distance.
This control be with stator magnetic flux be estimated as core vector controlled, be characterized in the quadrant and zone of low frequency and low pressure, can give motor 9 to change apart from compensation.Thereby can overcome the bad phenomenon of drive performance under the state of low frequency.Can accomplish that the height under low frequency even the zero-speed changes distance, as shown in the figure, the space vector control to motor 9 of drive system 1 is divided into three phase current with electric current and controls, drive system 1 is sent corresponding magnetic flux and speed signal according to the estimation of self speed and stator magnetic flux, then by detecting the actual driving voltage V that sends sAnd current i s, and be sent in the stator magnetic flux estimation device, through with the contrast of former estimation parameter, stator magnetic flux estimation device sends speed reference γ θSend reference value to flux regulator
Figure DEST_PATH_GSB00000087658800052
Send the phase reference value to current controller
Figure DEST_PATH_GSB00000087658800053
The current signal that sends of ultimate current controller will be through continuous contrast and the closed loop the revised parameter after relatively like this.Under this controlling models, even under the situation that load changes suddenly, system still can realize effectively flexible control, and system can send corresponding commentaries on classics distance and electric current according to the variation of load.When system works and low frequency or even zero-speed the time, the stator magnetic flux estimating system in the control system will send comparatively suitable compensating parameter, the system that makes also has comparatively powerful commentaries on classics apart from electric current in low frequency.Because estimation of the stator magnetic flux of the uniqueness of this drive system and compensation, the system that makes has comparatively powerful and control torque and electric current accurately to motor.Like this, swing type mechanism still can be realized effectively flexible control under the situation that load changes suddenly, and drive system can be sent corresponding commentaries on classics distance and electric current according to the variation of load.When this tower crane rotation mechanism starts,, can carry out Parameter Self-learning to motor 9 owing to be vector controlled, so, can automatically carry out DC excitation to motor before starting, by torque pre-excitation and starting torque compensation, can guarantee provides starting torque apace for electrical motor.Drive system can provide the heavy burden detent torque to motor, when swing type mechanism also can be realized effectively flexible startup under the state of load 150%, before startup, receiving after drg opens a sluice gate signal, system outlet is changeed apart from electric current, after the electric current of drive system 1 output reaches the required current values of load, drive system 1 is just given real signal that declutches of drg, at this moment drg is opened, in whole process of opening a sluice gate, if the starting current of drive system is very big, can provide the electric current of load 150%.System before motor operation, advanced line output exciting current, after the magnetic field of motor set up, output torque electric current had again so just played the effect of torque pre-excitation and starting torque compensation, to swing type mechanism under the situation of heavy burden with powerful detent torque.
Consult shown in Figure 4, and in conjunction with Fig. 2 and Fig. 1, the data output 6 of the communication system 2 that the utility model is related can provide the output of analog quantity and numerical quantities signal, and the range of current of the analog quantity of output is 4～20MA, and the voltage range of the analog quantity of output is 0～10V.Communication system 2 can send to brake controller 8 in the electric system by drg order wire 12 with the drg adhesive signal of drive system 1.Communication system 2 has multiple communication modes: can adopt bus architecture Profiubs communication modes and MODBUS mode; Can match address card: Profiubs card and MODBUS card (apolegamy).Can be in upper computer and monitored control system with data transmission such as faults such as power supply phase shortage, motor 9 phase shortages, motor 9 overloads, motor 9 ground connection and moment, electric current, voltages.And can data command be transferred in the frequency converter by bus.
Swing mechanism control system described in the utility model can solve playing, end the even acceleration of realization in the process, can accomplish anti-wave control and positioning control, does not have the problem of the sudden change of speed.Realization stops the adjustable control of overall process to running to of motor.The body of the tower shake that reduces the unexpected release of stress to greatest extent and cause, safe ready, energy-saving and environmental protection, little, the convenient use of noise.
The principle that the utility model illustrates at the described swing mechanism control system that is used for tower crane, be not limited to present embodiment, other equipment the swing mechanism control system that may finish, have commonality for the employed principle of vector control of the utility model.

Claims (6)

1. a swing mechanism control system that is used for tower crane comprises electric system, drive system and communication system, it is characterized in that: described electric system comprises two motors, two brake controllers and two circuit breakers; One end of described circuit breaker links to each other with described drive system by three power leads, and its other end links to each other with described motor; One end of described brake controller links to each other with the mouth of described communication system by two drg order wires, and its other end links to each other with described motor by power lead.
2. the swing mechanism control system that is used for tower crane according to claim 1, it is characterized in that: described communication system sends to drg in the electric system with the drg adhesive signal of drive system, it comprises two RS485 buses, a data input port and a data delivery port; Described RS485 bus links to each other with described drive system; Described quantitative data input mouth one end links to each other with the external data load module, the other end links to each other with described drive system, described data output can provide the output of analog signals and numerical quantities signal, and the one end links to each other with drive system, and the other end links to each other with described electric system and external equipment.
3. the swing mechanism control system that is used for tower crane according to claim 2 is characterized in that: the range of current that described analog signals is exported is 4～20MA.
4. the swing mechanism control system that is used for tower crane according to claim 2 is characterized in that: the voltage range that described analog signals is exported is 0～10V.
5. the swing mechanism control system that is used for tower crane according to claim 1 and 2 is characterized in that: the bus architecture of described communication system are the Profiubs communication modes.
6. the swing mechanism control system that is used for tower crane according to claim 1 and 2 is characterized in that: the bus architecture of described communication system are the MODBUS communication modes.
CN2009202272113U 2009-09-24 2009-09-24 Rotary mechanism control system for tower type crane Expired - Fee Related CN201534756U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2009202272113U CN201534756U (en) 2009-09-24 2009-09-24 Rotary mechanism control system for tower type crane

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2009202272113U CN201534756U (en) 2009-09-24 2009-09-24 Rotary mechanism control system for tower type crane

Publications (1)

Publication Number Publication Date
CN201534756U true CN201534756U (en) 2010-07-28

Family

ID=42534538

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2009202272113U Expired - Fee Related CN201534756U (en) 2009-09-24 2009-09-24 Rotary mechanism control system for tower type crane

Country Status (1)

Country Link
CN (1) CN201534756U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102328875A (en) * 2011-08-25 2012-01-25 长沙中联重工科技发展股份有限公司 Control method and control system for engineering machinery swing mechanism and engineering machinery
CN109896429A (en) * 2019-01-31 2019-06-18 武汉船用机械有限责任公司 Crane control circuit and crane

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102328875A (en) * 2011-08-25 2012-01-25 长沙中联重工科技发展股份有限公司 Control method and control system for engineering machinery swing mechanism and engineering machinery
CN102328875B (en) * 2011-08-25 2013-01-23 中联重科股份有限公司 Control method and control system for engineering machinery swing mechanism and engineering machinery
CN109896429A (en) * 2019-01-31 2019-06-18 武汉船用机械有限责任公司 Crane control circuit and crane

Similar Documents

Publication Publication Date Title
CN101780920A (en) Swing mechanism control system for tower crane
CN103043534B (en) Tower crane hoisting and speed control method
CN105035984A (en) Vertical lifting system of double-winding permanent magnet fault tolerance motor and control method of vertical lifting system
CN201534756U (en) Rotary mechanism control system for tower type crane
CN205241117U (en) Tower machine rotation mechanism variable frequency speed control system
CN105429558A (en) Tower crane luffing mechanism variable frequency speed regulation control system and control method
CN102530730B (en) Control system of swing mechanism and tower crane
CN110386410A (en) A kind of drag conveyor magnetic coupling multimachine powered balance control system
CN2789205Y (en) Hystersis variable frequency slings cable reeler
CN109775583A (en) Tower crane rotary drive mechanism, rotation control device and tower crane
CN201557032U (en) Variable frequency motor and potential energy loading high-speed-ratio frequency conversion system for hoisting machinery
CN106545548A (en) Many pump multi-motor durability test devices and method based on common DC bus technology
CN203582303U (en) Crane control system driven by outer rotor permanent magnet synchronous motor
CN205249113U (en) Tower machine amplitude changing device variable frequency speed control system
CN204802901U (en) Tower machine rotation mechanism's stepless speed control control system
CN103107768A (en) Alternating current servo motor driver control circuit
CN201214609Y (en) Non-gearing crane
CN103711161B (en) Electrical drive grab dredger
CN202737797U (en) Speed governing system of switched reluctance motor special for screw pump
CN201896024U (en) Permanent magnetic synchronous door machine controller
CN101575072B (en) Gearless driving crane
CN203682921U (en) Overhead traveling crane control system
CN202864773U (en) Frequency conversion high speed tower-type lifting machine lifting mechanism
CN102913385A (en) Active yaw control system of small/ medium-sized wind generating set
CN203768960U (en) Power transmission grab dredger

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C56 Change in the name or address of the patentee
CP02 Change in the address of a patent holder

Address after: 266033 No. 100, Zhoukou Road, Sifang District, Shandong, Qingdao

Patentee after: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Address before: 99 No. 266033, Renmin Road, Sifang District, Shandong, Qingdao

Patentee before: Qingdao Ledbond Industrial Control Technology Co., Ltd.

PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Swing mechanism control system for tower crane

Effective date of registration: 20111230

Granted publication date: 20100728

Pledgee: Qingdao Guarantee Center Co., Ltd.

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2011990000528

PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20130116

Granted publication date: 20100728

Pledgee: Qingdao Guarantee Center Co., Ltd.

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2011990000528

PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Swing mechanism control system for tower crane

Effective date of registration: 20130116

Granted publication date: 20100728

Pledgee: Qingdao Guarantee Center Co., Ltd.

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2013990000034

PLDC Enforcement, change and cancellation of contracts on pledge of patent right or utility model
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20131213

Granted publication date: 20100728

Pledgee: Qingdao Guarantee Center Co., Ltd.

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2013990000034

PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Swing mechanism control system for tower crane

Effective date of registration: 20131213

Granted publication date: 20100728

Pledgee: Qingdao high technology financing Company limited by guarantee

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2013990000976

PLDC Enforcement, change and cancellation of contracts on pledge of patent right or utility model
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20141210

Granted publication date: 20100728

Pledgee: Qingdao high technology financing Company limited by guarantee

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2013990000976

PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Swing mechanism control system for tower crane

Effective date of registration: 20141211

Granted publication date: 20100728

Pledgee: Qingdao high technology financing Company limited by guarantee

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2014990001060

PLDC Enforcement, change and cancellation of contracts on pledge of patent right or utility model
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20151218

Granted publication date: 20100728

Pledgee: Qingdao high technology financing Company limited by guarantee

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2014990001060

PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Swing mechanism control system for tower crane

Effective date of registration: 20151222

Granted publication date: 20100728

Pledgee: Qingdao high technology financing Company limited by guarantee

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2015990001142

PLDC Enforcement, change and cancellation of contracts on pledge of patent right or utility model
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20161207

Granted publication date: 20100728

Pledgee: Qingdao high technology financing Company limited by guarantee

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2015990001142

PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Swing mechanism control system for tower crane

Effective date of registration: 20161207

Granted publication date: 20100728

Pledgee: Qingdao high technology financing Company limited by guarantee

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2016990001085

PLDC Enforcement, change and cancellation of contracts on pledge of patent right or utility model
PC01 Cancellation of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20170718

Granted publication date: 20100728

Pledgee: Qingdao high technology financing Company limited by guarantee

Pledgor: Qingdao Ledbond Industrial Control Technology Co., Ltd.

Registration number: 2016990001085

CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20100728

Termination date: 20180924

CF01 Termination of patent right due to non-payment of annual fee