SU1728116A1 - Method to control pipe-laying crane - Google Patents

Abstract

The invention relates to the control of the course movement of a pipe laying crane operating with the composition of an insulating-laying column. In order to improve the control accuracy, the difference in the longitudinal forces of the two components of the boom in the plane of the turn of the crane is measured, the measured value is compared with a predetermined level and the position of the suspension is changed depending on the error signal. 3 il.

Description

The invention relates to insulation and laying operations, namely, the control of the exchange rate movement of a pipe laying crane operating as part of an insulation and laying column (IUC).

A pipelayer that is moving in the structure of an IAA is affected by a number of disturbing factors leading to its deviation from a given course of motion.

A known method of controlling a crane-laying machine with a trolley suspension, implemented and described in the operation of the device, namely, a trolley suspension containing a sensor and a deflection angle adjuster of the cargo polyspast from the boom axis in the plane of the turn of the machine, the position controller and the drive of the trolley suspension. This method is a prototype and allows you to control the course movement of the pipelayer under load without reducing the rate of movement of the IAA.

The disadvantage of the known method is low accuracy, since the magnitude and direction of the component of the unwinding moment (unwrapping force) is determined not only by one variable (the angle indicated above), but also by a number of variables, such as force in a cargo pulley, the deviation angle of the cargo pulley in the transverse plane of the machine and the angle of the boom, which is not taken into account in the prototype. The listed variables, having a random character, affecting the unwinding force, bring multiplicative components into the control signal, due to which the control accuracy of the course movement of the crane-pipelayer is reduced.

The aim of the invention is to improve the accuracy of control.

The goal is achieved by the fact that in the method of controlling a pipe-laying crane with a trolley suspension, by measuring the information parameter.

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WITH

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X

comparing it with a predetermined level and changing the position of the suspension depending on the error signal, the difference in the longitudinal forces of the two components of the boom in the plane of the turn of the crane is taken as an information parameter.

It is the proposed set of distinctive features with their connections between each other that provides for the regulation of measurement results and comparison between themselves in magnitude and direction in the plane of the turn of the pipelayer in two component arrows.

Comparison of the proposed and well-known technical solutions made it possible to establish compliance with their novelty criteria. The introduction of a new information parameter leads to the fact that the proposed solution exhibits a new property not inherent in previously known objects — the property of adjusting the position of the trolley suspension, taking into account all the above factors of unfolding force. Therefore, the technical solution meets the criterion of significant differences.

Figure 1 presents a diagram of the forces acting on the device, side view; figure 2 - the same plan; FIG. 3 is a block diagram of a device for controlling a pipe-laying machine.

Figure 1 shows the crane pipe 1 with the boom 2 in the working position at an angle a. Freight polyspast rejected from the axis of the boom 2 at an angle /. Components 3 and 4 of the boom 2 are at an angle of 2 suddenly to a friend (Fig. 2). The analysis shows that

Pp P-sin () sin / 3,

where P - effort in the cargo polyspast. Thus, the unfolding force Pp depends both on the angle / 3 of the deviation of the cargo polyspast from the axis of the boom 2 in the plane of the turn of the pipelayer 1, and on the force in the polyspast P, the angle of deviation of the cargo of the polyspast in the transverse plane of the pipelayer 1 and the angle of inclination of the boom 2. All of these parameters are variables that are random in nature. The unfolding force Pp can be estimated by knowing only the forces FI and PZ in the components 3 and 4 of the boom 2 and the angle a of the tilt of the boom (Fig. 2). This statement follows from the following expressions:

. F ((F2-Fi) .sincr,

F2p-Fip (F2-Fi) Sln0 (F2-Fi) "sin # .sina.

PP F2P- Fip (F2-Fi) -sln # .slna. Since sin 8 const,

PP (F2 - a

(one)

In order that the component of the weight of the boom 2 on its plane should not affect the measurements of the quantities FI and F2, this measurement should be carried out at locations as close as possible to the tip of the boom.

The device for controlling the movement of the crane-pipelayer 1 contains (Fig. 3) sensors 5 and 6 of the forces FI and F2 connected to the comparison element 7 and connected in series with the multiplier 8, the positioner 9 and the actuator 10 of the trolley suspension. In addition, the device contains a boom angle sensor 11 connected in series and a sine converter 12 connected to another input of the multiplier 8, as well as an unfolding force adjuster 13 connected to the installation input of the position regulator 9.

The device works as follows.

Blocks 5-8, 11 and 12 implement dependence (1). In this case, the measurement of the forces FI and F2 in the components 3 and 4 of the boom 2 of the crane can be measured using strain gauges. From the output of the multiplier 8, the signal Up, proportional to the unrolling force Pp, is fed to the information input of the positioner 9. At controller 9, the signal Up is compared to the signal UP33A, which comes from the unfolding force setpoint 13 and is proportional to the set unfolding force PpzaA. Depending on the error signal D U Up3aA - Up, the regulator 9 generates a signal that is fed to the actuator 10 of the trolley suspension travel. The latter occupies a position in which Rp Rrzads taking into account all the listed variable parameters of the unfolding force.

The use of the invention on pipe cranes operating as part of an IAA allows for improved accuracy in the stabilization of the course movement, which makes it possible to work at a closer distance from the trench, therefore, to increase the efficiency of use of the lifting means of the pipelayer. In addition, the use of the invention facilitates the work of the machinists in controlling the pipe-laying machine, which increases labor productivity.

Claims (1)

The invention The method of controlling a pipe-laying crane with a trolley suspension by measuring the information parameter, comparing it with a predetermined level and changing the suspension position depending on from the mismatch signal, about T.L.H.A.– and so that, in order to increase the control accuracy, the difference of the longitudinal efforts of the two components of the boom in the plane of turn of the crane is taken as the information parameter. 1