TW498050B - Imbalance monitor device for tower-type crane - Google Patents

Abstract

An imbalance monitor device for a tower-type crane comprises: a rotary control structure including a motor, a driving component, an upper connection component, and a lower connection component, in which the upper connection component is used to connect to the hook of a hoist, and the lower connection component is used to connect to a hoisted object, the operation of the motor driving, by means of action-reaction, the driving component which is connected to the lower connection device; a tilt control structure including at least a motor, a driving component, and a lower connection component, in which the motor drives the driving component to generate a spatial change, the lower connection component is connected to the driving component, the other end of which is connected to the hoisted object, and the motor and the motor of the rotary control structure forming a direct combination body; a radio control component for activating the motor of the rotary control structure by radio to achieve the objective of rotating the hoisted object, and/or controlling the motor of the tilt structure for tilting the hoisted object.

Description

498050 A7 B7___ 5. Description of the invention f) Summary of the invention The present invention relates to a suspension imbalance monitoring device and a monitoring method for a tower crane, especially a suspension imbalance monitoring for a tower crane using an input waveform open loop control rule. Device and monitoring method. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. Tower cranes are currently widely used in building construction sites or civil engineering, and are responsible for transporting large-scale cargo such as steel skeletons and concrete blocks. Due to the huge volume of tower cranes, the lifting weights are often more than several metric tons. If accidents occur accidentally, the casualties and losses will be very serious; therefore, the crane is listed as dangerous machinery in the Labor Safety and Health Law. It can only be used after passing the inspection according to law, and the crane operator must also pass the test of special operation safety and health education and training to operate the crane. However, the casualties caused by the crane operator's negligence or improper operation are often heard. One of the main reasons for accidents of the crane is that the operator improperly increases the speed of the crane, causing the suspended object to shake violently. Not only does it take time to ship the shipment, it also greatly increases the danger. In addition, when the hanging object reaches the positioning, it cannot be removed immediately, and the hanging object must be shaken and adjusted by the on-site staff to the required position before being removed. These tasks must be performed slowly and stably. If the speed of the work is increased, the danger is increased, so it is often difficult to balance productivity and safety. In the past, the most well-known mechanism for controlling attitude was * NIST SPIDER (Stev / art Platform Instrumented Drive Environmental Robot) [12], and the architecture of SPIDER uses six telescopic arms to support two planes, relying on six The interaction of the telescopic arm makes 4 498050 A7 __B7 V. Description of the invention f) The plane supported by it will then perform X, y, z movements and various rotations. Due to the complexity of the mechanism and the high cost of production, it has not been widely used. The mechanism we want to design is designed to control the attitude of the hanging object. At present, the site of the site relies on human power to adjust the angle of the hanging object, so the mechanism we want to design must have the function of rotating 360 degrees; It is necessary to tilt the hanging object at a certain angle, so our organization should also be able to tilt the hanging object's posture; therefore, meeting two needs is the focus of our design organization. In design, this control mechanism can be divided into two parts. In the first part, we need to make the hanging object rotate 360 degrees forward and reverse, so our idea is to directly hook our institution by the hook under the steel cable. Support the shaft center. The support shaft can be divided into two parts. These two parts can rotate in opposite directions to drive the rotation of the hanging object. The second part is to use the telescopic arm of the chuck (SPIDER). A telescopic arm is installed on each side of the device, and the hanging object is hooked under the telescopic arm. The hanging object is tilted by the traction of the driving mechanism on both sides in different directions. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs In terms of control, we want to adopt remote control, so that field personnel can operate this institution from a safe distance and increase safety in use. Therefore, the attitude control mechanism of this hanging object designed by us is that when the tower crane moves the hanging object to the required position, it is controlled by the site staff at the remote end to adjust the hanging object to an appropriate rotation angle. , And a certain degree of up and down, so that staff can save a lot of unnecessary work and time when handling large objects, but also '5-This paper size applies to Chinese National Standard (CNS) A4 specifications (210X297) ~ 498050 A 7 B7 V. Description of the invention f) Reduce the potential danger during transportation, and make it safer and faster to move large objects. It is an object of the present invention to provide a suspension imbalance monitoring device for a tower crane. Another object of the present invention is to provide a method for monitoring unbalance of a crane for a tower crane. Still another object of the present invention is to provide a suspension imbalance monitoring device for a tower crane using an input waveform open loop rule. It is still another object of the present invention to provide a method for monitoring unbalance of a suspension of a tower crane using an input waveform open loop rule. Brief description of the diagram Figure 1 is a simplified model diagram of a tower crane. FIG. 2 is an illustration of an input waveform control rule. Fig. 3 is a graph showing the results of shaking simulation. FIG. 4 is a schematic diagram of a reduced model of a tower crane according to the present invention. Figure 5 Servo motor control block diagram. Figure 6 Speed curve of input waveform command. Figure 7 actual motor speed curve. Figure 8 is a comparison of the sway angle in the tangential direction. FIG. 9 is a comparison view of the axial swaying angle. FIG. 10 is a schematic diagram of a first operation mode. . Figure 11 The first operation mode shaking result curve. FIG. 12 is a schematic diagram of a second operation mode. FIG. 13 is a graph of shaking results in the second operation mode. This paper size is in accordance with Chinese National Standard (CNS) A4 (210X297 mm). Please read the notes of ij before reading

Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 498050 A7 B7 V. Description of the invention f) Figure 14 is a side view of a preferred specific mechanism of a suspension imbalance monitoring device for a tower crane according to the present invention. Fig. 15 is a plan view of a preferred specific mechanism of a suspension imbalance monitoring device for a tower crane according to the present invention. FIG. 16 is a simplified model of a control mechanism. Figures 17- (a) to 17- (d) are schematic diagrams of A1 rotation action. 18- (a) to 18- (c) are schematic diagrams of A1 tilting action. Figures 19 to 22 show the experimental results. Figures 23 and 25 are circuit block diagrams. Figures 24 and 26 are flowcharts of the driver. Description of drawing numbers 110, 2 10, 3 10: Motors 120, 130, 220, 230, 320, 330 · Gears 140, 240, 340: Rotors 250, 350: Lead screws 160, 260, 360, 500: Hanging 170, 270, 370: Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Cable Economy 600: The tower crane with hanging objects in the actual construction site has three degrees of freedom, the first is the rotation of the outrigger, and the second is the pulley on the outrigger Moving back and forth, the third is that the rope is stretched up and down by the hoisting equipment to move the hanging object up and down. In order to understand its dynamic characteristics, we must derive its mathematical model. First of all, the actual tower crane's paper size applies to the Chinese National Standard (CNS) A4 specification (210X297 mm) 498050 A7 B7 V. Description of the invention f) The structure is simplified as shown in Figure 1. In Figure 1, the cylinder represents the mast, both the outrigger and the turntable are considered as one, and the counterweight has been simplified in this diagram. In addition, the hanging object is connected to the foremost end of the outrigger through a cable. Here, the hanging object is regarded as a mass point m, and the mechanism we want to design to rotate and tilt the hanging object is also simplified in it. First consider the situation where the hanging object shakes when the outrigger rotates. In this case, the length of A (outrigger) and A (cable) is fixed. In order to facilitate the derivation of the mathematical mode, when the movement speed is not large, we can set A cable is considered a rigid body and does not take into account the effects of cable twisting. The meaning of each variable is introduced below: f: the direction in which the outrigger extends outwards, the outward end being the positive end and determined as the axial direction;: the tangent direction of the tip when the outrigger rotates, the positive end clockwise is the other perpendicular The direction of the plane, the positive end is upward ^: the angular velocity when the rotary table and the outrigger rotate m: the mass of the hanging object: the distance from the center of the mast to the hanging rope ^: the distance from the outrigger to the hanging object 01: for hanging The tangential direction shaking angle generated by the hanging object is printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs. 02 = For the axial shaking angle of the hanging object, we use 0 as the origin of the reference coordinate, and represent the hanging position vector as a punch. ^ ( 0-[L {-L2 + [L2-smex (t) \].

[L2 · cos θχ (/) · cos θ2 (/)] · k (1) -8-This paper size applies to Chinese National Standard (CNS) A4 (210X297 mm) 498050 A7 B7 V. Description of the invention See, will, & ㈠ be represented by 04. We derive this motion model from an energy point of view, using Lagrange ’s equations Λ δλ 5θη δλ

Λ where η = 1, 2 can be obtained from the mathematical model of the system, where λ = T-V (2) m D represents kinetic energy and V represents potential energy. Using equation (1), the kinetic energy and potential energy of the system can be obtained. Kinetic energy T is

r · γ (· γ (. Ϋ / · V

1 ^ · θ \ + L1-ei-cosei + L1-y-sin0l + γ-L L2-/-cos ^ -sin ^ 2j -2 · Ι22 -r ^ rsin ^ + 2 · Ι2 · γ ^ Ιχ-( 9, -cos ^ + ref. · 2. ping · guang02 · sin ^ · cos0 .cos02 — 2. · 〆 & .cosq · sin / 92 bit energy V is V = —m · g · L2. Cos $ cos & 2 (3) (4) The consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs prints the formula (3) and formula (4) into the formula (2) and linearizes it. Variable and dependent second-order simultaneous ordinary differential equations are as follows: 0 ·· + 2 0 -f γ 0 0 θ2 _g_ L2 r ~ r two y 1 l2 Factory A. l2 r .Ί r (5) Equation (5) It is the mathematical equation of motion of the single-axis drive of the tower crane. If we send out the control cable to stretch and slide at the same time when the outrigger rotates, this paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) 498050 A7 B7 V. Description of the invention (7) The command of the car running, that is, the three axes of the arm rotation, the up and down of the cable, and the front and back of the pulley, are moved simultaneously. At this time, the mathematical motion equation needs to be re-derived through a single-axis mathematical module. In the three-axis mathematical equation of the tower crane, It is no longer fixed, but changes as the cable is retracted and the movement of the pulley. (5) —The same type of second-order simultaneous ordinary differential equation that can move three axes simultaneously through Lagrange's equation ' Derived as follows: · # \ l2 1 ——γ • γ + 2γί ^ Lj Λ 2Lj + 2 U θ '+ 1 ^ 2 J θ 丨 l2 l2 • Click θ2_ 丁二 .U Ύ -f- V + 2 -r · 2] β2 LJ .1 a. / U, J [L2 l2 \ If we set A and E in equation (6) to 0, this equation of motion becomes a biaxial motion (rotation and up and down motion) ), If 4 is 0 again, the equation becomes the uniaxial motion simultaneous equation of equation (5). In the method of solving the second-order simultaneous ordinary differential equations, Runge-Kutta's mathematical analysis is used. This method can be used to solve the problem, so that the shaking angle of the hanging object at each time can be obtained as an important basis for our subsequent control rules. The employee consumer cooperative of the Intellectual Property Bureau of the Ministry of Economics has printed two methods of controlling cranes in the past: (1 ) Derive the mathematical model of the crane and calculate the trajectory of the best time, and use Sub-optimal control is used to reduce the sloshing of the hanging object [1], and the input-shaping control law is applied to the rotary crane. From the paper [2] [3], it can be found that the second control law has quite good results, and this laboratory has applied this theory to uniaxial rotation [4], which also confirms the input waveform -10- this paper The scale is applicable to the Chinese National Standard (CNS) A4 specification (210X297). 498050 A7 B7 5. The feasibility of the invention; according to our method of using input waveforms, it is used as a tower crane when the three-axis simultaneous movement of the tower crane 'suppresses hanging objects Control rules for shaking after positioning. At the same time, it can also be used to control the movement of the pulley. This control principle is introduced here: The control principle of the input waveform is to achieve the purpose of control by accelerating and decelerating the waveform. The acceleration and deceleration waveforms are shown in Fig. 2: In Fig. 2, & is the front stage angular acceleration, ^ and ^ are acceleration time, constant speed time and deceleration time, respectively, and 7 is the rear stage angular acceleration. This control method will stimulate system oscillations during acceleration, but these oscillations will be offset during deceleration, and all oscillations of the system will be completely suppressed after the deceleration is completed. In order for the system to have zero energy after the movement, the force must meet the following conditions: And if you want to suppress all oscillations, you must add a condition as follows: After adding the above two constraints, the control variable is changed from five Are reduced to parameters, and these three parameters are obtained by optimization. The cost function used is as follows: J = (r7) + \ ν2θ {(/ 7) + we; (/ 7) + W40; (tf) and satisfies the formula (6), here we will weight ,%, ^, And% are all adjusted to 1. As for the reason why we use the input waveform control rule: the characteristics of the open loop (ο p e η 1 ο ο ρ) are used to control the swing of the hanging object in the shortest time. If the input waveform control rule is not adopted, 11 paper sizes are applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) Please read the back matter before filling in, page Printed by the Consumers ’Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs (7) 498050 A7 B7 V. Description of the invention f) When adopting the closed-loop control method, first of all, it is necessary to place a sensor near the hanging object to measure the situation of shaking, and to overcome the difficulty of installing the sensor and the line. It costs a considerable amount of money; in addition, when the hanging object is transported near the fixed point, it must take more time to suppress the shaking, so it cannot effectively improve the work efficiency, and it increases the complexity of the mechanism control, so we use the input waveform to open the The loop control rule is used to achieve the effect of shortening the hanging object transportation time and saving money. In the three-axis control method of rotation, hoisting, and pulley, we use the input waveform to control the two axes of rotation and hoisting. As for the up and down movement of the cable, only the constant velocity in the mathematical equations derived from our derivation Motion, so there is no need to use control rules to control. Since the single-axis input waveform control law requires three parameters-acceleration (al), acceleration time (tower crane), constant speed time (hanging imbalance), the control law of using input waveforms on both axes simultaneously requires six. This parameter, plus the speed and time of the hoisting motion, is a total of eight variables, and the three-axis motion has different arrival times, but this is not what we expect, so we add a constraint, that is, let The three axes can reach the destination at the same time (the total running time is the same). In this way, there are only six variables left-rotation acceleration, rotation acceleration time, rotation isokinetic time, pulley acceleration, pulley acceleration time, and hoisting speed. , Then you can reduce the complexity in finding the best solution. • As for the best solution, we will use genetic algorithms. Traditional methods for solving non-linear optimization problems with constraints include Primal Methods, Penalty and Barrier. (This paper is applicable to this paper.) China National Standard (CNS) A4 specification (210X297 mm) Please read the precautions before filling in

ii Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 498050 A7 B7 V. Description of Invention Γ)

Methods), Dual and Cutting plane Methods, and Lagrange Methods, etc., but these methods use a lot of mathematics and are very complicated to solve; and we use genetic algorithms Law [5] is a method that imitates the natural selection of nature. Its main feature is that its search method is random and parallel, and it uses genetic characteristics such as replication, mating, and mutation among a large number of individuals. Repeated search for the most suitable child, and this best child is the best or approximate solution in the optimization problem. The following are the simple genetic genetic algorithms (Steps to solve): Step 1: Determine the population of the initial chromosome (population) Step 2: Determine the advantages and disadvantages of each chromosome in this population Step 3 : Use the current chromosomes (parents) to generate new chromosomes (offspring) by mutation and recombination. Step 4: Delete the parent chromosomes in the population to generate new chromosomal vacancies. Step 5: Evaluate the new The pros and cons of the offspring chromosomes are then put into the total population. Step 6: If the best solution is obtained, the solution ends and the best solution is passed out; otherwise skip to the third step and continue to solve. We use a genetic algorithm to find the best solution for the input waveform. The genetic algorithm uses natural selection and heredity to avoid the best solution from falling into the local best solution. 'And the initial point has little effect on the final optimal solution. For different starting points, the paper size of this method applies the Chinese National Standard (CNS) A4 specification (210X297 mm). Please read the precautions on the back first. fill

Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 498050 A7 B7 V. Description of the invention f1) Better global search capability than traditional solutions; In addition, the gene transfer algorithm does not require complex mathematical operations, only a suitable The evaluation function reduces the difficulty of the problem. In addition, the genetic algorithm is a practical and robust search method, and is widely used in many fields to solve extremely difficult problems [6] [7 ]. However, genetic genetic algorithms also have some shortcomings, such as: large calculation volume and long search time, difficult internal parameter setting (mating and mutation probability, etc.), poor fine-tuning ability, and random error generation. The MGAs (Modified Genetic Algorithms) [8] developed in the present invention is a method of adding population elite policies, hybrid genetic operators, and self-tuning parameters to G. As, which improves many of the shortcomings of the original SGAs. And has many significant effects. Therefore, we slightly modified this algorithm to find the best solution for the input waveform. The initial parameters used in this algorithm are as follows. Please read the note below and fill in the length of the printed chromosome of the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. 12 0 bits Total population: 300 Mating probability: 88% mutation probability : 1.5% fitness function:

Fitness Wide ~ # (/) + 6 > 22 (/) + # (,) + 圬 (,) • dt + W2 · Position_ err2 where% is the weight 値 of the cost function in the optimization problem; W2 Is the penalty coefficient. We take A as 7,% 14 This paper size applies the Chinese National Standard (CNS) A4 specification (210X 297 mm) 498050 A7 B7 • V. The description of the invention is strict) 4.9 as the weighted number. Next, we need to use this improved mechanistic algorithm to find the best solution for the input waveform. According to the characteristics of the reduced tower crane model we will describe later, such as acceleration or acceleration time, some degree is required. Limitations, etc. These restrictions will have different conditions due to different institutional equipment. Because of this, our theory can find different optimal control parameters for different institutions, and its applicability is more extensive. We incorporate all current experimental constraints into the algorithm and calculate the optimal control parameters. At first, suppose that the hanging object is at the farthest end of the outrigger (2.2 meters from the center of rotation), and it is 1.8 meters below the outrigger. Our destination is that the hanging object can rotate 60 degrees and the pulley can run inward for 1 meter. Ruler (inward running is negative), and the hoisting part is pulled up by 0.5 meters, then we bring this demand into the above algorithm to find the best solution, and then use the obtained best solution to simulate the actual And the results obtained are as follows: Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs, Table 1. The optimal solution rotation acceleration (rad / P) obtained by MGAs 0.1594 rotation acceleration time (s) 2.1211 rotation constant speed time ( s) 0.9776 Pulley acceleration (m / P) -0.1521 Pulley acceleration time (S) 2.1671 Pulley constant speed time (s) 0.8856 Hoisting speed (m / s) 0.0954 Hoisting rise time (S) 5.2198 Total running time (s) 5.2198 Simulated rotation angle (degrees) 60.0277 Simulated running length of the pulley (m) -1.0062 Simulated hoisting rise height (m) 0.4979 • 15- This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) 498050 A7 B7 Ministry of Economy Printed by the Intellectual Property Cooperative Consumer Cooperative Fifth, Invention Description f3) The MGAs method can obtain a good solution. We bring this best solution into Matlab to simulate the axial and tangential sloshing. The results are shown in Figure 3. As shown. It can be known from the simulation results that the sway angles in the tangential and axial directions are within 1 degree, which is an acceptable range. Next, we will build a database that stores the best solution 'after entering the target location', we can quickly get the approximate best solution; the following 'we will apply these results to the actual reduction crane model' to verify our theory Feasibility. The total length of the beam of the reduced tower crane model is 3.2 meters. 'The total height is about 3.4 meters. The beam is mainly composed of I-section steel.' As a whole, this approach is designed with reference to actual small tower cranes. As for the counterweight part, due to the problem of cost, we use several iron blocks to balance, which can be increased depending on the weight of the hanging object. To balance the overall strength, it is currently equipped with a weight of about 300 kg. In the three-axis drive motor section, we use the same AC servo motor, which has different driving forces and driving speeds when equipped with different reduction ratios. The characteristics of this motor are as follows: Table 2 AC servo motor specifications table Three-phase 220V AC servo motor specification table

Rated output 850 W Rotor debt 13.9e-4kg, 2 Rated torque 5.39 Nm Peak peak torque 13.8 Nm Rated speed 1500 rpm Maximum speed 3000 rpm Rated current 7.1 A Peak current 17 A In the rotating shaft part, its reduction ratio It is about 1: 115, so through the reducer-16 this paper size applies to the Chinese National Standard (CNS) A4 specification (210 X 297 mm)

498050 A7 B7 V. Description of the invention (14) The torque is about 620 Nm and the rotation speed is about 13 rpm; assuming the moment of inertia of the outrigger at the maximum load is about 800 kg. W2, the maximum angular acceleration of rotation can be 0.775 rad / P. The reduction ratio in the pulley part is 1: 4, so the torque after deceleration is about 21.56 Nm, and the rotation speed is about 375 rpm (39.27 rad / s); the pulley radius of the pulley on the I-beam is about 3 cm, so you can With a load of 200 kg, there is an acceleration of about 3 m / P. The reduction ratio on the hoisting part is the same as that of the pulley, so the torque and speed are the same after deceleration, and the radius of the hoisting drum is 2 cm, and the hanging pulley adopts a movable pulley, so the hoist can bear a weight of about 200 kg without slipping. . After the above approximate estimation, the limiting speed and acceleration of each axis can be known, and it can be used as the variable input limit for the best solution in the previous section. In actual applications, you can calculate the running speed of each orbit according to this method. The maximum specification is used as a constraint to find the optimal solution of the variable, so that the theoretically found optimal solution can be applied to the actual mechanism, which conforms to the driving ability of the mechanism. As for the servo driver, we use Yaskawa's products that are the same as AC servo motors to maximize the compatibility between the two. As for the controller, we have selected Eurosystem's three-axis control card from Baldor Optimised Control as the device to control the three-axis server, and connected to the computer through RS-232; the whole set of motor control mode is shown in Figure 5. In order to make the servo motor move accurately according to our order-17- This paper size applies the Chinese National Standard (CNS) A4 specification (210X297 mm) (Please read the precautions on the back before filling this page) τ Economy Printed by 498050 A7 B7 of the Intellectual Property Office of the Ministry of Intellectual Property of the People ’s Republic of China. 5. Invention Description Γ), so we use a fully closed loop to control the servo motor. As shown in the figure below, we send the command to the control card via RS-232. After the encoder processes the control card's feedback signal and control command, it will output appropriate signals to the driver, so the control card has mastered the control of the actual position. After using a fully closed loop to control the motor, we need to properly adjust the parameters on the controller. According to the parameters that need to be adjusted on the block diagram of the control card, we have written a small program to adjust the best parameters so that their transient and Minimal steady state error. Then we input the control command of the input waveform to observe the operation of the servo motor. From the above two figures, we can see that the servo motor can act according to the commands we need. Then, after installing a complete control system, we use Visual Basic to write a control interface program and integrate the control principles of the input waveform to facilitate We operate using. We take the best solution of a set of input waveforms for analysis of the experimental results, and in addition take a set of experimental results without using the input waveform control rule as a comparison; we rotate the outrigger 90 degrees and the pulley runs inward 1 As an example, the volume of the poplar rose by 0.5 meters. The following results are the results of control orders and inspections. • The Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs printed a suitable I-scale paper and a quasi-standard home country.

SNI centrifugal 498050 A7 B7 V. Description of the invention Table 3 Using the input waveform control commands Rotational acceleration time (s) 5.289 Rotational constant speed time (s) 1.767 Rotational acceleration (rad / 2 0.04227 Block acceleration time (s) 2.455 Block constant speed Time (s) 7.435 Pulley acceleration (m // -0.04117 Hoisting rise time (s) 12.345 Hoisting speed (m / s) 0.04041 The table does not use the input waveform control command. Rotation acceleration time (s) 4.127 Rotation constant speed time ( s) 2.222 Rotational acceleration (rad / night) 0.05996 Please read the precautions in the back before filling the acceleration time of the pulley (s) 1.443 Constant time of the pulley (S) 7.590 Acceleration of the pulley -0.07429

Pi hoisting rise time (s) 10.476 Hoisting speed (m / s) 0.04773 Then the above control commands are used for actual experimental operation. The results are shown in Figure 8. The solid line is the result of using the best input waveform control command, and the dashed line is the control command of arbitrary input. From the experimental results, it can be seen that the best input-shaping control command has less shaking than the control of arbitrary input, and the action stops. The subsequent sloshing is within about 0.2 degrees, so it can be confirmed that the input waveform control law is far better than the general use of no input waveform, and therefore the theory of the input waveform is verified. After verifying the feasibility of the input waveform, in order to cooperate with the crane operator using the joystick to control the transportation of the hanging objects, we have issued two operation modes combining the input waveform and the joystick real-time control. • The first application method to match the input waveform: First, we changed the operation mode of the joystick to two-stage. When the operator depresses the joystick, the crane starts to operate, and when the operator releases the joystick, It is estimated that the operator presses down 19-This paper size applies to the Chinese National Standard (CNS) A4 specification (210X297 mm) Μ Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 498050 A7 B7 V. The moment of the invention; 7) The joystick; According to the acceleration time when the joystick is depressed, the constant speed time and deceleration time required for the input waveform are immediately calculated. The next stroke is controlled by the computer. The schematic diagram is shown in FIG. 10. In this way, the operator controls the acceleration time of the input waveform, and the constant speed time and the deceleration time are controlled by the computer, so we establish an optimal parameter table at one-second intervals in the acceleration time term. As an immediate parameter correspondence table. Taking a single axis as an example, when the crane operator depresses the joystick until the release time exceeds 5.7 seconds but does not reach 6.7 seconds, we immediately correspond to the parameters of 6.7 seconds. The parameters are as follows: Table 5 Acceleration time 6.7 seconds Input waveform parameters: Rotational acceleration time (S) 6.700 Rotational constant speed time (S) 1.002 Rotational acceleration (Deg〆) 1.492 Headstock rotation angle (Deg) 76.992 Total travel time (S) 14.402 According to the results of our experiments, its shaking situation As shown in the figure below, the solid line is tangential shaking and the dashed line is axial shaking. It can be seen from the figure that when the hanging object reaches the positioning, the shaking is within 0.5 degrees. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. We use this control method to run over a long distance. When the operation is stopped, if there is a slight gap with the expected position of the operator, we use the manual fine-tuning part to let the operator hang. The hanging object is adjusted to the actual required position. In this part of the process, the input waveform control is not used, and it is completely operated by the operation. This method has a disadvantage in operation. When the joystick is released, all movements are controlled by the computer. During this period of computer control, the operator cannot perform any operation except emergency stop; Therefore, we have made another improvement on this point. -2 0-This paper size is in accordance with Chinese National Standard (CNS) A4 specification (210X297 mm) 498050 A7 B7 V. Description of the invention (8 The second application method that matches the input waveform: we shorten the time that cannot be operated for a long time, In terms of a long-distance transportation process, we divide it into several input waveform control. If the joystick is released for a period of time during the input waveform operation of the first part, the actions of the first part are completed. If you walk the first section and release the rocker within the time of the second part, it will stop when the action of the second part is completed. The advantage of this method is that the running time of each part is relatively short, Operator control time is also greatly reduced; because we want to match the theory of input waveforms to long-distance transportation, we adopt a strategy of gradually reducing the distance in the segmented section, so that the operator can let go The position of the joystick is closer to the position when the action stops. The diagram is as follows: Taking a single axis as an example, we only perform three strokes to observe the shaking. The following is Enter the command and shake the results: please first read the note back ίι matters again

Printed by the Consumers' Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs The paper size is applicable to Chinese national standards (CNS> A4 specification (210 × 297 mm) 498050 A7 B7 V. Description of the invention Γ Table 6 Parameters of the second operation mode The parameters of the first stage of travel Rotational acceleration time (s) 2.700 Rotational constant speed time (s) 2.093 Rotational acceleration (Deg " 3.355 Rotated angle (Deg) 43.417 Travel time (s) 7.493 Please read the back rotation acceleration time (s) 2.700 2. Parameter Rotation constant speed time (s) 2.151 Rotational acceleration (Deg / M 2.609 Rotated angle (Deg) 34.172 Travel time (s) 7.551 Fill in the parameters of the third stage

Rotational acceleration time (s) 2.700 Rotational constant speed time (s) 2.096 Rotational acceleration (Deg〆1.492 Rotation angle (Deg) Total rotation angle (Deg) 19.32 96.909 Travel time (s) Total travel time (s) 7.496 22.54 Drive components The print is available from the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. When the operation is stopped, the shaking of the hanging object is within 0.5 degrees. This operation method reduces the time of computer control and allows the crane operator to The operation time and operating position have better operation feeling, which is a better feasible way. The suspension imbalance monitoring device for the tower crane of the present invention includes a rotation control structure including a motor element and a lower connection. Element, wherein the upper connecting element is used to connect with the hook of the crane, and the lower connecting element is used to connect with the hanging object. When the motor rotates, the component is rotated by the reaction mechanism of the reaction force, and the component is connected to the lower connection. Device connection; a tilt control structure, which contains at least a motor, a driving component, and a lower connecting element, wherein when the motor rotates, the driving group can be driven '-22-This paper size applies the Chinese National Standard (CNS) A4 specification (210 X 297 mm) 498050 Μ ___ Β7_ V. Description of the invention 〖〇) Make it change the distance, the next connecting element is connected to the driving component, The other end is connected to the hanging object, and the motor is directly and indirectly integrated with the motor of the rotation control structure; a wireless control component is used to start the motor of the rotation control structure by radio to achieve the hanging object. For the purpose of rotation, the motor of the tilting structure is controlled, so as to achieve the purpose of tilting the hanging object. The detailed specifications of the hanging object attitude control mechanism designed according to our concept are shown in Figure 14 and Figure 15.彳… Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs From these two figures, it can be seen that the hanging control unit can be divided into two parts, the first part is motor 110 (mo tori), drought; 120 and shame_ 130 (motor3) and lead screw 250,300, which is named here as the external rotator (outside rotator); and the second part is the rotor (rotator) and the sun gear part, these two The component is fixed and named the payload rotator. In addition, there are three steel cables under this control mechanism, and the main weight of the suspended object is supported by the central steel cable. The weight of the suspended object is transmitted to the crane hook by the main axis of the control mechanism's rotation center; as for the other two On the one hand, the steel cable transmits the rotating torque generated by the external rotor to the hanging object to make the hanging object rotatable, and on the other hand, transmits the tensile force generated by the motor 210 and the motor 310 to the hanging object to make the hanging object. Can be tilted. The movement of the entire mechanism can be illustrated by the simplified model in the figure below. It is divided into: • Rotating part and inclined part: 1. When the motor 110 of the hanging part rotates, the rotor and gear 120 of the motor 110 pass through the belt-23- This paper scale is suitable for Guanjia County (called "4 specifications (21 (^^ 97mm)" 498050 A7 B7 V. Description of the invention f1) ~ — moving gear 130 (load rotor) rotation (see figure 16), according to the principle of the acting force and the reaction force, it can be known that the rotation directions of the gear 120 and the gear 130 are opposite, and the direction of the external rotor force must be opposite to the load rotor, so the housing of the motor u, the gear 120 and the control mode The tensile structure on both sides of the group is rotated by force, and the force of the external rotor rotation is converted into a symmetrical moment by the lead screw in the stretching mechanism, and then acts on the hanging object, so that the hanging object rotates due to the force couple. In the tilted part of the hanging object, the motor 2 10 and motor 3 10 (see Figure 14) on both sides of the control mechanism are symmetrically reversed to move the stretching mechanism into a stretched and extended state, and then it will rise through the lead screw. Power On the hanging object, an elevation angle is formed between the hanging object and the ground plane, so that the hanging object can be tilted. The rotation of this mechanism is shown in Figures 17- (a) to 17- (d) and Figures 18-⑷ to 18- (c) The schematic diagram of the situation is as follows: A. Schematic diagram of the rotating part of the hanging object. The advantages of this control mechanism are three. They are listed as follows. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. The operator can control the payload attitude at the remote end, and the operator only needs to use the two-axis wireless signal transmitting and receiving module to control the attitude of the hanging object at the remote end. This can prevent the on-site staff from using human power to correct the attitude of the payload. Second, in order to modularize the mechanism, the battery is used to provide the required energy. Therefore, the center motor (motor 110) is driven by a DC motor and the encoder is used for feedback, and the current state of the structure can be known and added. Control ~ 24-This paper size applies Chinese National Standard (CNS) A4 specification (210X 297 Gongchu) 498050 A7 B7 V. Description of the invention The f2 system makes the control module have very good stability and robustness. Third, this mechanism is a control module, which is an independent power supply and is easy to disassemble. As long as the module is hooked to the hook 500 of the original crane, it can start to operate. Immediately remove this module and charge it, and then hang another charged module to operate. In order to understand the characteristics of the control mechanism, the simplified model is first used to derive its mathematical model, and the center position of the gear 130 is set. The coordinates are (0, 〇), the radius is rl, and the center position of the gear 120 is (X, y), and the radius is r2. The rotation angles of the two are Φ and 0. According to the simplified model, the state variable $ has four , Respectively (0 X less Θ), using DAE ^ ifferentialAlgebra Equation) [9] [10] [11] The mathematical model of the system can be described as follows: M ql · Βτλ = F Φ = 0 (8) Please read the back first ί matters again

0 0 0 Μ Among which is printed by the Consumer Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs φ 0 ^ 00 0 0 m 0 0 0 0 /, • Lu

rx -0 F = | 〇F Β xy-xy + / — (η + r2) 2 rxy rxx: _ + jr 2x 2y The meaning of the above variables is 5 -r2 0 This paper scale applies Chinese National Standard (CNS) A4 Specifications (210X 297 mm) 498050 Α7 Β7 Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 5. Description of the invention p) φ: Constraint equations B: Jacobian matrix (Jacobian matrix) 限制: Lagrangian multiplier F: External force τ: Moment of motor 110 A: Friction &: Friction After deriving the mathematical model of the control mechanism, the simulation model is used to verify the mathematical model First, we set the initial parameters as follows: Table 7 DAE simulation program parameter setting table | ρ — ==-11.— Variable one. —---- Number unit 値 0.05 1 meter h 1 0.15 meter /, 1 3.75e-4 Kg · m2 h-0.02925 Kg. M2 1-m 10.66 Kg At the beginning we set the damping term and moment as 0, the simulation state proved to be no damping phenomenon, and then added the damping term in the simulation 'Result Damping also occurs during simulation This means that our simulation programs and mathematical models all are correct. Next, let's set the initial condition to zero and apply a torque T to the gear 11 0. In addition, damping is also given, so each state is as follows: -26-This paper size applies the Chinese National Standard (CNS) Α4 specification (210X297) (%) (Please read the precautions on the back first)-!% »498050 A7 __B7___ V. Description of the invention f) (Outside 0) χ (0) 〆0) 0 (0)) = (0 r) + r2 0 0) ^ (0) i (0) y (0) ((0) | = (0 0 0 〇) Γ = 0.03, ^ = 0.9 Here, the damping term $ is the frictional force &, & friction Parameter coefficient. The results are shown in Figure 19, Figure 20, Figure 21, and Figure 22: (1) Figure 19 shows that the constraint error will converge, indicating that the constraint is correct. (2) Figure 20 shows the rotation angle of the gear 120 and the gear 130. Since the gear 120 has a torque at the beginning, the slope of the two curves becomes larger. After the torque and the damping terms are balanced, the curve becomes a straight line. (3) Figure 21 shows the state of X and y over time. Since gear 1 has torque at the beginning, the period of the two sine curves becomes smaller, indicating that the speed of gear 120 rotating around gear 130 is increased. In terms of torque and damping, After balancing, the sine curve period is fixed, that is, the gear 1 20 rotates around the gear 1 30 at a constant speed. (4) Figure 22 shows the angle at which the gear 120 rotates around the gear 130. Since the initial gear 120 has a moment, the slope of the curve becomes larger; after the torque and the damping terms are balanced, the curve becomes a straight line, indicating that the gear 1 20 is at a constant speed. Rotates around the gear 130. Printed by the Consumer Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs From Figure M, Figure 15 and Figure 18, we can know that the purpose of motor 210 and motor 3 10 is to control the tilting attitude of the hanging object. In the driving mode part, we use a stepping motor as the source of power, and the lead screw is driven by a toothed wheel set to produce vertical movement. The main reason is that in the design of the mechanism, the force required to pull the hanging objects on both sides of the mechanism is not too large, so the use of stepper motors is enough to generate the force we need; phase-2 7-i paper scale Applicable to Chinese national standard (ϋ) A4 specification (210X297 mm) '498050 A 7 ____B7 V. Description of the invention P) For general servo motors, stepping motors are not only cheap and easy to control, they do not need to be expensive and costly as servo motors. Complex driver to control; as long as a simple control circuit is designed, the stepper motor can achieve the action we require. As for the drive circuit of the stepping motor, we use a decoding circuit similar to the remote control model sold in the market. First, we decode the PWM (Pulse Width Modulation) signal received from the remote control into a signal with a size of 5V. This signal is sent to the microprocessor (895 1), and is output after being processed by the program. This signal is used as a signal to control the stepper motor. The current is amplified by Darlington circuit and output to the stepper motor. In the consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, the driver program of the stepper motor can be divided into three types by the decoded remote control signal sent to the microprocessor (that is, clockwise, stop, counterclockwise); when clockwise or When the input is a counterclockwise rotation signal, the microprocessor will send a rotation signal to the motor, and according to the size of the remote control command, the rotation speed will change accordingly. When the signal is stopped, the microprocessor stops sending signals, and no current is passed through the stepper motor at this time. The purpose of this design is to reduce the power loss and load of the drive circuit. Due to the design of the gear and the lead screw of the mechanism, the absence of current through the stepping motor does not cause the hanging object to slip, so this design does not actually cause safety concerns. • In the process of tilting the hanging object, we ordered motor two to rotate clockwise and motor three to rotate counterclockwise. At this time, motor two moves the lead screw upwards through the gear, and motor three drives the lead screw- 2 8-498050 A7 B7 V. Description of the invention) Move down. Since we want the hooks in the middle and the hooks on both sides to contact the hanging objects at the same time, it is necessary to keep the three points in a straight line. If three points are not on the line, there will be only two points where the hanging object can be pulled, and there is a case where the hanging hook is not pulled to the hanging object. This is what we do not want to see happen. In order to avoid this situation, we must control the displacement of the two motors to be the same in any case, and the directions are opposite. (The balance point is the same height as the middle hook) So we can keep the left and right hooks and the middle hook at three points in a line. The block diagram of the driver circuit is shown in Figure 23, and the driver program flowchart is shown in Figure 24. From Figures 14, 15 and 17, we can see that the first motor is the source of power for the rotation of this mechanism. In the selection of motor one, we chose DC motors. Generally speaking, DC motors require a large starting current and operating current when the load is large. When we supply sufficient motor current, the maximum speed of the motor The acceleration and acceleration are far beyond our needs. When operating the mechanism on the construction site, too fast speed is likely to cause runaway and danger. Therefore, we only need to let the mechanism have a reasonable rotation speed to meet the actual demand. Therefore, we choose a DC motor with a speed reducer to enhance the torque during rotation and reduce the operating current when controlling the motor. This can not only greatly reduce the load and power consumption of the circuit during operation. In addition, the maximum speed and acceleration of the drive shaft via the reducer are reduced together. When the current is stopped, the motor also reduces the load inertia because of the reducer. It can quickly stop the rotation and stop the mechanism from rotating. Speed also fits our premise of reducing danger. To -29-This paper size applies Chinese National Standard (CNS) A4 specification (210 X 297 mm) (please read the precautions on the back before filling in the page), v. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 498050 A7 B7___ 5. Description of the invention f) In the circuit part that actually drives the motor, we use four power BJTs (POWER BJT), as shown in Figure 8. When we want to start the motor, we can start the number one and four at the same time No. BJT 'or start No. 2 or No. 3 BJT, so that the current can be passed through the motor and the motor is rotated. The direction of rotation of the motor is reversed when the current passes through No. 1 and No. 3 BJT and through No. 2 and No. 4 BJT. In addition, for the stability of the entire mechanism, we also installed an encoder on the mechanism that can be used to detect the position of the load rotor. This device can feedback the position digits to the work via a decoding circuit. 895 1. Through this encoder, we can limit the speed of the motor, and the maximum speed control is determined by the amount of displacement of the remote control joystick. Regarding the rotation speed, through program control, a total of sixteen different speeds can be adjusted. Depending on the size of the remote control command, the rotation speed also changes. As mentioned above, when the remote controller sends a stop signal, the damping coefficient of the DC motor after the reducer is very high. According to the experimental results of the actual mechanism, the motor suddenly stops supplying current at the extreme speed. The rotation angle of the motor will not exceed 45 degrees, and it will stop almost immediately, so the design of the brake part is omitted here. The block diagram of the driving circuit printed by the Employees' Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs is shown in Figure 25, and the flow chart of its driver program is shown in Figure 26. The above parts are explained below: 1. Institution design part I · Bearing In the practical application of attitude control mechanism, we must consider the bearing energy-3 · This paper size is applicable to Chinese National Standard (CNS) A4 specification (210X297), 498050 7 Β V. Description of the invention) Capable of bearing load , And select the appropriate bearing type.才 不 # # The situation that the raw bearing fails to load the weight of the hanging object and collapses. (Please read the precautions on the back before filling out this page) When using bearings, there are three important points to note: 1. The bearing's ability to withstand radial loads. 2. The bearing's ability to withstand axial loads. 3. Bearing's ability to withstand misalignment of shaft center. The following compares several different bearing types (Table 8): Table 8 Comparison of different bearing types and performances Bearing types Radial load capacity Axial load capacity Axial center misalignment capacity Single row ball bearings Good Coco Single row centripetal stop Push ball bearings are very good, poor self-aligning ball bearings are good, very good, cylindrical roller bearings are very poor, spherical roller bearings are very good, very good, tapered roller bearings are very good, and very poor. Part of the bearing is used, part is the part that rotates in the mechanism; the other part is the printout of the staff consumer cooperative of the Intellectual Property Bureau of the Ministry of Economics, located on the two sides of the mechanism. In the rotating part, three bearings are used by the center support rod of the mechanism and the body of the mechanism. From top to bottom, the first bearing is located between the outer rotor and the center support rod, and the second bearing is located between the load rotor and the center support. Between the shafts, between the third position below the central support shaft and the hooks, these three bearings must bear a considerable axial load. Especially for the third bearing, the paper size of the hanging paper is applicable to the Chinese national standard (CNS ) A4 specification (210 × 297 mm) 498050 A7 B7 V. Description of the invention f Most of the weight of the hanging object is borne by the center support rod, so the bearing between the hook and the center support rod must bear most of the weight of the hanging object; One bearing needs to bear the overall weight of the mechanism and the weight of the hanging object outside the center rod; the second bearing only needs to bear the weight of the rotor. For detailed graphics, please refer to Figure 14 and its description; Each bearing must bear a considerable axial force. In practical terms, it may need to withstand a weight of several to tens of tons, and currently the bearings on the market are capable of bearing Such a load, so this part needs to evaluate the actual condition to select the appropriate bearing when designing, in order to meet the safety requirements. On both sides of the mechanism, the bearing design only moves the lead screw up and down along the thread. The focus of the design is not to support the weight of the hanging object, so it only needs to bear the weight of the hanging object outside the central support shaft. The weight of the hanging object is borne by the lead screws on both sides, and the bearing on one side only needs to bear half the weight of the hanging object. Π. Gears have a much larger load in actual application than the current experimental module. Therefore, when redesigning, pay attention to whether the tooth root can withstand the required torque, so it must be calculated and adjusted appropriately. In order to avoid the situation of tooth decay. m. The up and down movement of the lead screw is pulled by the thread groove in the helical gear. When it is applied, it must be considered whether the rigidity of the lead screw can withstand the gravity of the hanging object without bending. The shape of the thread also needs to be carefully designed to avoid the damage of the thread. This design can be used on helical teeth 3 2-This paper size applies to China National Standard (CNS) A4 (210X297 mm) Please read the precautions on the back before

Printed by the Employees' Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 498050 A7 B7 V. Description of the invention) A sleeve is added under the wheel, and the groove is also engraved in the sleeve. Therefore, it is used to increase the contact distance between the lead screw and the thread groove to share the thread bearing The power reduces thread wear. IV. Mechanism body The body of this mechanism is a one-piece and near-cuboid box, so there is relatively little problem of bending deformation, but the motors on both sides are locked on the body with screws, and its C-shape The structure is relatively fragile, and it is easy to bend due to the weight of the hanging object. Therefore, when this mechanism is enlarged, attention should be paid to whether it can withstand the load generated by pulling the hanging object. V. Stepping motor Due to the consideration of cost and convenient circuit control, the hanging attitude control mechanism in our experiment uses stepping motor as the driving device to drive the guide screws on both sides. This design works very smoothly in current institutions, without any trouble. However, in practical applications, the characteristics of the stepping motor do not meet our needs, so we must use a DC servo motor instead. The following table compares the characteristics of stepper motors and DC servo motors: Table 9 Comparison of stepper motors and DC servo motors This paper size applies Chinese National Standard (CNS) Α4 specification (210 × 297 mm) (Please read the note on the back first (Fill in the matter again ^: page) N- Printed by the Consumer Property Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, stepper motor, DC servo motor, low power, high speed, high speed, high torque, small, heavy and light -33-498050 A7 __B7 f1) As can be seen from Table 9, the biggest disadvantages of stepping motors in practical applications are low power, and the performance of speed and torque cannot be compared with DC servo motors. Therefore, when we apply the hanging object control mechanism on the actual construction site, it is necessary to change the DC motors on both sides of the motor, otherwise the stepping motor is likely to slide or fail to rotate due to the inability to support the hanging object's torque. Situation; therefore, appropriate modifications are also needed in circuit design. 2. Drive circuit When designing the drive circuit of this attitude control mechanism, due to cost considerations, the drive circuits of the stepper motors on both sides and the DC motor in the middle are designed by themselves. Therefore, after continuous improvement, its functions and There is still a gap between the performance and the motor drive on the market. If you want to manufacture a practical application, it is recommended to use a DC servo motor drive on the market. Although it will cause the cost of the entire mechanism to increase a lot, it can And the performance of the motor has been considerably improved, and the complexity of the design has been reduced. 3. Safety design Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. Because this institution is currently limited to an experimental device, some parts have not been carefully designed in terms of actual safety considerations, so it may happen here. Hazard and some design based on safety considerations • Analyze and advise. I · End stop device of the lead screw on both sides In the part of the lead screw on both sides, stop should be installed at the end points of both sides-3 4-This paper size applies to China National Standard (CNS) A4 specification (210X297 mm) ) 498050 A7 ________B7_ 5. Description of the invention P) Stop device 'When the lead screw travels to the end point, it can automatically stop the movement in the original direction. This can avoid unnecessary collision and wear caused by the operator when operating the mechanism, and can also prevent the motor from impacting the circuit due to out of step; the current experimental module uses only two nuts For the stop device, a sensor can be installed as the end point detection in actual application, and a suitable device can be installed on the mechanical structure for double protection. Π · The emergency stop switch of the driving circuit is controlled by the attitude control mechanism by remote control, and is transmitted by analog signals. Therefore, although a fairly precise remote control module is used, it is still necessary to prevent some noise interference. Some accidents caused by the out of control of the organization. Therefore, we can install an emergency stop switch on the remote end and the mechanism. When the switch is closed, the entire circuit is automatically powered off. This can prevent accidents when the device is out of control due to noise interference; this part There is no design on this experimental mechanism, because it must be added to the circuit design in practical application. m. Speed limit when adjusting attitude. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs. When adjusting the plane and tilt angle of the hanging object, if the speed is too fast, it may cause danger to nearby staff, so we need to write The condition of limiting the upper limit of the motor speed is added to the program control in order to control the speed of the attitude adjustment within a safe range, reducing some potential dangers of this large mechanism; this speed limit is available at the beginning of the design of this experimental mechanism. Taking into consideration, therefore, the DC motor with a reducer is used to reduce the maximum speed to a reasonable range. Therefore, in the future, the actual application design is 'except -35-' This paper standard applies to China National Standard (CNS) A4 specifications (210X297 mm> 498050 A7 _____B7______ V. Description of Invention 3e) In addition to programming control, you can also cooperate with the purchase of motors to minimize the danger of speed. The invention includes a suspension imbalance monitoring method for a tower crane, which comprises: hanging a suspended object on the suspension imbalance, and controlling the suspension imbalance with a control mechanism to adjust a control mechanism. The "state" makes the state of the hanging object meet the requirements, wherein the control mechanism and the hanging imbalance interact in a wireless or wired manner, which is characterized in that the control mechanism has a rotation control at a substantially central position. Structure, when necessary, can rotate according to the instruction of the control mechanism, so that the hanging object rotates in the opposite direction; and at least one side of the control mechanism has a tilt control structure, which can be adjusted by the instruction of the control mechanism when necessary The inclination of the hanging object. The above-mentioned rotation control structure, tilt control structure and wireless control method are as described above. The above-mentioned rotation control structure, tilt control structure and wireless control method are all as described above. The above control method is preferably wireless control. (Please read the notes on the back first, then the page.) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs.

NS 498050 A7 B7 V. Description of the invention References [1] Ali R. Cloafshani, and JD Aplevich / Oomputation of Time-Optimal Trajectories for Tower Cranes ,,, IEEE, 1 995, pp.l 134 · 1139 [2] Gordon G. Parker, Ben Petterson, Clark R. Dohrmann, and Rush D. Robinett, "Vibration Suppression of Fixed-Time Jib Crane Maneuvers", SPIE, 1 995, Vol 2447, pp.131 -140 [3] Gordon G. Parker, Rush D. Robineet, Brain J. Dressen, and Clark R. Dohrmann, `` Operator in-the-loop control of rotary cranes '', SPIE, 1996, Vol 272 1, pp.364-372 [4] Li Xunxian "" Sloshing suppression during tower crane operation and control of its payload attitude ", Master's Thesis of Jiaotong University, June 87. [5] Chin-Teng Lin and CS George Lee," Neural Fuzzy Systems—A Neuro -Fuzzy Synergism to Intelligent Systems, "Prentice-Hall PTR., 1996. [6] M. Srinivas, Lalit M. Patnaik," Genetic Algorithms: A Survey, "p.17 ~ p.66, v.27, Jun 1994 .

[7] D. E. Goldberg, “Genetic Algorithms in Search, Optimization and Machine Learning’ ’, Addison-Wesley, Reading, Mass ·, 1 989.

[8] Wang Yiguo, “Optimization of chemical vapor deposition process using improved genetic algorithms”, Master's thesis of Jiaotong University, June 86, Republic of China 7-This paper standard applies to Chinese National Standard (CNS) A4 size (210X297mm) Please read the notes on the back again

Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 498050 A7 B7 V. Description of Invention T) [9] James Albus, Roger Bostelman, and Nicholas Dagalakis, "The Nist Robocrane", Journal of Robotic System, 1 993, pp. 709-724 [1 0] KCPark9 CAFelippa, JC Chiou, ^ Constraint Treatment Techniques and Parallel Algorithms for Multibody Dynamic Analysis '', College of Engineering University fo Colorado, 1990 [ll] Parviz E. Nikravesh, "Computer-Aided Analysis of Mechanical System Prentice-Hall International Editions, 1988

James Albus, Roger Bostelman, and Nicholas Dagalakis, "The NIST Robocrane ,,, Journal of Robotic Systems, 1993 Please read the first item on the back before Ψ The Ministry of Economic Affairs Intellectual Property Bureau employee consumer cooperative prints this paper to apply Chinese national standards ( CNS) A4 size (210X297 mm)

Claims (1)

498050 iJU C8 D8 6. Application for patent scope 1. A suspension imbalance monitoring device for a tower crane, including: a rotation control structure including a motor, a driving component, an upper connecting element and a lower connecting element, wherein The upper connection element is used to connect with the crane hook, and the lower connection element is used to connect with the hanging object. When the motor rotates, the component is rotated by the force-reaction mechanism, and the component is connected with the lower connection device. A tilt control structure, which includes at least a motor, a driving component, and a lower connecting element, wherein when the motor rotates, the driving component can be driven to cause a change in distance, and the lower connecting element is connected to the driving component, The other end is connected to the hanging object, and the motor is directly and indirectly integrated with the motor of the rotation control structure; a wireless control component is used to start the motor of the rotation control structure by radio to achieve rotation of the hanging object Purpose, and / or control the motor of the tilting structure to achieve the purpose of tilting the hanging object. 2 · A method for monitoring the unbalance of a crane for a tower crane, comprising: suspending a hanging object on the unbalance of the crane, and directing the unbalance of the crane with a control mechanism to adjust a control mechanism The control mechanism and the suspension imbalance interact in a wireless or wired manner, which is characterized in that the control mechanism has a rotation control structure at a substantially central position. To • When necessary, it can rotate according to the instructions of the control mechanism, so that the hanging object rotates in the opposite direction; and at least one side of the control mechanism has a tilt control structure to accept the instructions of the control mechanism to adjust the suspension when necessary -39- This paper <Chongqingguanjiaxian (CNS) A4 size ⑵0x297 public) '-------- # --- (Please read the precautions on the back before filling this page) IH ϋ nn I ϋ ϋ .1 n Βϋ nn ϋ n ϋ l_i II n I ϋ ϋ nn 498050 C8 D8 6. Inclination of patent application scope | · The method described in item 2 of patent application scope, where the control mechanism is wireless Control agency. 40-This paper is written in Chinese National Standard (CNS) A4 (210 x 297 mm) (Please read the precautions on the back before filling this page)-Order -----