WO2013060120A1 - Dispositif de commande et procédé de commande de synchronisation de plusieurs treuils et grue comprenant le dispositif - Google Patents

Dispositif de commande et procédé de commande de synchronisation de plusieurs treuils et grue comprenant le dispositif Download PDF

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Publication number
WO2013060120A1
WO2013060120A1 PCT/CN2012/073751 CN2012073751W WO2013060120A1 WO 2013060120 A1 WO2013060120 A1 WO 2013060120A1 CN 2012073751 W CN2012073751 W CN 2012073751W WO 2013060120 A1 WO2013060120 A1 WO 2013060120A1
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WO
WIPO (PCT)
Prior art keywords
controller
engine
speed
crane
encoder
Prior art date
Application number
PCT/CN2012/073751
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English (en)
Chinese (zh)
Inventor
徐云
刘响
刘正华
Original Assignee
上海三一科技有限公司
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 上海三一科技有限公司 filed Critical 上海三一科技有限公司
Publication of WO2013060120A1 publication Critical patent/WO2013060120A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives

Definitions

  • Multi-winding synchronous control device and control method and crane comprising the same
  • the application is filed on October 28, 2011, the Chinese Patent Office, the application number is 201110332901.7, and the invention name is "multi-winding synchronous control device and control method and includes The priority of the Chinese Patent Application for the Crane of the Apparatus, the entire contents of which is incorporated herein by reference.
  • the present invention relates to a synchronous control device, and in particular to a multi-winding synchronous control device and control method and a crane including the same.
  • a component of a nuclear power project weighs several thousand tons, which makes the number of hoisting equipment hoisting gradually increase. Due to the use of multiple hoisting equipment, in order to ensure the safety of hoisting equipment and hoisting, the lifting weight is smoothly hoisted in place. Multi-winding synchronization control is especially important.
  • the object of the present invention is to solve the above problems, and to design a multi-winding synchronous control device and a control method capable of synchronizing a plurality of winches and ensuring that the hoisting weight is in place smoothly, so as to avoid a safety hazard.
  • Another object of the present invention is to provide a crane including the above control device.
  • the invention discloses a multi-winding synchronization control device, which comprises:
  • At least two winches each of which is driven by a motor, each of which is counted by an encoder, each of which is coupled to a controller in a one-to-one correspondence, the controller being used to read the encoder The current value, and subtracting the current value from the initial value, that is, the difference in the count converted into the reel rotation;
  • a comparator wherein the input ends are respectively connected to the controller, and are used for comparing the magnitudes of the count differences converted by different controllers, wherein the comparator output is connected to a synchronous controller, and the output ends of the synchronous controller are respectively connected a motor, the synchronous controller adjusts a speed of each motor according to a comparison result of the controller; a synchronous control switch for starting the synchronous controller;
  • a power supply device for powering the hoist for powering the hoist.
  • the power supply device includes a first engine and a second engine, and hydraulic oil passages of the two engines are connected in parallel.
  • the multi-winding synchronization control device described above further includes a multi-speed selection switch for selecting a plurality of different powers.
  • the multi-speed selection switch When the multi-speed selection switch is in the first gear position, the first engine is powered as a power source.
  • the multi-speed selector switch When the multi-speed selector switch is in the second gear position, the second engine is powered as a power source, and when the multi-speed selector switch is in the third gear position, the first engine and the second engine simultaneously provide power as a power source.
  • a control method of a multi-winding synchronization control device as described above is further disclosed, which comprises the following steps:
  • the reel count value before each hoisting encoder is rotated is recorded and saved as an initial value.
  • the hoisting speed is too fast, and the hoisting speed is too slow, so that the difference between the plurality of counting differences is less than the preset threshold.
  • a crane including the multi-winding synchronization control device described above including:
  • At least two power containers one engine installed in each power container; several hoistings, symmetrically mounted on both sides of the crane;
  • Each hoist is provided with an encoder and a controller
  • the cab is internally equipped with a synchronous control switch.
  • a plurality of selector switches are also provided in the cab.
  • FIG. 1 shows a schematic diagram of an exemplary embodiment of multi-winding synchronization control in accordance with the present invention
  • Figure 2 shows a schematic view of a crane equipped with a synchronous control device in accordance with the present invention.
  • the hoisting synchronization control device includes:
  • At least two winches such as a first winch 101, each of which is driven by a motor, referring to the first motor 501 of Figure 1, each of which is counted by an encoder (not shown in Figure 1),
  • Each encoder is connected to a controller (refer to the first controller 102 in FIG. 1), the controller is used to read the current value of the encoder, and subtract the initial value from the current value, that is, converted into a reel rotation Count difference
  • the comparator 301 has an input terminal for comparing the magnitudes of the difference values of the different controllers, and the output of the comparator 301 is connected to a synchronous controller 401, and the output of the synchronous controller 401 is respectively connected to each motor.
  • the synchronization controller 401 adjusts the speed of each motor according to the comparison result of the controller 301;
  • a synchronous control switch (not shown in Figure 1) for starting the synchronous controller
  • a power supply device (refer to the first engine 701 and the second engine 702 in Fig. 2) has an output connected to the at least two winches for powering the winch.
  • the number of winches can be multiple, respectively, and one main winch Synchronization to achieve multi-rolling synchronization
  • FIG. 1 shows that the second hoist 201 is counted by the encoder, converted by the second controller 202 into a second count difference, and the comparator 301 will first hoist 101. After being counted by the encoder, the first count difference converted by the first controller 102 is compared with the second count difference, and the comparison result is sent to the synchronization controller 401. If the first count difference is large, the description If the speed of a roll is fast, the second roll 201 will be speeded up. Otherwise, the second roll 201 will be slowed down.
  • the power supply device includes two engines for providing different magnitudes of power, including: a first gear power driven by the first engine; a second gear power driven by the second engine; The third gear is driven by the first engine and the second engine at the same time.
  • This provides three different power levels with two engines.
  • three different engines can be used to independently provide three different sizes of power and provide four-speed combined power.
  • a multi-speed selector switch for selecting different gear positions of the multi-speed power is provided for facilitating operation of the control device of the present invention.
  • the present invention employs two engines in parallel with the hydraulic oil circuit, each of which The engine is provided with an electromagnetic valve, and whether the passage is controlled by software, specifically, the gear position of the switch is first determined, and the corresponding electromagnetic valve is controlled according to the gear position of the switch, thereby realizing the corresponding power size.
  • the skilled person can implement according to the prior art, and details are not described herein.
  • FIG. 1 includes the following steps:
  • the synchronous switch is selected to be effective. Regardless of the power system, a synchronous control switch is used, and the operation cylinder is single and convenient;
  • the reel count value before each hoisting encoder is rotated is recorded and saved as an initial value.
  • the preset threshold is 100.
  • a main winch is determined, and the rotational speed is used as a reference value for the other winch rotational speed.
  • the first winch 101 may be used as the main Hoisting, several other winches are referenced to the main hoisting speed, and the other hoisting and main hoisting are prioritized while keeping the main hoist as far as possible.
  • FIG. 2 there is shown a crane including the multi-winding synchronization control device described above, which includes:
  • At least two power containers (refer to the left power container 601 in FIG. 2), one engine is installed in each power container (refer to the first engine 701 in FIG. 2), and the first engine 701 and the second engine 702 are used not only for The hoisting provides power and also provides power to the crane for lifting and lifting.
  • Each of the winches is provided with an encoder and a controller (not shown in Fig. 2); a cab 901 is provided with a synchronous control switch so that the operator can perform synchronous control in the cab 901.
  • the at least two power containers are respectively installed on both sides of the crane.
  • the left power container 601 and the right power container 602 are symmetrically mounted on both sides of the crane.
  • a plurality of selector switches are provided in the cab 901 for selecting to start different engines. Such variations do not affect the substance of the present invention and will not be described herein.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

La présente invention a trait à un dispositif et à un procédé de commande de synchronisation de plusieurs treuils et à une grue comprenant le dispositif. Le dispositif comprend : au moins deux treuils (101, 102), chaque treuil étant entraîné par un moteur (501, 502) et effectuant un comptage à l'aide d'un codeur, chaque codeur étant connecté à un organe de commande (102, 202), l'organe de commande étant utilisé de manière à lire une valeur en cours du codeur et de manière à soustraire une valeur initiale à la valeur en cours en vue d'obtenir une différence de comptage de la rotation de la bobine ; un comparateur (301), qui est doté d'extrémités d'entrée qui sont connectées respectivement aux organes de commande, et qui est utilisé de manière à comparer les différences de comptage qui sont obtenues par les différents organes de commande ; un organe de commande de synchronisation (401), qui est connecté à une extrémité de sortie du comparateur, qui est doté d'extrémités de sortie qui sont connectées respectivement aux moteurs, et qui est utilisé de manière à régler la vitesse de chaque moteur en fonction du résultat de la comparaison de l'organe de commande ; un commutateur de commande de synchronisation, qui est utilisé de manière à démarrer la commande de synchronisation en vue de synchroniser de multiples treuils ; et un dispositif d'alimentation électrique, qui est utilisé de manière à fournir de l'énergie aux treuils. La présente invention est facile à utiliser, sûre et fiable, et le dispositif de commande est simple.
PCT/CN2012/073751 2011-10-28 2012-04-11 Dispositif de commande et procédé de commande de synchronisation de plusieurs treuils et grue comprenant le dispositif WO2013060120A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201110332901.7A CN102408065B (zh) 2011-10-28 2011-10-28 多卷扬同步控制装置及控制方法及包括该装置的起重机
CN201110332901.7 2011-10-28

Publications (1)

Publication Number Publication Date
WO2013060120A1 true WO2013060120A1 (fr) 2013-05-02

Family

ID=45910474

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2012/073751 WO2013060120A1 (fr) 2011-10-28 2012-04-11 Dispositif de commande et procédé de commande de synchronisation de plusieurs treuils et grue comprenant le dispositif

Country Status (2)

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CN (1) CN102408065B (fr)
WO (1) WO2013060120A1 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102874706B (zh) * 2012-09-28 2015-05-13 三一重工股份有限公司 多个卷扬的同步系统
CN102878129B (zh) * 2012-09-28 2015-06-10 三一重工股份有限公司 液压系统
CN102874705A (zh) * 2012-09-28 2013-01-16 三一重工股份有限公司 多个卷扬的同步控制系统及方法
CN103112782A (zh) * 2013-02-28 2013-05-22 徐工集团工程机械股份有限公司 多卷扬系统的同步控制装置及方法
CN103523701B (zh) * 2013-10-28 2016-04-13 北京南车时代机车车辆机械有限公司 多卷扬同步的控制方法及控制系统
CN110921538A (zh) * 2019-12-23 2020-03-27 三一汽车起重机械有限公司 卷扬系统及起重机
CN114104978B (zh) * 2021-10-26 2023-05-23 湖南三一中型起重机械有限公司 双卷扬同步控制方法、装置、作业机械、设备及介质
CN114057106B (zh) * 2021-10-28 2023-08-01 湖南三一中型起重机械有限公司 一种双卷扬乱绳识别方法、装置和计算机可读存储介质
CN114183257B (zh) * 2021-12-21 2024-05-28 上海中联重科桩工机械有限公司 发动机控制装置及发动机控制方法
CN115402934B (zh) * 2022-08-15 2023-08-11 中铁九桥工程有限公司 一种架梁起重机的控制系统及控制方法

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US3847251A (en) * 1972-03-21 1974-11-12 Lucas Aerospace Ltd Control apparatus for a powered hoist
JPH08217378A (ja) * 1995-02-08 1996-08-27 Mitsubishi Electric Corp クレーンの制御装置
CN2284774Y (zh) * 1997-01-28 1998-06-24 李唯谊 卷扬机无线遥控装置
CN1396107A (zh) * 2002-08-30 2003-02-12 新乡市起重设备厂 多吊点同步起重机
CN200946069Y (zh) * 2006-08-18 2007-09-12 上海三一科技有限公司 履带起重机主副卷扬同步控制装置
CN201105950Y (zh) * 2007-08-08 2008-08-27 长沙中联重工科技发展股份有限公司 一种起重机双卷扬单钩的控制同步装置
CN102079484A (zh) * 2010-02-26 2011-06-01 上海海事大学 双起升场桥双吊具同步控制系统

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US7445240B2 (en) * 2002-12-27 2008-11-04 Hitachi Construction Machinery Co., Ltd. Drive device of hydraulic cylinder for working
CN101104501B (zh) * 2007-06-29 2010-09-08 大连华锐股份有限公司 双主梁多吊点起重机

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3847251A (en) * 1972-03-21 1974-11-12 Lucas Aerospace Ltd Control apparatus for a powered hoist
JPH08217378A (ja) * 1995-02-08 1996-08-27 Mitsubishi Electric Corp クレーンの制御装置
CN2284774Y (zh) * 1997-01-28 1998-06-24 李唯谊 卷扬机无线遥控装置
CN1396107A (zh) * 2002-08-30 2003-02-12 新乡市起重设备厂 多吊点同步起重机
CN200946069Y (zh) * 2006-08-18 2007-09-12 上海三一科技有限公司 履带起重机主副卷扬同步控制装置
CN201105950Y (zh) * 2007-08-08 2008-08-27 长沙中联重工科技发展股份有限公司 一种起重机双卷扬单钩的控制同步装置
CN102079484A (zh) * 2010-02-26 2011-06-01 上海海事大学 双起升场桥双吊具同步控制系统

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CN102408065B (zh) 2014-07-23
CN102408065A (zh) 2012-04-11

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