WO2013086884A1

WO2013086884A1 - Rotatable engineering machinery and method and device for controlling rotation thereof

Info

Publication number: WO2013086884A1
Application number: PCT/CN2012/082123
Authority: WO
Inventors: 詹纯新; 刘权; 张建军; 李义
Original assignee: 中联重科股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2011-12-15
Filing date: 2012-09-27
Publication date: 2013-06-20
Also published as: CN102491177A; CN102491177B

Abstract

Disclosed are a method and a device for controlling the rotation of rotatable engineering machinery, used for solving the problem of low stability when there is a change in the rotational speed of a crane in the prior art. The method comprises: saving the rotating set information comprising the target rotating tangential acceleration (A1, A2, A3, A4) corresponding to the operating radius (R1, R2, R3, R4) of the engineering machinery respectively; after receiving a rotation activation command, determining the present target rotating tangential acceleration according to the present operating radius of the engineering machinery and the rotation set information; and controlling the rotation of the engineering machinery according to the present target rotating tangential acceleration. The method and the device aid in preventing the influence of additional rotating dynamic bending moment on the stability of the whole machine, such that the operating safety of the engineering machinery is improved.

Description

TECHNICAL FIELD The present invention relates to the field of engineering machinery control technologies, and in particular, to a swingable construction machine and a method and apparatus for the same. BACKGROUND OF THE INVENTION Cranes are a common construction machine. For various cranes, there are usually legs, swivels, and booms. The boom head can be connected to the weight by wire ropes for lifting work. As shown in Fig. 1, Fig. 1 is a schematic view of a hoisting and swinging structure of a crane according to the prior art. The leg 11, the swivel platform 12, the boom 13, the boom head 14, the sling 15 connected between the boom head and the weight, and the sling 16 are shown in Fig. 1 . During the turning process, the slewing platform rotates about a straight line L which is perpendicular to the plane of revolution and passes through the center of revolution 0 of the slewing platform. In the related art, in order to ensure smooth operation, the maximum swing speed of the boom is usually controlled. In the process of realizing the present invention, the inventors have found that the change in the rotational speed also has a large influence on the smoothness of the crane. When the rotational speed changes, the control effect of the control method in the related art is not good. For the related art, the stability of the crane when the speed of rotation changes is low, and an effective solution has not been proposed for this problem. SUMMARY OF THE INVENTION A primary object of the present invention is to provide a slewing engineering machine and a slewing control method and apparatus thereof, which solve the problem of low stability of a crane when a slewing speed changes in the prior art. In order to achieve the above object, according to an aspect of the present invention, a method of controlling a swing of a swingable construction machine is provided. The method for controlling the swing of the swingable construction machine of the present invention comprises: storing the swing setting information, wherein the swing setting information includes a target tangential tangential acceleration corresponding to each of the working radii of the construction machine; after receiving the swing start command And determining, according to the current working radius of the construction machine and the rotation setting information, a current target tangential tangential acceleration; and controlling the rotation of the construction machine according to the current target tangential acceleration. Further, the determining the current target tangential tangential acceleration comprises: determining whether the current working radius of the construction machine is included in the rotation setting information; and if so, the current working radius of the construction machine is in the slewing Corresponding target tangential tangential acceleration in the setting information is used as the current target tangential tangential acceleration; otherwise, in the interval formed by the two working radius values of the slewing setting information closest to the current working radius of the construction machine, A rotational tangential acceleration is determined using linear interpolation and used as the current target rotational tangential acceleration. Further, the target rotary tangential acceleration in the rotation setting information is obtained as follows: Step A, according to W A+B+C, C=(M _y +M)/D,

F _a =(Q+Qi) ^x J _m F _al =Q ₂ xJ _m determines a maximum value of J _m , where: [σ] represents the allowable maximum stress of the boom under a preset crane operating radius, Α The axial stress of the boom, B is the stress in the direction of the boom, M _y represents the bending moment of the plane of rotation given in the national standard GB/T3811-2008, D represents the modulus of each section of the boom, and f represents the boom In the deflection of the plane of revolution, ft represents the deflection of the center of mass of the boom in the plane of revolution, Q represents the mass of the weight, and represents the equivalent mass of the suspension point of the boom in addition to the weight of the crane at the predetermined working radius. , J _m represents the rotational tangential acceleration, Q ₂ represents the crane equivalent mass at the predetermined working radius; step B, a maximum value of J _m determined in step A is taken as the swing setting A value of the target tangential acceleration in the information is repeated; steps A and B are repeated to obtain a plurality of values of the plurality of target tangential accelerations. Further, the construction machine is a crane. According to another aspect of the invention, an apparatus for controlling the swing of a swingable construction machine is provided. The device for controlling the swing of the swingable engineering machine of the present invention comprises: a storage module, configured to store the swing setting information, wherein the swing setting information includes a target rotary tangential acceleration corresponding to each of the working radiuses of the engineering machine; And determining, after receiving the swing start command, determining a current target tangential tangential acceleration according to the current working radius of the construction machine and the swing setting information; and a control module, configured to rotate the tangential acceleration pair according to the current target The rotation of the construction machine is controlled. Further, the determining module is further configured to: determine whether the current working radius of the construction machine is included in the rotation setting information; if yes, the current working radius of the construction machine is in a corresponding target rotation in the rotation setting information The tangential acceleration is used as the current target tangential tangential acceleration; otherwise, within the interval formed by the two working radius values of the slewing setting information closest to the current working radius of the construction machine, a linear interpolation method is used to determine one Rotating the tangential acceleration and turning the tangential acceleration as the current target. Further, a calculation module is further configured to obtain a value of the target rotary tangential acceleration in the swing setting information according to the following manner: Step A, according to W A+B+C,

F _a =(Q+Qi) ^x Jm F _al =Q ₂ xJ _m determines a maximum value of J _m , where: [σ] represents a preset one The maximum allowable stress is allowed for the boom under the working radius of the heavy machine, A represents the axial stress of the boom, B represents the directional stress of the boom, and M _y represents the bending moment of the plane of rotation given in the national standard GB/T3811-2008. D represents the modulus of each section of the boom, f represents the deflection of the boom in the plane of revolution, ft represents the deflection of the center of mass of the boom in the plane of revolution, Q represents the mass of the weight, indicating that the crane is de-weighted under the preset working radius The equivalent mass caused by the suspension point of the boom outside the object, ^ denotes the tangential acceleration of the revolution, and Q ₂ denotes the equivalent mass of the boom at the predetermined working radius of the crane; Step B, which is determined in step A One of the maximum values is a value of the target rotary tangential acceleration in the swing setting information; steps A and B are repeated to obtain a plurality of values of the plurality of target rotary tangential accelerations. According to still another aspect of the present invention, there is provided a swingable construction machine comprising the apparatus for controlling the swing of a swingable construction machine of the present invention. Further, the swingable construction machine is a crane. According to the technical solution of the present invention, by setting the target tangential tangential acceleration corresponding to the working radius of the construction machine, it is ensured that the tangential acceleration does not exceed the preset value during the operation, thereby helping to avoid the additional dynamic bending moment for the rotation. The impact of the stability of the vehicle improves the safety of construction machinery. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are intended to provide a further understanding of the invention BRIEF DESCRIPTION OF THE DRAWINGS In the drawings: Figure 1 is a schematic view of a lifting and swiveling structure of a crane according to the prior art; Figure 2 is a schematic view showing the main steps of a method of controlling the turning of a swingable construction machine according to an embodiment of the present invention; A schematic diagram of a plurality of rotary tangential accelerations according to an embodiment of the present invention; and FIG. 4 is a schematic diagram of a basic structure of a device for controlling the swing of a swingable construction machine according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments. 2 is a schematic diagram showing the main steps of a method for controlling the swing of a swingable construction machine according to an embodiment of the present invention. As shown in FIG. 2, the method mainly includes the following steps: Step S21: Saving the swing setting information. Here, the rotation setting information includes the target rotary tangential acceleration corresponding to each of the working radiuses of the plurality of construction machines. Step S23: Receive a swing start command. Step S25: determining the current target tangential tangential acceleration according to the current working radius of the construction machine and the rotation setting information. Step S27: Control the rotation of the construction machine according to the current target rotary tangential acceleration determined in step S25. In step S21, for the plurality of working radii of the construction machine, one target tangential tangential acceleration is saved for each of the working radii. A plurality of turning speeds corresponding to the time values may be saved for a set time value to form a graph as shown in FIG. 3 is a schematic illustration of multiple rotational tangential accelerations in accordance with an embodiment of the present invention. Each of the graphs in Figure 3 corresponds to a tangential acceleration, and the acceleration J _ML is shown in Figure 3.

Jm4. If the current working radius of the construction machine is in the set rotation setting information, the rotary tangential acceleration corresponding to the current working radius in the rotation setting information can be directly controlled, otherwise the current operation of the construction machine can be closest in the rotation setting information. Within the interval formed by the two operating radius values of the radius, a rotational tangential acceleration is determined using linear interpolation and used as the current target tangential acceleration. For example, setting the radius of gyration

Rl, R2, R3, and R4 correspond to the target rotary tangential accelerations Al, A2, A3, and A4, respectively. The current radius of gyration R23 satisfies R2<R23<R3, and the target tangential tangential acceleration corresponding to the Bay U R23 is (A3 - A2) x(R23 - R2) / (R3 - R2) + A2. The technical solution of this embodiment will be further described below by taking a crane as an example. In the swivel setting information, the setting of the target tangential acceleration takes into account the additional dynamic bending moment, which is explained below. In this embodiment, the calculation is carried out in conjunction with the national standard GB/T3811-2008. In the national standard GB/T3811-2008, the overall stability calculation formula of the boom is:

[G] ^A+B+C ( 1 ) where: [σ] indicates that the crane is allowed to have maximum stress at a preset working radius; Α indicates axial stress of the boom; B indicates stress in the direction of the boom; C represents the stress in the direction of rotation of the boom. A and B can be calculated according to the formula in the national standard GB/T3811-2008. For C, additional dynamic bending moments are added in this embodiment, namely:

C=(M _y +M)/D, where M _y represents the bending moment of the plane of rotation given in the national standard GB/T3811-2008; D represents the modulus of each section of the boom; M represents the present embodiment The additional dynamic bending moment given is calculated as follows:

M=F _a xf+F _a ixfi where: f represents the deflection of the boom in the plane of revolution, and ft represents the deflection of the center of mass of the boom in the plane of revolution;

F _a represents the tangential force formed by the weight and equivalent mass under the influence of the tangential acceleration of the revolution. The formula is as follows: F _a =(Q+Q xj _m where: Q represents the weight of the weight; The equivalent mass caused by the suspension point of the boom except the weight under the working radius, indicating the tangential acceleration of the revolution;

F _al represents the tangential force formed by the crane under the influence of J _m under the above-mentioned preset working radius. The calculation formula is as follows:

Where: Q ₂ represents the equivalent mass of the boom at the preset operating radius of the crane. Thus, in combination with the above formulas, the maximum tangential tangential acceleration corresponding to the preset working radius of the crane can be determined according to the formula (1), and the maximum tangential tangential acceleration can be used as the slewing setting information corresponding to the preset. The target trajectory tangential acceleration of a working radius. Similarly, the corresponding target tangential tangential acceleration can be obtained according to the preset other working radius. The above calculations can be carried out in the International System of Units or in other units. In this embodiment, the current output by the control handle operated by the crane driver for controlling the swing speed can be directly used to control the displacement of the oil pump, and the hydraulic motor uses a constant displacement motor. In the case where the output current causes the rotational tangential acceleration to be greater than the rotational tangential acceleration in the swing setting information, the control is performed according to the rotary tangential acceleration in the swing setting information, otherwise the output current is still controlled. In addition, the hydraulic motor can also be controlled according to the current. In this case, the output current signal of the control handle is processed and used to control the displacement of the oil pump and the motor, and can be controlled by the existing volumetric speed control method. . 4 is a schematic diagram of the basic structure of an apparatus for controlling the swing of a swingable construction machine according to an embodiment of the present invention. As shown in FIG. 4, the apparatus 40 for controlling the swing of the swingable construction machine mainly includes a storage module 41, a determination module 42, and a control module 43. The storage module 41 is configured to store the rotation setting information, wherein the rotation setting information includes a target rotary tangential acceleration corresponding to each of the working radiuses of the plurality of construction machines; and the determining module 42 is configured to: after receiving the rotation starting instruction, according to the current engineering machinery The working radius and the turning setting information determine the current target turning tangential acceleration; the control module 43 is configured to control the turning of the construction machine according to the current target turning tangential acceleration. The determining module 42 is further configured to determine whether the current working radius of the engineering machine is included in the swing setting information; if yes, the current target working radius of the engineering machine in the swing setting information is the current target turning tangential acceleration; Otherwise, in the interval formed by the two working radius values closest to the current working radius of the construction machine in the swing setting information, a rotary tangential acceleration is determined by linear interpolation and used as the current target tangential acceleration. The device 40 for controlling the rotation of the swingable construction machine may further include a calculation module (not shown) for deriving the value of the target rotary tangential acceleration in the rotation setting information according to the following manner: Step A, according to [σ] A+B+C, C=(M _y +M)/D,

F _a =(Q+Qi) xj _m , F _al =Q ₂ xJ _m determines a maximum value of J _m , where: [σ] represents the maximum allowable stress of the boom under a preset crane operating radius, Α The axial stress of the boom, B represents the directional stress of the boom, M _y represents the bending moment of the plane of rotation given in the national standard GB/T3811-2008, D represents the modulus of each section of the boom, and f represents the boom In the deflection of the plane of revolution, ft represents the deflection of the center of mass of the boom in the plane of revolution, Q represents the mass of the weight, (^ represents the crane caused by the suspension point of the crane in addition to the weight at the predetermined working radius Effective mass, ^ denotes the rotary tangential acceleration, Q ₂ denotes the equivalent mass of the crane at the preset working radius; Step B, the maximum value of ^ determined in step A is taken as the swing setting a value of the target tangential acceleration in the information; repeating steps A and B to obtain a plurality of values of the plurality of target tangential accelerations. The construction machine in this embodiment is a swingable construction machine. Which includes the embodiment The device for controlling the rotation of the swingable engineering machine may be a crane. According to the technical solution of the embodiment of the invention, the target tangential tangential acceleration corresponding to the working radius of the construction machine is set, thereby ensuring the operation process. The medium tangential acceleration does not exceed the preset value, thereby helping to avoid the influence of the rotating dynamic bending moment on the stability of the whole vehicle, and improving the safety of the construction machinery operation. Obviously, those skilled in the art should understand that the above-mentioned The various modules or steps of the invention may be implemented by a general-purpose computing device, which may be centralized on a single computing device or distributed across a network of computing devices, optionally, they may be executed by a computing device Program code to implement, thus, can Storing them in a storage device is performed by a computing device, or they are separately fabricated into individual integrated circuit modules, or a plurality of modules or steps thereof are fabricated into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software. The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

A method of controlling the rotation of a rotatable construction machine, comprising:

And storing the rotation setting information, wherein the rotation setting information includes a target tangential tangential acceleration corresponding to each of the working holes of the plurality of construction machines;

After receiving the swing start command, determining a current target tangential tangential acceleration according to the current working radius of the construction machine and the return setting information;

The rotation of the construction machine is controlled according to the current target rotary tangential acceleration.

2. The method according to claim 1, wherein the determining the current target rotational tangential acceleration comprises:

Determining whether the current working radius of the construction machine is included in the rotation setting information; if yes, the current working radius of the construction machine is the target target tangential tangential acceleration in the rotation setting information as the current target rotation Tangential acceleration

Otherwise, within the interval formed by the two working radius values of the turning operation setting information closest to the current working radius of the construction machine, a rotary tangential acceleration is determined by linear interpolation and is used as the current target tangential tangential direction Acceleration.

3. The method according to claim 1, wherein the target return tangential acceleration in the swing setting information is obtained as follows:

Step A, according to [o] ≥ A + B + C, C = (M _y + M) / D,

F _a =(Q+Qi) xj _m F _al =Q ₂ xJ _m determines a maximum value of J _m , where:

[σ] indicates the maximum allowable stress of the boom under a preset working radius of the crane, Α indicates the axial stress of the boom, B indicates the stress in the direction of the boom, and M _y indicates the national standard GB/T3811-2008. The bending moment of the plane of rotation, D represents the modulus of each section of the boom, f represents the deflection of the boom in the plane of rotation, ft represents the deflection of the center of mass of the boom in the plane of revolution, Q represents the mass of the weight, indicating that the crane is in the advance The equivalent mass caused by the suspension point of the boom in addition to the weight under the set working radius, J _m represents the rotational tangential acceleration, and Q ₂ represents the equivalent mass of the crane at the predetermined working radius; Step B, taking a maximum value of J _m determined in step A as a value of the target rotary tangential acceleration in the rotation setting information;

Steps A and B are repeated to obtain a plurality of values of the plurality of target tangential accelerations.

4. Method according to claim 1, 2 or 3, characterized in that the construction machine is a crane.

5. A device for controlling the rotation of a rotatable construction machine, comprising:

a storage module, configured to store the rotation setting information, where the rotation setting information includes a target rotary tangential acceleration corresponding to each of the working radiuses of the engineering machines;

a determining module, configured to determine a current target tangential tangential acceleration according to a current working radius of the construction machine and the turning setting information after receiving the turning start command;

And a control module, configured to control the rotation of the construction machine according to the current target rotary tangential acceleration.

The device according to claim 5, wherein the determining module is further configured to: determine whether the current working radius of the construction machine is included in the rotation setting information; if yes, the current engineering machine a working radius of the target in the rotation setting information corresponding to the target turning tangential acceleration as the current target turning tangential acceleration;

The apparatus according to claim 5 or 6, further comprising a calculation module, configured to obtain a value of the target rotary tangential acceleration in the rotation setting information according to the following manner:

Step A, according to [o] ≥ A + B + C, C = (M _y + M) / D,

A rotatable construction machine comprising the apparatus for controlling the rotation of a swingable construction machine according to claim 5, 6 or 7.

9. The swingable construction machine according to claim 8, wherein the swingable construction machine is a crane.