WO2023123774A1

WO2023123774A1 - Rotary power failure anti-lock method and system, tower crane, and storage medium

Info

Publication number: WO2023123774A1
Application number: PCT/CN2022/089771
Authority: WO
Inventors: 李阳阳; 田清文; 李杨
Original assignee: 湖南三一塔式起重机械有限公司
Priority date: 2021-12-30
Filing date: 2022-04-28
Publication date: 2023-07-06
Also published as: CN114408750B; CN114408750A

Abstract

Provided are a rotary power failure anti-lock method, system, tower crane, and storage medium, comprising: controlling a brake to be powered when rotation is started, so that the brake is switched to a gate-open state; after the brake is kept in a gate-open state, controlling a wind vane coil to be powered so as to enable the wind vane coil to attract a blocking iron plate; after the wind vane coil attracts the blocking iron plate, controlling the brake to power off; when the power supply is powered off, controlling a frequency converter to reduce the output frequency to a preset frequency threshold range such that the motor enters a braking state to brake a rotating mechanism. The problem of an existing tower crane being suddenly powered off during rotary motion, a brake immediately braking the rotating mechanism, causing a crane boom and a balance arm to shake intensely due to inertia, is solved.

Description

Slewing power loss anti-lock braking method, system, tower crane and storage medium

technical field

The present invention relates to the field of engineering machinery, and in particular to a method and system for anti-locking when power is lost in rotation, a tower crane and a computer-readable storage medium.

Background technique

Tower cranes are referred to as tower cranes for short, and also known as tower cranes, which refer to rotating cranes whose booms are mounted on the upper part of a towering tower. Existing tower cranes are generally equipped with normally closed brakes, and the slewing mechanism is braked by using the normally closed brakes. However, if the power is suddenly cut off during the slewing motion, the tower crane will immediately slew and brake because the brake coil is de-energized, and the slewing mechanism will be locked suddenly under motion. The huge inertia of the jib and balance jib will cause severe impact, causing the entire tower crane including the jib and hook to shake violently, seriously affecting the safety of equipment and surrounding personnel.

Contents of the invention

The main purpose of the present invention is to provide a method, system, tower crane and computer-readable storage medium for anti-lock braking when the power is lost in rotation, aiming at solving the problem of sudden power failure during the rotation of existing tower cranes, and the brake will immediately stop the rotation mechanism. The movement will cause the boom and balance arm to vibrate strongly due to inertia.

In order to achieve the above object, the present invention provides an anti-lock braking method for power loss during rotation, which includes the following steps:

When the slewing is started, the control brake is energized so that the brake is switched to the open state;

After the brake remains in the open state, control the wind vane coil to be energized so that the wind vane coil is attracted to the iron stopper;

After the wind vane coil is attracted to the iron stopper, the control brake is de-energized;

When the power supply is cut off, the frequency converter is controlled to reduce the output frequency to within the preset frequency threshold range, so that the motor enters a braking state to brake the slewing mechanism.

Optionally, after the wind vane coil is attracted to the iron stopper, after the step of controlling the power-off of the brake, the step further includes:

When receiving the normal rotation braking signal, the control brake is energized and the wind vane coil is de-energized, so that the iron stopper is released and reset;

When the iron stopper is released and reset and the brake signal sent by the frequency converter is received, the brake is controlled to be powered off so that the brake enters the brake state.

When the emergency braking signal is received, the control brake is energized and the wind vane coil is de-energized, so that the iron stopper is released and reset;

After the iron stopper is released and reset, the control brake is powered off, so that the brake enters the brake state.

Optionally, after the wind vane coil is attracted to the iron stopper, the step of controlling the power-off of the brake includes:

After the wind vane coil is attracted to the iron stop piece, the power loss of the brake and the power loss of the wind vane coil are sequentially controlled.

Optionally, after the wind vane coil is attracted to the iron stopper, after the steps of sequentially controlling the power-off of the brake and the power-off of the wind vane coil further include:

When receiving the normal rotation braking signal, the control brake is energized so that the iron stopper is released and reset;

Optionally, after the iron stopper is released and reset and the brake signal sent by the frequency converter is received, the step of controlling the power-off of the brake so that the brake enters the brake state includes:

When the iron stopper is released and reset and the brake signal sent by the frequency converter is received for the first preset time, the brake is controlled to be powered off so that the brake enters the brake state.

When the emergency brake signal is received, the control brake is energized so that the iron stopper is released and reset;

In order to achieve the above purpose, the present invention also provides an anti-lock braking system for power loss during rotation, the system includes:

The first brake power-on module is used to control the power-on of the brake so that the brake is switched to the open state when the rotation is started;

The first wind vane coil energization module is used to control the wind vane coil to be energized after the brake is kept in the open state, so that the wind vane coil attracts the iron stop;

The first power-off module is used to control the power-off of the brake after the wind vane coil is attracted to the iron stopper;

The first braking module is used to control the frequency converter to reduce the output frequency to within the preset frequency threshold range when the power supply is cut off, so that the motor enters a braking state to brake the slewing mechanism.

In order to achieve the above object, the present invention also provides a tower crane, which includes a wind vane coil, an iron barrier, a brake, a frequency converter, a motor, a memory, a processor and stored in the memory and can be A computer program running on the processor, when the computer program is executed by the processor, the steps of the anti-lock braking method for power loss during rotation as described above are realized.

In order to achieve the above object, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned power-off anti-lock braking method steps.

The anti-locking method and system, the tower crane and the computer-readable storage medium proposed by the present invention control the brake to be energized when starting by turning, so that the brake is switched to the open state; the brake remains in the open state Finally, control the wind vane coil to be energized so that the wind vane coil attracts the iron stopper; after the wind vane coil attracts the iron stopper, control the brake to lose power; when the power is cut off, control the frequency converter to reduce the output frequency to the preset value Within the frequency threshold range, the motor enters the braking state to brake the slewing mechanism. In the braking state, part of the mechanical energy of the motor is converted into electrical energy and fed back to the inverter bus to maintain the normal operation of the inverter until the inverter's power is exhausted, and the other part of the mechanical energy is consumed with the inertial motion of the slewing mechanism. Since part of the mechanical energy of the motor is converted into electrical energy and consumed by the frequency converter, only part of the mechanical energy of the motor is consumed by the inertial motion of the slewing mechanism, thereby reducing the inertial motion time of the slewing mechanism and greatly reducing the parking distance, realizing slow soft parking and avoiding immediate locking. possible danger.

Description of drawings

Fig. 1 is a schematic flow chart of the first embodiment of the anti-lock braking method for power loss in rotation according to the present invention;

Fig. 2 is a schematic flow chart of the second embodiment of the anti-lock braking method for power loss in rotation according to the present invention;

Fig. 3 is a schematic flow chart of the third embodiment of the anti-lock braking method for power loss in rotation according to the present invention;

Fig. 4 is a schematic flow chart of the fourth embodiment of the anti-lock braking method for power loss in rotation according to the present invention;

Fig. 5 is a schematic flow chart of the fifth embodiment of the anti-lock braking method for power loss in rotation according to the present invention;

Fig. 6 is a schematic flow chart of the sixth embodiment of the anti-lock braking method for power loss in rotation according to the present invention;

Fig. 7 is a schematic diagram of the functional modules of the anti-lock braking system for power loss in rotation according to the present invention.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In each embodiment of the present invention, the tower crane includes wind vane coils, iron barriers, brakes, frequency converters, motors, communication modules, memory and processors, and the frequency converters are connected to the motors. Those skilled in the art will appreciate that the tower crane may also include more or fewer components than shown, or combine certain components, or arrange different components. Wherein, the processor is respectively connected to the memory and the communication module, and a computer program is stored in the memory, and the computer program is executed by the processor at the same time.

The communication module can be connected with external devices through the network. The communication module can receive data sent by external devices, and can also send data, instructions and information to the external devices. The external devices can be base stations, other tower cranes, mobile phones, tablet computers, notebook computers, desktop computers and other equipment.

Memory, which can be used to store software programs as well as various data. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, etc.; the data storage area may store data or information created according to the use of the tower crane, etc. . In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices.

The processor, which is the control center of the tower crane, uses various interfaces and lines to connect various parts of the entire tower crane, including connecting wind vane coils, brakes, frequency converters, motors, etc., by running or executing the software stored in the memory Programs and/or modules, as well as calling data stored in memory, execute various functions of the tower crane and process data, thereby performing overall monitoring of the tower crane. The processor can include one or more processing units, and the processor can integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application programs, and the modem processor mainly processes wireless communication. It can be understood that the foregoing modem processor may not be integrated into the processor.

Although not shown in FIG. 1 , the above-mentioned tower crane may also include a circuit control module, which is used to connect with the mains to realize power control and ensure the normal operation of other components.

Those skilled in the art can understand that the structure of the tower crane shown in Figure 1 does not constitute a limitation to the tower crane, and may include more or less components than those shown in the illustration, or combine certain components, or different components layout.

According to the above hardware structure, various embodiments of the method of the present invention are proposed.

Referring to Fig. 1, in the first embodiment of the anti-lock braking method for power loss in rotation according to the present invention, the anti-lock braking method for power loss in rotation includes the following steps:

Step S10, when the slewing is started, the brake is controlled to be energized, so that the brake is switched to the open state;

In this scheme, when the tower crane driver operates the rotary operation handle from the zero gear to the non-zero gear to trigger the rotary start, or the tower crane operator operates the rotary start button to trigger the rotary start, the brake will be controlled to be powered on. After the brake is powered on, it will enter In the open state, the slewing mechanism is in a non-braking state and can perform slewing motion.

Step S20, after the brake remains in the open state, the wind vane coil is controlled to be energized so that the wind vane coil is attracted to the iron stop;

When the brake remains in the open state, the wind vane coil will be energized immediately, so that the wind vane coil will attract the iron stop, and the iron stop will be attracted from the initial position to the bottom of the brake. It should be noted that, in order to ensure that the brake is in the open state, before the wind vane coil is energized, the brake will be controlled to remain in the open state for a first preset time, and the first preset time can be 1s or 3s, here The time is not limited. Or when it is detected that the speed of the slewing mechanism is greater than or equal to the preset speed threshold, or when the slewing gear meets the preset gear condition, for example, when the gear reaches the third gear, the wind vane coil is controlled to be energized.

Step S30, after the wind vane coil is attracted to the iron stopper, the brake is controlled to be de-energized;

When the wind vane coil is attracted to the iron stopper, the brake is controlled to be de-energized, and the brake will automatically fall when the power is off. At this time, the brake is under the iron stopper, and the brake cannot fall completely, and is stuck by the iron stopper below, so that the brake will If the power is off, it cannot enter the brake state, that is, the slewing mechanism cannot be braked.

In order to ensure that the iron stopper is attracted by the wind vane coil to be located under the brake, the wind vane coil is kept energized for a preset time, and the brake is controlled to be de-energized after the wind vane coil is powered for a preset time.

Step S40, when the power supply is cut off, the frequency converter is controlled to reduce the output frequency to within the preset frequency threshold range, so that the motor enters a braking state to brake the slewing mechanism.

When the tower crane suddenly loses power, the power supply voltage will drop suddenly, and when it is detected that the power supply voltage drops to the preset voltage threshold, it will determine that the power supply is powered off. Although the power is suddenly cut off, the wind vane coil loses power, and the wind vane coil loses its ability to attract the iron stop, but the brake and the iron stop are mutually restrained at this time, the iron stop cannot be reset, and the brake cannot completely fall into the brake At this time, the inverter will be controlled to reduce the output frequency to the preset frequency threshold range. At this time, the motor enters the braking state. In the braking state, part of the mechanical energy of the motor is converted into electrical energy and fed back to the inverter bus to maintain the normal operation of the inverter until The power of the frequency converter is exhausted, and another part of the mechanical energy is consumed with the inertial motion of the slewing mechanism. Since part of the mechanical energy of the motor is converted into electrical energy and consumed by the frequency converter, only part of the mechanical energy of the motor is consumed by the inertial motion of the slewing mechanism, thereby reducing the inertial motion time of the slewing mechanism and greatly reducing the parking distance, realizing slow soft parking and avoiding immediate locking. possible danger.

In this embodiment, when starting by turning, the brake is controlled to be energized so that the brake is switched to the open state; after the brake is kept in the open state, the wind vane coil is controlled to be energized so that the wind vane coil is attracted to the iron block; the wind vane coil After the iron stopper is attracted, the brake is controlled to lose power; when the power is cut off, the frequency converter is controlled to reduce the output frequency to within the preset frequency threshold range, so that the motor enters the braking state to brake the slewing mechanism. In the braking state, part of the mechanical energy of the motor is converted into electrical energy and fed back to the inverter bus to maintain the normal operation of the inverter until the inverter's power is exhausted, and the other part of the mechanical energy is consumed with the inertial motion of the slewing mechanism. Since part of the mechanical energy of the motor is converted into electrical energy and consumed by the frequency converter, only part of the mechanical energy of the motor is consumed by the inertial motion of the slewing mechanism, thereby reducing the inertial motion time of the slewing mechanism and greatly reducing the parking distance, realizing slow soft parking and avoiding immediate locking. possible danger.

Further, please refer to FIG. 2 . FIG. 2 is a second embodiment of the anti-lock braking method for power-off rotation according to the first embodiment of the anti-lock braking method for power-off rotation in this application. In this embodiment, step S30 After that include:

Step S50, when the normal rotation braking signal is received, the control brake is energized and the wind vane coil is de-energized, so that the iron stopper is released and reset;

Step S51 , when the iron stopper is released and reset and the brake signal sent by the frequency converter is received, the brake is controlled to be powered off, so that the brake enters the brake state.

In this embodiment, when braking is normally required, the tower crane driver resets the gear of the slewing handle to zero to trigger the normal slewing brake signal, or the tower crane driver presses the normal slewing brake button to trigger the normal slewing brake signal. When receiving the normal rotation braking signal, the brake will be controlled to be energized. After the brake is energized, the brake will be lifted. The constraint to the iron stopper also disappears, and the iron stopper will be released and reset, returning to the initial position.

It should be noted that the brake can be energized first, and the wind vane coil can be de-energized later, or the wind vane coil can be de-energized first, and then the brake can be energized, or the brake can be energized and the wind vane coil de-energized simultaneously. The order is not limited here.

After the brake is energized for a period of time, this time is related to the rotation gear before braking. The higher the rotation gear, the greater the rotation speed of the slewing mechanism before braking. The longer the time, the lower the rotation gear and the braking The smaller the swing speed of the front swing mechanism, the shorter this time is. Of course, the lower the rotary gear, that is, the greater the rotary speed of the brake rotary mechanism, the longer the time, the higher the rotary gear, the smaller the rotary speed of the rotary mechanism before braking, the shorter the time, and the shorter the rotation speed of the rotary mechanism. will drop to a certain value, and the inverter will send a brake signal.

After receiving the brake signal sent by the frequency converter, the brake will be controlled to lose power, so that the brake will fall again. Since there is no iron stopper under the brake, the brake can enter the brake state, and the slewing mechanism will be braked, so that the slewing mechanism Apply the brakes.

In order to ensure that the speed of the slewing mechanism is reduced to 0 or a very small value before the brake brakes the slewing mechanism, it is controlled after the iron stopper is released and reset and the brake signal sent by the frequency converter is received for the first preset time. When the brake is powered off, the brake can enter the brake state, and the slewing mechanism will be braked. Since the speed of the slewing mechanism is 0 or very low before the brake is applied, the brake will cause little or no shaking of the balance arm and the boom. shaking. This embodiment provides a braking strategy for the slewing mechanism after receiving a normal braking signal.

Further, please refer to FIG. 3 . FIG. 3 is a third embodiment of the anti-lock braking method for rotary power loss of the present application according to the first embodiment of the anti-lock braking method for power loss in rotation of the present application. In this embodiment, step S30 After that include:

Step S61, when the emergency braking signal is received, the control brake is energized and the wind vane coil is de-energized, so that the iron stopper is released and reset;

In step S62, after the iron stopper is released and reset, the brake is controlled to be de-energized, so that the brake enters the brake state.

In this embodiment, when emergency braking is required, the tower crane driver will trigger the emergency braking signal. When the emergency braking signal is received, the brake will be controlled to be energized. After the brake is energized, the brake will be lifted and the wind vane coil will be de-energized. Afterwards, the windvane coil loses its ability to attract the iron stopper, and the constraint on the iron stopper when the brake lifts up also disappears, and the iron stopper will be released and reset, returning to its initial position.

When the iron stopper is released and reset, the brake will be controlled to lose power immediately to make the brake fall. Since there is no iron stopper under the brake, the brake enters the brake state, and the slewing mechanism is immediately locked, so as to realize the emergency of the slewing mechanism. brake.

This embodiment provides an emergency braking strategy for the slewing mechanism after receiving an emergency braking signal.

Further, please refer to FIG. 4 . FIG. 4 is a fourth embodiment of the anti-lock braking method for rotary power loss of the present application according to the first embodiment of the anti-lock braking method for power loss in rotation of the present application. In this embodiment, step S30 include:

Step S31 , after the wind vane coil is attracted to the iron stop piece, the brake and the wind vane coil are de-energized sequentially.

Since the wind vane coil remains powered on for a long time, the service life of the wind vane coil will be greatly reduced. In this embodiment, after the brake is controlled to lose power and the brake falls, the wind vane coil will be controlled to lose power. After the wind vane coil loses power, the wind vane coil loses its ability to absorb the iron stopper, but due to the formation of the brake on the iron stop If there is no constraint, the iron stopper will not reset at this time.

In this embodiment, after the brake is de-energized, the de-energization of the wind vane coil will be controlled immediately, so as to avoid the drastic reduction of the service life of the wind-vane coil due to the power-on state of the wind vane coil.

Further, please refer to FIG. 5 . FIG. 5 is a fifth embodiment of the anti-lock braking method of the present application based on the fourth embodiment of the anti-lock braking method for power-off rotation. In this embodiment, step S31 Then also include:

Step S52, when a normal rotation braking signal is received, the control brake is powered on so that the iron stopper is released and reset;

In this embodiment, under normal braking conditions, the tower crane driver resets the gear of the rotary handle to zero to trigger the normal rotary braking signal, or the tower crane driver presses the normal rotary braking button to trigger the normal rotary braking signal. When the normal brake signal is turned back, because the wind vane coil has been de-energized before the brake is energized, the wind vane coil’s ability to absorb the iron stopper is lost. It is only necessary to control the brake to be energized. After the brake is energized, the brake will lift and the brake will The constraint to the iron stopper also disappears, and the iron stopper will be released and reset, returning to the initial position.

In order to ensure that the speed of the slewing mechanism is reduced to 0 or a very small value before the brake brakes the slewing mechanism, it is controlled after the iron stopper is released and reset and the brake signal sent by the frequency converter is received for the first preset time. When the brake is powered off, the brake can enter the brake state, and the slewing mechanism will be braked. Since the speed of the slewing mechanism is 0 or very low before the brake is applied, the brake will cause little or no shaking of the balance arm and the boom. shaking.

Further, please refer to FIG. 6 . FIG. 6 is a sixth embodiment of the anti-lock braking method for power-off rotation in this application according to the fourth embodiment of the anti-lock braking method for power-off rotation in this application. In this embodiment, step S31 Then also include:

Step S62, when the emergency braking signal is received, the brake is controlled to be energized so that the iron stopper is released and reset;

In step S61, after the iron stopper is released and reset, the brake is controlled to be powered off, so that the brake enters the brake state.

In this embodiment, when emergency braking is required, the tower crane driver will trigger the emergency braking signal. When the emergency braking signal is received, after the wind vane coil has been de-energized, the ability of the wind vane coil to absorb the iron stopper will be lost. You only need to control the brake to be energized. After the brake is energized, the brake will be lifted, and the constraint on the iron stopper will disappear when the brake is lifted, and the iron stopper will be released and reset, returning to the initial position.

Referring to Fig. 7, the present invention also provides an anti-lock braking system for power loss during rotation, including:

The brake power-on module 10 is used to control the power-on of the brake so that the brake is switched to the open state when the rotation is started;

The wind vane coil electrification module 20 is used to control the wind vane coil to be energized after the brake is kept in the open state, so that the wind vane coil is attracted to the iron stop piece;

The power-off module 30 is used to control the power-off of the brake after the wind vane coil is attracted to the iron stopper;

The first braking module 40 is used to control the frequency converter to reduce the output frequency to within the preset frequency threshold range when the power supply is cut off, so that the motor enters a braking state to brake the slewing mechanism.

Further, the anti-lock braking system for power loss during rotation also includes:

The first release and reset module is used to control the power on of the brake and the power off of the wind vane coil when receiving the normal slewing brake signal, so that the iron stopper is released and reset;

The second braking module is used to control the power-off of the brake after the iron stopper is released and reset and the brake signal sent by the frequency converter is received, so that the brake enters the brake state.

The second release and reset module is used to control the power on of the brake and the power off of the wind vane coil when an emergency brake signal is received, so that the iron stopper is released and reset;

The third braking module is used to control the power-off of the brake after the iron stopper is released and reset, so that the brake enters the locked state.

Further, the power-off module 30 is also used to sequentially control the power-off of the brake and the power-off of the wind vane coil after the wind vane coil is attracted to the iron stopper.

Furthermore, the first release and reset module is also used to control the brake to be powered on when receiving the normal rotation braking signal, so that the iron stopper is released and reset.

The third release and reset module is also used to control the power-off of the brake after the iron stopper is released and reset and the brake signal sent by the frequency converter is received for the first preset time, so that the brake enters the brake state.

Furthermore, the second release and reset module is also used to control the brake to be powered on when receiving the emergency brake signal, so that the iron stopper is released and reset.

The present invention also proposes a computer-readable storage medium on which a computer program is stored. Described computer-readable storage medium can be the memory in tower crane, also can be as ROM (Read-Only Memory, read-only memory)/RAM (Random Access Memory, random access memory), magnetic disk, optical disk At least one, the computer-readable storage medium includes information for enabling the tower crane to execute the methods described in various embodiments of the present invention.

It should be noted that, as used herein, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or system comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or system. Without further limitations, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article or system comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields , are all included in the scope of patent protection of the present invention in the same way.

Claims

An anti-lock braking method for power loss during rotation, characterized in that it comprises the following steps:

When the slewing is started, the control brake is energized so that the brake is switched to the open state;

After the brake remains in the open state, control the wind vane coil to be energized so that the wind vane coil is attracted to the iron stopper;

After the wind vane coil is attracted to the iron stopper, the control brake is de-energized;

When the power supply is cut off, the frequency converter is controlled to reduce the output frequency to within the preset frequency threshold range, so that the motor enters a braking state to brake the slewing mechanism.
The anti-lock braking method according to claim 1, characterized in that, after the wind vane coil is attracted to the iron stopper, the step of controlling the power loss of the brake further includes:

When receiving the normal rotation braking signal, the control brake is energized and the wind vane coil is de-energized, so that the iron stopper is released and reset;

When the iron stopper is released and reset and the brake signal sent by the frequency converter is received, the brake is controlled to be powered off so that the brake enters the brake state.
The anti-lock braking method according to claim 1, characterized in that, after the wind vane coil is attracted to the iron stopper, the step of controlling the power loss of the brake further includes:

When the emergency braking signal is received, the control brake is energized and the wind vane coil is de-energized, so that the iron stopper is released and reset;

After the iron stopper is released and reset, the control brake is powered off, so that the brake enters the brake state.
The anti-lock braking method according to claim 1, wherein the step of controlling the power loss of the brake after the wind vane coil is attracted to the iron stopper includes:

After the wind vane coil is attracted to the iron stop piece, the power loss of the brake and the power loss of the wind vane coil are sequentially controlled.
The anti-lock braking method according to claim 4, characterized in that, after the wind vane coil is attracted to the iron stopper, the steps of sequentially controlling the power loss of the brake and the power loss of the wind vane coil further include:

When receiving the normal rotation braking signal, the control brake is energized so that the iron stopper is released and reset;

When the iron stopper is released and reset and the brake signal sent by the frequency converter is received, the brake is controlled to be powered off so that the brake enters the brake state.
According to claim 2 or 5, the anti-lock braking method for power loss in rotation is characterized in that, when the iron stopper is released and reset and the brake signal sent by the frequency converter is received, the brake is controlled to lose power so that the brake enters The steps of the brake state include:

When the iron stopper is released and reset and the brake signal sent by the frequency converter is received for the first preset time, the brake is controlled to be powered off so that the brake enters the brake state.
The anti-lock braking method according to claim 4, characterized in that, after the wind vane coil is attracted to the iron stopper, the steps of sequentially controlling the power loss of the brake and the power loss of the wind vane coil further include:

When the emergency brake signal is received, the control brake is energized so that the iron stopper is released and reset;

After the iron stopper is released and reset, the control brake is powered off, so that the brake enters the brake state.
An anti-lock braking system for power loss in rotation, characterized in that the anti-lock braking system for power loss in rotation includes:

The first brake power-on module is used to control the power-on of the brake so that the brake is switched to the open state when the rotation is started;

The first wind vane coil energization module is used to control the wind vane coil to be energized after the brake is kept in the open state, so that the wind vane coil attracts the iron stop;

The first power-off module is used to control the power-off of the brake after the wind vane coil is attracted to the iron stopper;

The first braking module is used to control the frequency converter to reduce the output frequency to within the preset frequency threshold range when the power supply is cut off, so that the motor enters a braking state to brake the slewing mechanism.
A kind of tower crane tower crane, it is characterized in that, described tower crane comprises wind vane coil, iron stop piece, brake, frequency converter, motor, memory, processor and are stored on described memory and can be in described A computer program running on a processor, when the computer program is executed by the processor, the steps of the anti-lock braking method according to any one of claims 1 to 7 are realized.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the rotation loss described in any one of claims 1 to 7 is realized. Steps of an electric anti-lock braking method.