CN103640973A - Fixed-height variable-amplitude control method and device and movable arm tower crane - Google Patents
Fixed-height variable-amplitude control method and device and movable arm tower crane Download PDFInfo
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Abstract
The invention discloses a fixed-height variable-amplitude control method and device and a movable arm tower crane, wherein the method comprises the following steps: when the luffing jib tower crane runs at a constant high amplitude, determining the current no-load height of a luffing jib of the crane and a load compensation value of the current no-load height every time a set control period is reached; determining the current load height of the movable arm according to the current no-load height and the load compensation value of the current no-load height; acquiring a reference load height of the movable arm; determining a height difference between a current load height of the boom and a reference load height; and controlling the length of the suspension wire of the crane according to the determined height difference. The technical scheme of the invention solves the problem of lower operation precision of fixed height and variable amplitude in the prior art.
Description
Technical field
The present invention relates to the luffing control technology field of hoisting crane, particularly a kind of fixed high luffing control method and device, arm tower crane.
Background technology
As everyone knows, arm tower crane, when luffing moves, can have influence on the amplitude and height of suspension hook simultaneously, and wherein, the mode that the suspension hook of hoisting crane moves on horizontal surface is called surely high luffing operation (or being called level luffing operation).When arm tower crane carries out the operation of surely high luffing, need to move lifting mechanism and the luffing mechanism of hoisting crane simultaneously, Liang Ge mechanism cooperatively interacts and can realize suspension hook and move on horizontal surface.
Prior art generally realizes surely high luffing function by two kinds of modes, wherein, first kind of way is: by the speed of luffing, calculate the running velocity that suspension hook hoists, the running velocity hoisting by suspension hook is controlled messenger wire length, thereby reaches the function of high luffing surely; The second way is: the displacement that suspension hook hoists and should move is calculated in the displacement by the operation of real-time calculating luffing, controls in real time messenger wire length, thereby reach the function of high luffing surely by the suspension hook displacement that should move that hoists.
As shown in Figure 1, when arm tower crane is unloaded, the inclination angle of swing arm is Φ, and amplitude is L, and brachium is S, is highly H, wherein, can be using swing arm top with respect to the height of swing arm root the height as swing arm.In prior art, inclination angle, amplitude, the brachium when arm tower crane of conventionally take is unloaded and be highly basic data, carries out surely high luffing control.But during arm tower crane load, suspension hook lifted weight can make the jib generation deformation of swing arm, as shown in Figure 2, when arm tower crane load, the actual inclination angle of swing arm becomes Φ ' from Φ, actual margin becomes L ' from L, and actual brachium becomes S ' from S, and actual height becomes H ' from H.As shown in Figure 2, during arm tower crane load, the deformation meeting of jib all changes the height of swing arm and amplitude, if while carrying out surely high luffing operation, the data while still using zero load are controlled, and can greatly reduce the running precision of high luffing surely.
Summary of the invention
The embodiment of the present invention provides a kind of fixed high luffing control method and device, arm tower crane, in order to solve the lower problem of running precision of fixed high luffing in prior art.
Embodiment of the present invention technical scheme is as follows:
The embodiment of the present invention provides a kind of fixed high luffing control method, comprise: when arm tower crane carries out surely high luffing operation, the control cycle that every arrival is set, the current unloaded height of the swing arm of definite described hoisting crane and the load compensation value of current unloaded height; According to the load compensation value of described current unloaded height and current unloaded height, determine the present load height of described swing arm; Obtain the reference load height of described swing arm; Determine the present load height of described swing arm and the diff-H between reference load height; According to the described diff-H of determining, the messenger wire length of described hoisting crane is controlled.
As shown from the above technical solution, in the fixed high luffing control method that the embodiment of the present invention proposes, inclination angle while not re-using arm tower crane zero load, amplitude, brachium and highly for basic data is carried out the control of surely high luffing, but when arriving the control cycle of setting, according to the load compensation value of current unloaded height, current zero load is highly compensated, and then obtain present load highly, according to the diff-H between present load height and reference load height, the messenger wire length of hoisting crane is controlled again, thereby effectively improved the running precision of fixed high luffing.
Preferably, determine the current unloaded height of the swing arm of described hoisting crane, specifically comprise: the unloaded brachium and the current unloaded inclination angle that obtain the swing arm of described hoisting crane; According to described unloaded brachium and current unloaded inclination angle, determine the current unloaded height of described swing arm.During due to hoisting crane zero load, can there is not deformation in the jib of swing arm, so the unloaded brachium of swing arm is constant, therefore according to the unloaded brachium of swing arm, determines that the unloaded height of swing arm can further improve the running precision of high luffing surely.
Preferably, by following manner, determine the current unloaded height of described swing arm: H
n=S*sin Φ
n, wherein, H
nwhen arriving N control cycle, the current unloaded height of swing arm; S is the unloaded brachium of swing arm; Φ
nwhen arriving N control cycle, the current unloaded inclination angle of swing arm.
Preferably, determine the current unloaded load compensation value highly of the swing arm of described hoisting crane, specifically comprise: obtain the present load weight of described hoisting crane and the present load inclination angle of swing arm; According to described present load weight and present load inclination angle, in the corresponding relation between load weight, load inclination angle and the load compensation value set up in advance, determine the load compensation value of the current unloaded height of described swing arm.Therefore, set up in advance the corresponding relation between load weight, load inclination angle and load compensation value, follow-up when carrying out surely high luffing control, directly according to the above-mentioned corresponding relation of setting up, determine the load compensation value of current zero load, can improve the efficiency that surely high luffing is controlled.
Preferably, by following manner, determine the present load height of described swing arm: H '
n=H
n-Δ H
n, wherein, H '
nwhen arriving N control cycle, the present load of swing arm height; H
nwhen arriving N control cycle, the current unloaded height of swing arm; Δ H
nwhen arriving N control cycle, the load compensation value of current unloaded height.
Preferably, obtain the reference load height of described swing arm, specifically comprise: the present load of swing arm height described in while obtaining a control cycle; Described in during by a control cycle that get, upper, the present load of swing arm highly, is confirmed as the reference load height of described swing arm.Therefore, if the reference load height that while using a control cycle, the present load of swing arm height is controlled as this fixed high luffing, when so messenger wire is controlled, the present load height of determining and the diff-H between reference load height are length or the take-up length of the unwrapping wire of messenger wire, thereby have improved the efficiency that fixed high luffing is controlled.
The embodiment of the present invention also provides a kind of fixed high variable-amplitude control device, comprise: equipment is highly determined in zero load, be used for when arm tower crane carries out surely high luffing operation, the control cycle that every arrival is set, the swing arm of definite described hoisting crane is current highly unloaded; Load compensation value is determined equipment, and when carrying out the operation of surely high luffing at arm tower crane, the control cycle that every arrival is set, determines the load compensation value of current unloaded height of the swing arm of described hoisting crane; Load height is determined equipment, for described current unloaded height and the described load compensation value determined according to the highly definite equipment of zero load, determines the load compensation value that equipment is determined, and determines the present load height of described swing arm; Load height is obtained equipment, for obtaining the reference load height of described swing arm; Diff-H is determined equipment, for determining the present load height of described swing arm and the diff-H between reference load height; Control convenience, for the described diff-H of determining that according to diff-H equipment is determined, controls the messenger wire length of described hoisting crane.
As shown from the above technical solution, in the fixed high luffing control method that the embodiment of the present invention proposes, inclination angle while not re-using arm tower crane zero load, amplitude, brachium and highly for basic data is carried out the control of surely high luffing, but when arriving the control cycle of setting, according to the load compensation value of current unloaded height, current zero load is highly compensated, and then obtain present load highly, according to the diff-H between present load height and reference load height, the messenger wire length of hoisting crane is controlled again, thereby effectively improved the running precision of fixed high luffing.
Preferably, equipment is highly determined in described zero load, specifically for obtaining unloaded brachium and the current unloaded inclination angle of the swing arm of described hoisting crane, according to described unloaded brachium and current unloaded inclination angle, determines the current unloaded height of described swing arm.During due to hoisting crane zero load, can there is not deformation in the jib of swing arm, so the unloaded brachium of swing arm is constant, therefore according to the unloaded brachium of swing arm, determines that the unloaded height of swing arm can further improve the running precision of high luffing surely.
Preferably, described load compensation value is determined equipment, specifically for obtaining the present load weight of described hoisting crane and the present load inclination angle of swing arm, according to described present load weight and present load inclination angle, in corresponding relation between load weight, load inclination angle and the load compensation value set up in advance, determine the load compensation value of the current unloaded height of described swing arm.Therefore, set up in advance the corresponding relation between load weight, load inclination angle and load compensation value, follow-up when carrying out surely high luffing control, directly according to the above-mentioned corresponding relation of setting up, determine the load compensation value of current zero load, can improve the efficiency that surely high luffing is controlled.
Preferably, described load height is obtained equipment, the present load of swing arm height described in when obtaining a upper control cycle, during by a control cycle that get, upper described in the present load height of swing arm, confirm as the reference load height of described swing arm.Therefore, if the reference load height that while using a control cycle, the present load of swing arm height is controlled as this fixed high luffing, when so messenger wire is controlled, the present load height of determining and the diff-H between reference load height are length or the take-up length of the unwrapping wire of messenger wire, thereby have improved the efficiency that fixed high luffing is controlled.
The embodiment of the present invention also provides a kind of arm tower crane, at least comprises above-mentioned fixed high variable-amplitude control device.
Accompanying drawing explanation
Fig. 1 is in prior art, each parameter schematic diagram when hoisting crane is unloaded;
Fig. 2 is in prior art, each parameter schematic diagram during hoisting crane load;
Fig. 3 is in the embodiment of the present invention one, fixed high luffing control method schematic flow sheet;
Fig. 4 is in the embodiment of the present invention two, each parameter schematic diagram when hoisting crane is carried out to surely high luffing control;
Fig. 5 is in the embodiment of the present invention three, and the linearization of load compensation value and load weight is related to schematic diagram;
Fig. 6 is in the embodiment of the present invention four, fixed high variable-amplitude control device structural representation.
The specific embodiment
Below in conjunction with each accompanying drawing, embodiment of the present invention technical scheme main realized to principle, the specific embodiment and the beneficial effect that should be able to reach is at length set forth.
Embodiment mono-
As shown in Figure 3, be the fixed high luffing control method diagram of circuit that the embodiment of the present invention one proposes, its concrete treatment scheme is as follows:
The embodiment of the present invention one proposes, preset control cycle and carry out surely high luffing while controlling, according to the process values of the height collecting in current control cycle and the expected value that height need to reach, compare, then carry out the specified rate that PID computing draws each control cycle inner height operation.The expected value that height need to reach is the expected value after compensation.General, control cycle is fixing cycle of duration.In the embodiment of the present invention one, the height of swing arm can be the height of swing arm top with respect to swing arm root, usings the horizontal surface at swing arm root place when with reference to face, the height at swing arm top that is:; The inclination angle of swing arm is the angle between swing arm and horizontal surface.
When hoisting crane is unloaded, the height of swing arm is called unloaded height, and the inclination angle of swing arm is called unloaded inclination angle, and the brachium of swing arm is called unloaded brachium; When hoisting crane load, the height of swing arm is called load height, and the inclination angle of swing arm is called load inclination angle, and the brachium of swing arm is called load brachium.
When arm tower crane is carried out to surely high luffing control, first need to determine the current unloaded height of swing arm, with reference to Fig. 1, when hoisting crane is unloaded, the unloaded inclination angle of swing arm is Φ, unloaded brachium is S(because hoisting crane is when unloaded, can there is not deformation in the jib of swing arm, so the unloaded brachium of swing arm is constant), zero load is highly H, wherein, H=S*sin Φ.Therefore, when determining the current unloaded height of swing arm, unloaded brachium and the current unloaded inclination angle that can first obtain swing arm, and then according to unloaded brachium and current unloaded inclination angle, determine the current unloaded height of swing arm.
If while arriving N control cycle, the current zero load of swing arm is highly H
n, the current unloaded inclination angle of swing arm is Φ
n, unloaded brachium is S, can determine by following manner the current unloaded height of swing arm:
H
N=S*sinΦ
N
Wherein, can be, but not limited to, at the root of swing arm, obliquity sensor is set, the inclination angle that obliquity sensor is measured is actually the present load inclination angle of swing arm, but, because obliquity sensor is arranged on the root of swing arm, and during the jib generation deformation of swing arm, the deformation quantity of root is very little, the inclination angle that therefore obliquity sensor can be measured is as the current unloaded inclination angle of swing arm.
In addition,, if hoisting crane carries out surely high luffing operation according to predetermined derricking speed, also can, according to derricking speed, determine the current unloaded inclination angle of swing arm.
When arm tower crane load, suspension hook lifted weight can make the jib generation deformation of swing arm, so when arriving the control cycle of setting, the present load inclination angle of swing arm is different with current unloaded inclination angle, present load height is highly different from current zero load, and present load brachium is different from unloaded brachium.In order to improve the precision of the fixed high luffing operation of hoisting crane, when carrying out surely high luffing control, do not re-use hoisting crane when unloaded the zero load of swing arm highly do not control, but the load height of swing arm is controlled while using hoisting crane load, so just need to determine the present load of swing arm highly.
The embodiment of the present invention one proposes, and the present load of swing arm highly can be calculated by current unloaded height and the current unloaded load compensation value highly of swing arm, the impact of the deformation that load compensation value can reflect the jib causing due to load on swing arm height.
Set up in advance the corresponding relation between load weight, load inclination angle and load compensation value, when carrying out surely high luffing control, if desired determine the load compensation value of current unloaded height, can first obtain the present load weight of hoisting crane and the present load inclination angle of swing arm, then according to the present load weight and the present load inclination angle that obtain, in the above-mentioned corresponding relation of setting up in advance, determine the load compensation value of the current unloaded height of swing arm.
Wherein, the present load inclination angle of swing arm can be measured by the obliquity sensor that is arranged on swing arm root.
Set up corresponding relation between load weight, load inclination angle and load compensation value and in above-mentioned corresponding relation, determine that the detailed process of load compensation value describes in detail in the embodiment of the present invention three.
If while arriving N control cycle, the present load of swing arm is highly H '
n, current zero load is highly H
n, the load compensation value of current unloaded height is Δ H
n, can determine by following manner the present load height of swing arm:
H′
N=H
N-ΔH
N
The embodiment of the present invention one proposes, present load height in the time of can being carried out to surely high luffing control the last time, as this, carry out the reference load height that surely high luffing is controlled, concrete: the present load of swing arm height while first obtaining a control cycle, during then by a upper control cycle, the present load of swing arm highly, is confirmed as the reference load height of swing arm.
For example, current control cycle is T
n, a upper control cycle is T
n-1, control cycle T
n-1time swing arm present load be highly H '
n-1, arrive control cycle T
ntime, can be by H '
n-1as the reference load height of swing arm, for determining the highly specified rate of operation.
The embodiment of the present invention one proposes, when carrying out surely high luffing control at every turn, if determine present load height, can store the present load height of determining, upper, once carry out surely high luffing while controlling so, just can directly obtain storage, the last time carries out the surely high luffing present load height while controlling, and the last time getting is carried out to the surely high luffing present load height while controlling and as this, carry out the reference load height of surely high luffing while controlling, thereby effectively saved processing resource, improved the efficiency that fixed high luffing is controlled.
In addition, when carrying out surely high luffing control, if determine present load height, also can not store the present load height of determining at every turn, upper, once carry out surely high luffing while controlling so, just need to recalculate the last time and carry out the present load of surely high luffing while controlling highly.
If hoisting crane carries out surely raised width operation, the present load of swing arm is highly greater than reference load height, can highly deduct reference load height with the present load of swing arm so, thereby obtain diff-H, concrete:
ΔH
N-(N-1)=H′
N-H′
N-1
If hoisting crane carries out determining fall width operation of height, the present load of swing arm is highly less than reference load height, can deduct with the reference load height of swing arm so present load height, thereby obtain diff-H, concrete:
ΔH
N-(N-1)=H′
N-1-H′
N
Wherein, Δ H
n-(N-1)for the diff-H between present load height and reference load height, H '
nfor present load height, H '
n-1for reference load height.
If hoisting crane carries out the operation of surely raised width, need messenger wire to carry out unwrapping wire control, the length of unwrapping wire is the present load height determined and the diff-H between reference load height;
If hoisting crane carries out determining fall width operation of height, need messenger wire to carry out take-up control, the length of take-up is the present load height determined and the diff-H between reference load height.
Embodiment bis-
The above-mentioned fixed high luffing control method that the casehistory embodiment of the present invention one proposes below.
If arm tower crane is done surely raised width operation, as shown in Figure 4, when arriving N control cycle (T
n) time, the present load of the swing arm of arm tower crane is highly H '
n, current zero load is highly H
n, the load compensation value of current unloaded height is Δ H
n, present load inclination angle is Φ '
n, current unloaded inclination angle is Φ
n, a upper control cycle is T
n-1, control cycle T
n-1time swing arm present load be highly H '
n-1, current zero load is highly H
n-1, the load compensation value of current unloaded height is Δ H
n-1, present load inclination angle is Φ '
n-1, current unloaded inclination angle is Φ
n-1, H '
n-1for reference load height.
As shown in Figure 4, arrive control cycle T
n-1time, the pass of present load height and current unloaded height is:
H′
N-1=H
N-1-ΔH
N-1
Arrive control cycle T
ntime, the pass of present load height and current unloaded height is:
H′
N=H
N-ΔH
N
Thereby can obtain:
ΔH
N-(N-1)=H′
N-H′
N-1=（H
N-ΔH
N）-（H
N-
1-ΔH
N-1）
Wherein, control cycle T
ntime swing arm current unloaded height H
nthe cosine value of unloaded brachium S that can be by swing arm obtains:
H
N=S*sinΦ
N
In like manner, control cycle T
n-1time swing arm current unloaded height H
n-1also the cosine value of unloaded brachium S that can be by swing arm obtains:
H
N-1=S*sinΦ
N-1
That is:
ΔH
N-(N-1)=（S*sinΦ
N-ΔH
N）-（S*sinΦ
N-1-ΔH
N-1）
Wherein, according to control cycle T
ntime the present load weight of hoisting crane and the present load inclination angle Φ ' of swing arm
n, in the corresponding relation between load weight, load inclination angle and the load compensation value set up in advance, can determine the load compensation value Δ H of current unloaded height
n, according to control cycle T
n-1time the present load weight of hoisting crane and the present load inclination angle Φ ' of swing arm
n-1, in the corresponding relation between load weight, load inclination angle and the load compensation value set up in advance, can determine the load compensation value Δ H of current unloaded height
n-1.
Embodiment tri-
The embodiment of the present invention three proposes, and can adopt following two kinds of modes to set up the corresponding relation between load weight, load inclination angle and load compensation value, is respectively:
The first is set up mode, by the method for finite element, calculate different loads weight and the corresponding load compensation value in different loads inclination angle, concrete, according to parameters such as the material of hoisting crane swing arm, rigidity and shapes, set up finite element model, in the time need to determining the load compensation value of current unloaded height, the present load inclination angle of the present load weight of hoisting crane and swing arm is input in finite element model, thereby obtains current unloaded load compensation value highly.
The second is set up mode, by actual measurement, obtains the corresponding load compensation value in different loads weight and different loads inclination angle.
The embodiment of the present invention three proposes, and the corresponding relation between load weight, load inclination angle and the load compensation value of setting up in advance can be, but not limited to comprise following two kinds of modes, is respectively:
First kind of way, sets in advance each inclination angle scope, when load weight one timing, and load compensation value corresponding to each load inclination angle within the scope of inclination angle, as shown in table 1.
Table 1:
When definite load compensation value, first in table 1, search the inclination angle scope at the place, present load inclination angle of swing arm, then, in corresponding each load compensation value of this inclination angle scope, determine the corresponding load compensation value of present load weight of hoisting crane.Wherein, in table 1, several sampling points that only comprised load weight, the variation at load inclination angle obtains by inclination angle scope value the impact of jib deformation, the variation of load weight obtains by linearization value the impact of jib deformation, that is to say, if do not record the corresponding load compensation value of present load weight in table 1, can adopt the mode of linearization value, determine the corresponding load compensation value of present load weight.
For example, in table 1, if the inclination angle scope at place, present load inclination angle is 19.5 degree～20.5 degree, the load compensation value during weight of hoisting crane load 1 ton (T) is Δ a
0, the load compensation value during weight of load 2T is Δ b
0, the load compensation value during weight of load 3T is Δ c
0.If load weight is linear on the impact of load compensation value, according to linearization equations, Y=KX+B is known, and within the scope of 19.5 these inclination angles of degree, degree～20.5,1T to the corresponding load compensation value of the arbitrary load weight W between 2T is:
ΔH=（Δb
0-Δa
0）*W+（2*Δa
0-Δb
0）
In like manner, within the scope of 20.5 these inclination angles of degree, degree～21.5,1T to the corresponding load compensation value of the arbitrary load weight W between 2T is:
ΔH=（Δb
1-Δa
1）*W+（2*Δa
1-Δb
1）
In order to improve the accuracy of load compensation value, further improve the running precision of fixed high luffing, can when setting up above-mentioned corresponding relation, suitably reduce inclination angle scope, or suitably increase the sampling point of load weight.
The second way, when load weight one timing, the load compensation value that each load inclination angle is corresponding different, as shown in table 2.
Table 2:
In table 2, several sampling points of load weight and several sampling points at load inclination angle have only been comprised, the variation at load inclination angle is the impact on jib deformation on the variation of the impact of jib deformation and load weight, all by linearization value, obtain, that is to say, if do not record the corresponding load compensation value in present load inclination angle in table 2, can adopt the mode of linearization value, determine the corresponding load compensation value in present load inclination angle, if do not record the corresponding load compensation value of present load weight in table 2, also can adopt the mode of linearization value, determine the corresponding load compensation value of present load weight.
For example, present load inclination angle is Z, present load weight is W, and Z is between 20 degree and 21 degree, and W is between 1T and 2T, when definite load compensation value, first only the impact of the variation of considering load weight on jib deformation, according to linearization equations, Y=KX+B is known, and when load inclination angle is 20 while spending, the corresponding load compensation value of load weight W is:
ΔH=（Δb
0-Δa
0）*W+（2*Δa
0-Δb
0）
Now, the linearization relation of load compensation value and load weight as shown in Figure 5.
When load inclination angle is 21 while spending, the corresponding load compensation value of load weight W is:
ΔH=（Δb
1-Δa
1）*W+（2*Δa
1-Δb
1）
When load inclination angle is 22 while spending, the corresponding load compensation value of load weight W is:
ΔH=（Δb
2-Δa
2）*W+（2*Δa
2-Δb
2）
When load inclination angle is 23 while spending, the corresponding load compensation value of load weight W is:
ΔH=（Δb
3-Δa
3）*W+（2*Δa
3-Δb
3）
From above, can obtain corresponding each load compensation value of load weight W, as shown in table 3:
Table 3:
Then, then the impact of the variation of considering load inclination angle on jib deformation, according to linearization equations, Y=KX+B is known, and when load weight is W, Z corresponding load compensation value in load inclination angle is:
ΔH=（Δβ
1-Δβ
0）*Z+（2*Δβ
1-Δβ
0）
Thereby the load compensation value in the time of can obtaining present load inclination angle and be Z, present load weight and be W.
In order to improve the accuracy of load compensation value, further improve the running precision of fixed high luffing, can when setting up above-mentioned corresponding relation, suitably increase the sampling point of load weight, or suitably increase the sampling point at load inclination angle.
Embodiment tetra-
Based on above-mentioned fixed high luffing control method, the embodiment of the present invention four provides a kind of fixed high variable-amplitude control device, and its structure as shown in Figure 6, comprising:
Load compensation value is determined equipment 62, and when carrying out the operation of surely high luffing at arm tower crane, the control cycle that every arrival is set, determines the load compensation value of current unloaded height of the swing arm of described hoisting crane;
Load height is determined equipment 63, for described current unloaded height and the described load compensation value determined according to the highly definite equipment 61 of zero load, determines the load compensation value that equipment 62 is determined, and determines the present load height of described swing arm;
Load height is obtained equipment 64, for obtaining the reference load height of described swing arm;
Diff-H is determined equipment 65, for determining the present load height of described swing arm and the diff-H between reference load height;
Preferably, equipment 61 is highly determined in described zero load, specifically for obtaining unloaded brachium and the current unloaded inclination angle of the swing arm of described hoisting crane, according to described unloaded brachium and current unloaded inclination angle, determines the current unloaded height of described swing arm.
Preferably, described load compensation value is determined equipment 62, specifically for obtaining the present load weight of described hoisting crane and the present load inclination angle of swing arm, according to described present load weight and present load inclination angle, in corresponding relation between load weight, load inclination angle and the load compensation value set up in advance, determine the load compensation value of the current unloaded height of described swing arm.
Preferably, described load height is obtained equipment 64, specifically for obtaining the present load height of swing arm described in a upper control cycle, during by a control cycle that get, upper described in the present load height of swing arm, confirm as the reference load height of described swing arm.
In addition, the embodiment of the present invention also provides a kind of arm tower crane, at least comprises above-mentioned fixed high variable-amplitude control device.
One of ordinary skill in the art will appreciate that realizing all or part of step that above-described embodiment method carries is to come the hardware that instruction is relevant to complete by program, described program can be stored in a kind of computer-readable recording medium, this program, when carrying out, comprises step of embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can be also that the independent physics of unit exists, and also can be integrated in a module two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and also can adopt the form of software function module to realize.If described integrated module usings that the form of software function module realizes and during as production marketing independently or use, also can be stored in a computer read/write memory medium.
Those skilled in the art should understand, embodiments of the invention can be provided as method, system or computer program.Therefore, the present invention can adopt complete hardware implementation example, implement software example or in conjunction with the form of the embodiment of software and hardware aspect completely.And the present invention can adopt the form that wherein includes the upper computer program of implementing of computer-usable storage medium (including but not limited to disc storage and optical memory etc.) of computer usable program code one or more.
The present invention is with reference to describing according to diagram of circuit and/or the block scheme of the method for the embodiment of the present invention, equipment (system) and computer program.Should understand can be in computer program instructions realization flow figure and/or block scheme each flow process and/or the flow process in square frame and diagram of circuit and/or block scheme and/or the combination of square frame.Can provide these computer program instructions to the treater of general computer, single-purpose computer, Embedded Processor or other programmable data processing device to produce a machine, the instruction of carrying out by the treater of computing machine or other programmable data processing device is produced for realizing the device in the function of flow process of diagram of circuit or a plurality of flow process and/or square frame of block scheme or a plurality of square frame appointments.
These computer program instructions also can be stored in energy vectoring computer or the computer-readable memory of other programmable data processing device with ad hoc fashion work, the instruction that makes to be stored in this computer-readable memory produces the manufacture that comprises command device, and this command device is realized the function of appointment in flow process of diagram of circuit or a plurality of flow process and/or square frame of block scheme or a plurality of square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make to carry out sequence of operations step to produce computer implemented processing on computing machine or other programmable devices, thereby the instruction of carrying out is provided for realizing the step of the function of appointment in flow process of diagram of circuit or a plurality of flow process and/or square frame of block scheme or a plurality of square frame on computing machine or other programmable devices.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the embodiment of the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (11)
1. a fixed high luffing control method, is characterized in that, comprising:
When arm tower crane carries out surely high luffing operation, the control cycle that every arrival is set, the current unloaded height of the swing arm of definite described hoisting crane and the load compensation value of current unloaded height;
According to the load compensation value of described current unloaded height and current unloaded height, determine the present load height of described swing arm;
Obtain the reference load height of described swing arm;
Determine the present load height of described swing arm and the diff-H between reference load height;
According to the described diff-H of determining, the messenger wire length of described hoisting crane is controlled.
2. the method for claim 1, is characterized in that, determines the current unloaded height of the swing arm of described hoisting crane, specifically comprises:
Obtain unloaded brachium and the current unloaded inclination angle of the swing arm of described hoisting crane;
According to described unloaded brachium and current unloaded inclination angle, determine the current unloaded height of described swing arm.
3. method as claimed in claim 2, is characterized in that, determines the current unloaded height of described swing arm by following manner:
H
N=S*sinΦ
N
Wherein, H
nwhen arriving N control cycle, the current unloaded height of swing arm;
S is the unloaded brachium of swing arm;
Φ
nwhen arriving N control cycle, the current unloaded inclination angle of swing arm.
4. the method for claim 1, is characterized in that, determines the current unloaded load compensation value highly of the swing arm of described hoisting crane, specifically comprises:
Obtain the present load weight of described hoisting crane and the present load inclination angle of swing arm;
According to described present load weight and present load inclination angle, in the corresponding relation between load weight, load inclination angle and the load compensation value set up in advance, determine the load compensation value of the current unloaded height of described swing arm.
5. the method for claim 1, is characterized in that, determines the present load height of described swing arm by following manner:
H′
N=H
N-ΔH
N
Wherein, H '
nwhen arriving N control cycle, the present load of swing arm height;
H
nwhen arriving N control cycle, the current unloaded height of swing arm;
Δ H
nwhen arriving N control cycle, the load compensation value of current unloaded height.
6. the method for claim 1, is characterized in that, obtains the reference load height of described swing arm, specifically comprises:
The present load of swing arm height described in while obtaining a control cycle;
Described in during by a control cycle that get, upper, the present load of swing arm highly, is confirmed as the reference load height of described swing arm.
7. a fixed high variable-amplitude control device, is characterized in that, comprising:
Equipment is highly determined in zero load, and when carrying out surely high luffing operation at arm tower crane, the control cycle that every arrival is set, determines the current unloaded height of the swing arm of described hoisting crane;
Load compensation value is determined equipment, and when carrying out the operation of surely high luffing at arm tower crane, the control cycle that every arrival is set, determines the load compensation value of current unloaded height of the swing arm of described hoisting crane;
Load height is determined equipment, for described current unloaded height and the described load compensation value determined according to the highly definite equipment of zero load, determines the load compensation value that equipment is determined, and determines the present load height of described swing arm;
Load height is obtained equipment, for obtaining the reference load height of described swing arm;
Diff-H is determined equipment, for determining the present load height of described swing arm and the diff-H between reference load height;
Control convenience, for the described diff-H of determining that according to diff-H equipment is determined, controls the messenger wire length of described hoisting crane.
8. device as claimed in claim 7, it is characterized in that, equipment is highly determined in described zero load, specifically for obtaining unloaded brachium and the current unloaded inclination angle of the swing arm of described hoisting crane, according to described unloaded brachium and current unloaded inclination angle, determine the current unloaded height of described swing arm.
9. device as claimed in claim 7, it is characterized in that, described load compensation value is determined equipment, specifically for obtaining the present load weight of described hoisting crane and the present load inclination angle of swing arm, according to described present load weight and present load inclination angle, in corresponding relation between load weight, load inclination angle and the load compensation value set up in advance, determine the load compensation value of the current unloaded height of described swing arm.
10. device as claimed in claim 7, it is characterized in that, described load height is obtained equipment, the present load of swing arm height described in when obtaining a upper control cycle, described in during by a control cycle that get, upper, the present load of swing arm highly, is confirmed as the reference load height of described swing arm.
11. 1 kinds of arm tower cranes, is characterized in that, comprise the fixed high variable-amplitude control device described in arbitrary claim in claim 7～10.
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| CN201310585329.4A CN103640973B (en) | 2013-11-19 | 2013-11-19 | Fixed-height variable-amplitude control method and device and movable arm tower crane |
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| CN201310585329.4A CN103640973B (en) | 2013-11-19 | 2013-11-19 | Fixed-height variable-amplitude control method and device and movable arm tower crane |
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| WO2016055025A3 (en) * | 2014-10-11 | 2016-06-02 | 徐州重型机械有限公司 | Crane operation range compensation method and apparatus |
| CN106946157A (en) * | 2017-04-26 | 2017-07-14 | 徐州建机工程机械有限公司 | A kind of compensation of luff control method, system and arm tower crane |
| CN111232844A (en) * | 2020-02-27 | 2020-06-05 | 武汉港迪电气有限公司 | Electric control compensation method for variable-amplitude fixed-height control of movable arm tower crane |
| CN112209247A (en) * | 2020-08-27 | 2021-01-12 | 中联重科股份有限公司 | Amplitude compensation method and equipment for crane boom |
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| CN112209247A (en) * | 2020-08-27 | 2021-01-12 | 中联重科股份有限公司 | Amplitude compensation method and equipment for crane boom |
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|---|---|
| CN103640973B (en) | 2015-07-29 |
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