CN104555733A - Hoisting swing control method, equipment and system and engineering machinery - Google Patents
Hoisting swing control method, equipment and system and engineering machinery Download PDFInfo
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- CN104555733A CN104555733A CN201410826322.1A CN201410826322A CN104555733A CN 104555733 A CN104555733 A CN 104555733A CN 201410826322 A CN201410826322 A CN 201410826322A CN 104555733 A CN104555733 A CN 104555733A
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- 238000000034 method Methods 0.000 title claims abstract description 39
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 97
- 239000010959 steel Substances 0.000 claims abstract description 97
- 239000000725 suspension Substances 0.000 claims abstract description 18
- 238000013507 mapping Methods 0.000 claims abstract description 17
- 238000013016 damping Methods 0.000 claims description 24
- 238000010276 construction Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 4
- 230000002068 genetic effect Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 13
- 238000004804 winding Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 239000012141 concentrate Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
Abstract
The invention discloses a method, equipment, a system and engineering machinery for controlling swinging of a hoisting weight, wherein the method comprises the following steps: obtaining current operation state information and steel wire rope state information: determining the optimal length of the steel wire rope according to the current operation state information and a steel wire rope length-operation state mapping table, wherein the length of the steel wire rope is the length of the steel wire rope between the head of the suspension arm and the lifting hook; and controlling the winding and unwinding of the winch according to the optimal length of the steel wire rope and the state information of the steel wire rope, so that the swing angle of the hoisting weight is smaller than a preset angle range, and the swing angle is an included angle between the current steel wire rope and a vertical plane where the hoisting arm is located. The invention can realize the effective and real-time control of the swing amplitude of the hoisting weight in the hoisting process, ensure that the hoisting weight can stably reach the designated position in a short time, and greatly improve the efficiency of the hoisting operation.
Description
Technical field
The present invention relates to engineering machinery field, particularly, relate to a kind of lift heavy weave control method, equipment, system and construction machinery and equipment.
Background technology
Fig. 1 is the schematic diagram that example hoisting crane hangs the state of carrying.Construction machinery and equipment is carrying out hanging year operation (for movable crane, basically illustrate surpassed 1, the auxiliary 3 of the principal arm 2 of arm, arm, steel rope 4, suspension hook 5 and lift heavy 6) time, if speed of revolutions is very fast or to play braking time short during operation, steel rope 4-suspension hook 5-lift heavy 6 is by generation one swing by a relatively large margin.The system that in movable crane, steel rope 4-suspension hook 5-lift heavy 6 forms is a lightly damped system, and being got off by the swing response attenuation produced in operation and reaching a pulsation-free state generally needs for a long time.
Significantly swing in order to avoid steel rope 4-suspension hook 5-lift heavy 6 produces (swinging referred to as lift heavy), in prior art general speed of revolutions when adopting moving-limiting formula crane job and its play braking time.Although and adopt and can reduce the operation of steel rope 4-suspension hook 5-lift heavy 6 in this way and produce the large possibility swung, it can not reduce the total time to lift heavy this process steady from operation with what to sacrifice efficiency be cost.Namely method, equipment and the system that effectively can control lift heavy and swing is lacked in prior art.
Summary of the invention
For lacking the technical matters that effectively can control lift heavy and swing in prior art, the invention provides a kind of lift heavy weave control method, the method comprises: obtain current work status information and steel rope status information: according to current work status information and rope capacity-operating condition mapping table, determine best rope capacity, wherein said rope capacity be from arm head to suspension hook the length of steel rope; And the withdrawing rope of elevator is controlled according to described best rope capacity and described steel rope status information, to make the pendulum angle of described lift heavy be less than predetermined angular range, described pendulum angle is the angle between current steel rope and arm place vertical guide.
Correspondingly, present invention also offers a kind of lift heavy weave control equipment, this equipment comprises: receptor, for obtaining current work status information and steel rope status information; And controller, for determining best rope capacity according to current work status information and rope capacity-operating condition mapping table, wherein said rope capacity be from arm head to suspension hook the length of steel rope; And for controlling the withdrawing rope of elevator according to described best rope capacity and described steel rope status information, to make the pendulum angle of described lift heavy be less than predetermined angular range, described pendulum angle is the angle between current steel rope and arm place vertical guide.
In addition, present invention also offers a kind of lift heavy weave control system, this system comprises: detecting device, for detecting current work status information and steel rope status information; And according to lift heavy weave control equipment provided by the present invention, wherein said detecting device and described lift heavy weave control equipment connection.
In addition, present invention also offers a kind of construction machinery and equipment comprised according to lift heavy weave control system provided by the present invention.
Adopt lift heavy weave control method provided by the present invention, equipment and system, by obtaining current work status information and steel rope status information, and best rope capacity can be determined according to current work status information and rope capacity-operating condition mapping table, the withdrawing rope of elevator can be controlled afterwards according to described best rope capacity and described steel rope status information, predetermined angular range (described pendulum angle is the angle between current steel rope and arm place vertical guide) is less than to make the pendulum angle of described lift heavy, can be implemented in hang in the process of carrying and lift heavy amplitude of fluctuation is carried out effectively, control in real time, guarantee that lift heavy can steadily arrive at assigned address at short notice, substantially increase the efficiency of hanging and carrying operation.
Other features and advantages of the present invention are described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification sheets, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:
Fig. 1 is that example hoisting crane hangs a year schematic diagram;
Fig. 2 is the structural representation of the example lift heavy weave control equipment according to one embodiment of the present invention;
Fig. 3 A-3B is the scheme of installation of example detection device;
Fig. 4 is the schematic diagram of the mechanics simplified model of example arm-steel rope-lift heavy; And
Fig. 5 is the diagram of circuit of the example lift heavy weave control method according to one embodiment of the present invention.
Description of reference numerals
1 surpass the auxiliary of principal arm 3 arm of 2 arms
4 steel rope 5 suspension hook 6 lift heavys
31 arm head 32,51 detecting devices
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
From the angle of energy, the vibration damping process of the lightly damped system that steel rope 4-suspension hook 5-lift heavy 6 forms is this lightly damped system dissipation of energy process or this lightly damped system energy transfer process to other structural system.Because this crane structure system has, boom structure damping is higher, steel rope damping is weak, when be hung on the lift heavy on steel cord ends suspension hook swing get up after, its swing response be difficult to by the damping of steel rope self, it is decayed.Therefore, the invention provides and utilize control rope capacity to change the structure build-in attribute of arm 3-steel rope 4-lift heavy 6, realize the response of proportioning each several part again.And then the energy realizing lift heavy 6-steel rope 4 shifts to arm 3, and allow the energy of the arm fast dissipation system had compared with high damping, finally realize the object of the swing response of rapid decay lift heavy.
In order to clearly illustrate thought of the present invention, below the control process being applied to hoisting crane with lift heavy weave control system is described in detail, should be understood that, this example is exemplary non-limiting example, lift heavy weave control system provided by the present invention goes for any scene needing to control lift heavy, and the present invention does not limit this.
According to one embodiment of the present invention, this system can comprise: detecting device, for detecting steel rope status information; And according to lift heavy weave control equipment provided by the present invention, wherein said detecting device and described lift heavy weave control equipment connection.
Fig. 2 is the structural representation of the example lift heavy weave control equipment according to one embodiment of the present invention, and as shown in Figure 2, this lift heavy weave control equipment can comprise: receptor 100, for obtaining current work status information and steel rope status information; And controller 200, for determining best rope capacity according to current work status information and rope capacity-operating condition mapping table, wherein said rope capacity be from arm head 31 to suspension hook 5 the length of steel rope; And for controlling the withdrawing rope of elevator according to described best rope capacity and described steel rope status information, to make the pendulum angle of described lift heavy be less than predetermined angular range, described pendulum angle θ is the angle between current steel rope and arm place vertical guide.
Particularly, described current work status information can comprise vehicle, hang and carry operating mode and lift heavy information etc.These information can be obtained from hoisting crane PLC by receptor 100, or also can be inputted by control panel by operating personal.And described steel rope status information can comprise the pendulum angle of current rope capacity and current steel rope.
Wherein, described detecting device can be any device that can realize above-mentioned functions, and such as device for detecting length and angle detection device etc., the present invention does not limit this.
In order to quantity and the type of the pendulum angle minimized detection device that more accurately obtain current rope capacity and current steel rope, preferably, described detecting device can be gps receiver.Detecting device can be arranged on arm head 31 and suspension hook 5 place, and Fig. 3 A-3B is the scheme of installation of example detection device.In this example, the pendulum angle of current rope capacity and current steel rope can be sent to receptor 100 by gps receiver in real time.Receptor 100 sends it to controller 200 in the above-mentioned information of acquisition.
Afterwards, controller 200 can determine best rope capacity according to current work status information and rope capacity-operating condition mapping table, wherein said rope capacity-operating condition mapping table is (process of establishing for this rope capacity-operating condition mapping table will be described in detail below) of setting up in advance and being stored on controller 200, and the withdrawing rope of elevator is controlled according to described best rope capacity and described steel rope status information, be less than predetermined angular range to make the pendulum angle of described lift heavy.
Particularly, described rope capacity-operating condition mapping table is set up according to following steps:
1) the mechanics simplified model of arm 3-steel rope 4-lift heavy 6 is set up:
Fig. 4 is the schematic diagram of the mechanics simplified model of example arm-steel rope-lift heavy, as shown in Figure 4, establish the finite element model of arm 3-steel rope 4-lift heavy 6 system, and utilize test to revise it, according to emulation and test results, draw the equivalent stiffness k of arm 3 in luffing plane
1and equivalent damping c
1, the equivalent stiffness k of arm in plane of rotation
2and equivalent damping c
2.For the control that lift heavy swings, main pay close attention to the swing of lift heavy and the vibration of arm arm head, so from the angle of mechanical modeling, arm being equivalent to one, to concentrate on equivalent mass be m
1arm arm head, and luffing, plane of rotation equivalent stiffness be k
1, k
2and equivalent damping is c
1, c
2mass-spring model, lift heavy 6 is reduced to one, and to concentrate on equivalent mass be m
2wire rope end, steel rope be reduced to one long for l, equivalent stiffness, equivalent damping are respectively k
s, c
sspring, the mechanics simplified model of the arm 3-steel rope 4-lift heavy 6 finally obtained, as shown in Figure 4.
2) kinetics equation group is obtained according to described mechanics simplified model:
For arm 3-steel rope 4-lift heavy 6, the damping of the little arm 3 far away of the damping due to steel rope 4 self, its under tension and response that the distortion that produces produces much smaller than arm vibration, therefore can ignore the elastic effect of steel rope.Therefore, Lagrangian method can be used to set up based on above analysis and simplify the kinetics equation group obtaining following arm 3-steel rope 4-lift heavy 6:
Wherein: k
1, c
1be respectively the equivalent stiffness of arm 3 in luffing plane and equivalent damping; k
s, c
sbe respectively equivalent stiffness and the equivalent damping of steel rope 4; m
1, m
2be respectively the equivalent mass of arm 3 and the equivalent mass of lift heavy; L is the equivalent length of steel rope 4; θ is the angle (steel rope and suspension hook, lift heavy being reduced to one herein) between current steel rope and arm 3 place vertical guide; (x, y) for arm head 31 is at the coordinate of space coordinates, and
for arm head 31 is at speed, the acceleration/accel of plane of rotation and luffing plane.Because above-mentioned kinetics equation group is Nonlinear System of Equations, therefore any suitable Solving Nonlinear Systems of Equations method and/or software in prior art can be utilized to solve, such as utilize newmark algorithm or Runge-kutta algorithm can solve this set of equations, make pendulum angle minimum to find, and when the lightly damped system energy of steel rope 4 and lift heavy 6 is shifted maximum to arm 3, the optimal solution of rope capacity, therefore needs the step of the searching optimal solution of carrying out below, that is:
3), x, y value minimum with θ value is relevance grade function to the maximum and solves described kinetics equation group, and the equivalent length l of the steel rope obtained under this condition is stored as best rope capacity.Preferably, intelligent algorithm can be used to be combined with said n ewmark algorithm or Runge-kutta algorithm and to solve this optimal solution.Described intelligent algorithm can be the intelligent algorithms such as genetic algorithm, particle cluster algorithm, ant group algorithm, for using these algorithms to find the process of optimal solution similarly to the prior art, in order to not obscure protection scope of the present invention, omits at this.
According to the method described above, the at least one of carrying in an operating mode (i.e. equivalent stiffness, equivalent damping difference), different lift heavy information (namely equivalent mass is different) is hung according to different automobile types (i.e. equivalent stiffness, equivalent damping, equivalent mass difference), difference, circulation performs step 1)-3), thus set up rope capacity-operating condition mapping table, best rope capacity under which includes different situations.
As mentioned above, controller 200 can determine best rope capacity according to current work status information and rope capacity-operating condition mapping table in real time, control the withdrawing rope of elevator afterwards according to described best rope capacity and described steel rope status information, be less than predetermined angular range to make the pendulum angle of described lift heavy.
Such as, controller 200 is when current rope capacity is not equal to described best rope capacity, and the withdrawing rope controlling elevator equals described best rope capacity to make current rope capacity.And controller 200, when current rope capacity equals described best rope capacity, judges whether the pendulum angle of current lift heavy is less than predetermined angular range.Wherein, when the pendulum angle of current lift heavy is less than predetermined angular range, controller 200 can control the withdrawing rope of elevator, to make described lift heavy reach assigned address, terminates this control process; Otherwise, when the pendulum angle of current lift heavy is greater than predetermined angular range, controller 200 need monitor the pendulum angle of the current steel rope that receptor 100 obtains from detecting device, until when pendulum angle is less than predetermined angular range, control the withdrawing rope of elevator, to make described lift heavy reach assigned address, terminate this control process.Wherein said predetermined angular range can be arranged according to actual job situation (such as the difference of vehicle, lift heavy), and the present invention does not limit this.
Fig. 5 is the diagram of circuit of the example lift heavy weave control method according to one embodiment of the present invention, and as shown in Figure 5, the method can comprise the following steps:
In step 1001, obtain current work status information and steel rope status information;
In step 1002, according to current work status information and rope capacity-operating condition mapping table, determine best rope capacity, wherein said rope capacity be from arm head to suspension hook the length of steel rope; And
In step 1003, the withdrawing rope of elevator is controlled according to described best rope capacity and described steel rope status information, to make the pendulum angle of described lift heavy be less than predetermined angular range, described pendulum angle is the angle between current steel rope and arm place vertical guide.
Preferably, described current work status information comprises vehicle, hangs and carry operating mode and lift heavy information.
Preferably, described steel rope status information comprises the pendulum angle of current rope capacity and current steel rope.
Preferably, described rope capacity-operating condition mapping table is set up according to following steps:
1) the mechanics simplified model of arm-steel rope-lift heavy is set up;
2) kinetics equation group is obtained according to described mechanics simplified model:
Wherein: k
1, c
1be respectively the equivalent stiffness of arm in luffing plane and equivalent damping; k
2, c
2for the equivalent stiffness of arm in plane of rotation and equivalent damping; k
s, c
sbe respectively equivalent stiffness and the equivalent damping of steel rope; m
1, m
2be respectively the equivalent mass of arm and the equivalent mass of lift heavy; L is the equivalent length of steel rope; θ is the angle between current steel rope and arm place vertical guide; (x, y) for arm head is at the coordinate of space coordinates, and
for arm head is at speed, the acceleration/accel of plane of rotation and luffing plane;
3), x, y value minimum with θ value is relevance grade function to the maximum and solves described kinetics equation group, and the equivalent length l of the steel rope obtained under this condition is stored as best rope capacity.
Preferably, utilize newmark algorithm or Runge-kutta algorithm to be combined with intelligent algorithm and solve described kinetics equation group.
Preferably, described intelligent algorithm is genetic algorithm.
Preferably, the withdrawing rope of elevator is controlled according to described best rope capacity and described steel rope status information, be less than predetermined angular range to make the pendulum angle of described lift heavy to comprise: when current rope capacity is not equal to described best rope capacity, the withdrawing rope controlling elevator equals described best rope capacity to make current rope capacity, when current rope capacity equals described best rope capacity, judge whether the pendulum angle of current lift heavy is less than predetermined angular range; Wherein, when the pendulum angle of current lift heavy is less than predetermined angular range, controls the withdrawing rope of elevator, reach assigned address to make described lift heavy.
The detailed description of the invention of said method step illustrates all in the embodiment of above-mentioned lift heavy weave control system, does not repeat them here.
Correspondingly, present invention also offers the construction machinery and equipment (such as shown in Figure 1) comprised according to lift heavy weave control system provided by the present invention, this project machinery not only can comprise lift heavy weave control system according to embodiment of the present invention as mentioned above, and this project machinery also can adopt any one and combination thereof in above-mentioned control method and equipment to carry out above-mentioned control process.Should be understood that, this project machinery can be any needs swing the construction machinery and equipment controlled, such as hoisting crane to lift heavy.
Adopt lift heavy weave control method provided by the present invention, equipment and system, can be implemented in hang in the process of carrying and carry out effectively, in real time controlling to lift heavy amplitude of fluctuation, guarantee that lift heavy can steadily arrive at assigned address at short notice, substantially increase the efficiency of hanging and carrying operation, and safety is higher.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode, in order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible array mode.
In addition, also can carry out combination in any between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (17)
1. a lift heavy weave control method, is characterized in that, the method comprises:
Obtain current work status information and steel rope status information;
According to current work status information and rope capacity-operating condition mapping table, determine best rope capacity, wherein said rope capacity be from arm head to suspension hook the length of steel rope; And
Control the withdrawing rope of elevator according to described best rope capacity and described steel rope status information, to make the pendulum angle of described lift heavy be less than predetermined angular range, described pendulum angle is the angle between current steel rope and arm place vertical guide.
2. method according to claim 1, is characterized in that, described current work status information comprises vehicle, hangs and carry operating mode and lift heavy information.
3. method according to claim 1, is characterized in that, described steel rope status information comprises the pendulum angle of current rope capacity and current steel rope.
4. method according to claim 2, is characterized in that, described rope capacity-operating condition mapping table is set up according to following steps:
1) the mechanics simplified model of arm-steel rope-lift heavy is set up;
2) kinetics equation group is obtained according to described mechanics simplified model:
Wherein: k
1, c
1be respectively the equivalent stiffness of arm in luffing plane and equivalent damping; k
2, c
2for the equivalent stiffness of arm in plane of rotation and equivalent damping; k
s, c
sbe respectively equivalent stiffness and the equivalent damping of steel rope; m
1, m
2be respectively the equivalent mass of arm and the equivalent mass of lift heavy; L is the equivalent length of steel rope; θ is the angle between current steel rope and arm place vertical guide; (x, y) for arm head is at the coordinate of space coordinates, and
for arm head is at speed, the acceleration/accel of plane of rotation and luffing plane;
3), x, y value minimum with θ value is relevance grade function to the maximum and solves described kinetics equation group, and the equivalent length l of the steel rope obtained under this condition is stored as best rope capacity.
5. method according to claim 4, is characterized in that, utilizes newmark algorithm or Runge-kutta algorithm to be combined with intelligent algorithm and solves described kinetics equation group.
6. method according to claim 5, is characterized in that, described intelligent algorithm is genetic algorithm.
7. method according to claim 3, is characterized in that, controls the withdrawing rope of elevator, be less than predetermined angular range comprise to make the pendulum angle of described lift heavy according to described best rope capacity and described steel rope status information:
When current rope capacity is not equal to described best rope capacity, the withdrawing rope controlling elevator equals described best rope capacity to make current rope capacity, when current rope capacity equals described best rope capacity, judge whether the pendulum angle of current lift heavy is less than predetermined angular range;
Wherein, when the pendulum angle of current lift heavy is less than predetermined angular range, controls the withdrawing rope of elevator, reach assigned address to make described lift heavy.
8. a lift heavy weave control equipment, is characterized in that, this equipment comprises:
Receptor, for obtaining current work status information and steel rope status information; And
Controller, for determining best rope capacity according to current work status information and rope capacity-operating condition mapping table, wherein said rope capacity be from arm head to suspension hook the length of steel rope; And for controlling the withdrawing rope of elevator according to described best rope capacity and described steel rope status information, to make the pendulum angle of described lift heavy be less than predetermined angular range, described pendulum angle is the angle between current steel rope and arm place vertical guide.
9. equipment according to claim 8, is characterized in that, described current work status information comprises vehicle, hangs and carry operating mode and lift heavy information.
10. equipment according to claim 8, is characterized in that, described steel rope status information comprises the pendulum angle of current rope capacity and current steel rope.
11. equipment according to claim 9, is characterized in that, described rope capacity-operating condition mapping table is set up according to following steps:
1) the mechanics simplified model of arm-steel rope-lift heavy is set up;
2) kinetics equation group is obtained according to described mechanics simplified model:
Wherein: k
1, c
1be respectively the equivalent stiffness of arm in luffing plane and equivalent damping; k
2, c
2for the equivalent stiffness of arm in plane of rotation and equivalent damping; k
s, c
sbe respectively equivalent stiffness and the equivalent damping of steel rope; m
1, m
2be respectively the equivalent mass of arm and the equivalent mass of lift heavy; L is the equivalent length of steel rope; θ is the angle between current steel rope and arm place vertical guide; (x, y) for arm head is at the coordinate of space coordinates, and
for arm head is at speed, the acceleration/accel of plane of rotation and luffing plane;
3), x, y value minimum with θ value is relevance grade function to the maximum and solves described kinetics equation group, and the equivalent length l of the steel rope obtained under this condition is stored as best rope capacity.
12. equipment according to claim 11, is characterized in that, utilize newmark algorithm or Runge-kutta algorithm to be combined with intelligent algorithm and solve described kinetics equation group.
13. equipment according to claim 12, is characterized in that, described intelligent algorithm is genetic algorithm.
14. equipment according to claim 10, is characterized in that, control the withdrawing rope of elevator, be less than predetermined angular range comprise to make the pendulum angle of described lift heavy according to described best rope capacity and described steel rope status information:
When current rope capacity is not equal to described best rope capacity, the withdrawing rope controlling elevator equals described best rope capacity to make current rope capacity, when current rope capacity equals described best rope capacity, judge whether the pendulum angle of current lift heavy is less than predetermined angular range;
Wherein, when the pendulum angle of current lift heavy is less than predetermined angular range, controls the withdrawing rope of elevator, reach assigned address to make described lift heavy.
15. 1 kinds of lift heavy weave control systems, it is characterized in that, this system comprises:
Detecting device, for detecting steel rope status information; And
Lift heavy weave control equipment according to Claim 8 according to any one of-14, wherein said detecting device and described lift heavy weave control equipment connection.
16. systems according to claim 15, is characterized in that, described detecting device is gps receiver, are arranged on arm head and suspension hook place.
17. 1 kinds comprise the construction machinery and equipment that claim requires the lift heavy weave control system described in 15 or 16.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410826322.1A CN104555733B (en) | 2014-12-26 | 2014-12-26 | Hoisting swing control method, equipment and system and engineering machinery |
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|---|---|---|---|
| CN201410826322.1A CN104555733B (en) | 2014-12-26 | 2014-12-26 | Hoisting swing control method, equipment and system and engineering machinery |
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| CN104555733B CN104555733B (en) | 2016-07-27 |
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| CN113562617A (en) * | 2021-07-21 | 2021-10-29 | 山东建筑大学 | Method and system for restraining tower body vibration during crane lifting motion |
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| CN113562617B (en) * | 2021-07-21 | 2023-05-12 | 山东建筑大学 | Method and system for inhibiting vibration of tower body during lifting movement of crane |
| CN113562639B (en) * | 2021-07-21 | 2023-05-12 | 山东建筑大学 | Method and system for inhibiting vibration of tower body in lifting and luffing process of crane |
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