CN104555733B - 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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- CN104555733B CN104555733B CN201410826322.1A CN201410826322A CN104555733B CN 104555733 B CN104555733 B CN 104555733B CN 201410826322 A CN201410826322 A CN 201410826322A CN 104555733 B CN104555733 B CN 104555733B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 99
- 239000010959 steel Substances 0.000 claims abstract description 99
- 238000013507 mapping Methods 0.000 claims abstract description 17
- 239000000725 suspension Substances 0.000 claims abstract description 17
- 238000013016 damping Methods 0.000 claims description 21
- 238000001514 detection method Methods 0.000 claims description 14
- 230000001133 acceleration Effects 0.000 claims description 12
- 230000002068 genetic effect Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 11
- 238000004804 winding Methods 0.000 abstract 1
- 230000004044 response Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 239000012141 concentrate Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 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, in particular it relates to a kind of lift heavy weave control method, equipment, system and
Engineering machinery.
Background technology
Fig. 1 is the schematic diagram that example crane hangs load state.Engineering machinery is carrying out hanging load operation (with mobilecrane
As a example by, basically illustrate setting-up 1, the principal arm 2 of arm, the auxiliary 3 of arm, steel wire rope 4, suspension hook 5 and lift heavy 6) time, if
During operation, speed of gyration is very fast or a braking time is short, and steel wire rope 4-suspension hook 5-lift heavy 6 will produce a swing by a relatively large margin.
The system that in mobilecrane, steel wire rope 4-suspension hook 5-lift heavy 6 is formed is a lightly damped system, will be produced in operation
Swing response attenuation get off and reach a stable state it is generally required to for a long time.
In order to avoid steel wire rope 4-suspension hook 5-lift heavy 6 produces significantly swing (referred to as lift heavy swing), prior art
In the general speed of gyration used when limiting Mobile hoisting machine operation and its play braking time.Although and adopting in this way
Steel wire rope 4-suspension hook 5-lift heavy 6 operation can be reduced produce the big probability swung, but it is to sacrifice efficiency as cost, can not
Reduce and start the total time to lift heavy steadily this process from operation.I.e. prior art lacks and can effectively control lift heavy swing
Method, equipment and system.
Summary of the invention
Can effectively control, for prior art lacks, the technical problem that lift heavy swings, the invention provides a kind of lift heavy
Weave control method, the method includes: obtain current work status information and steel wire rope status information: according to current work shape
State information and rope capacity-job state mapping table, determine optimal rope capacity, wherein said rope capacity be from
Arm head is to the length of the steel wire rope between suspension hook；And believe according to described optimal rope capacity and described steel wire rope state
Breath controls the withdrawing rope of elevator, so that the pendulum angle of described lift heavy is less than predetermined angular range, described pendulum angle is current
Angle between steel wire rope and arm place vertical guide.
Correspondingly, present invention also offers a kind of lift heavy weave control equipment, this equipment includes: receptor, is used for obtaining
Current work status information and steel wire rope status information；And controller, for according to current work status information and steel
Cord length-job state mapping table determines optimal rope capacity, and wherein said rope capacity is to hanging from arm head
The length of the steel wire rope between hook；And for controlling volume according to described optimal rope capacity and described steel wire rope status information
The withdrawing rope raised so that the pendulum angle of described lift heavy is less than predetermined angular range, described pendulum angle be current steel wire rope with
Angle between the vertical guide of arm place.
Additionally, present invention also offers a kind of lift heavy weave control system, this system includes: detection device, is used for detecting
Current work status information and steel wire rope status information；And according to lift heavy weave control equipment provided by the present invention, its
Described in detect device be connected with described lift heavy weave control equipment.
It addition, present invention also offers a kind of engineering machine included according to lift heavy weave control system provided by the present invention
Tool.
Use lift heavy weave control method provided by the present invention, equipment and system, by obtaining current work state
Information and steel wire rope status information, and according to current work status information and rope capacity-job state mapping table
May determine that optimal rope capacity, can control according to described optimal rope capacity and described steel wire rope status information afterwards
The withdrawing rope of elevator, so that the pendulum angle of described lift heavy is less than predetermined angular range, (described pendulum angle is current steel wire rope
And the angle between the vertical guide of arm place), it is possible to achieve during hanging load, lift heavy amplitude of fluctuation is carried out effectively, in real time
Ground controls, it is ensured that lift heavy can the most steadily arrive is specifying position, substantially increases and hangs the efficiency carrying operation.
Other features and advantages of the present invention will be 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 constitutes the part of description, with following tool
Body embodiment is used for explaining the present invention together, but is not intended that limitation of the present invention.In the accompanying drawings:
Fig. 1 is that example crane hangs load 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 wire rope-lift heavy；And
Fig. 5 is the flow chart of the example lift heavy weave control method according to one embodiment of the present invention.
Description of reference numerals
The auxiliary of principal arm 3 arm of 1 setting-up 2 arm
4 steel wire rope 5 suspension hook 6 lift heavys
31 arm heads 32,51 detect device
Detailed description of the invention
Below in conjunction with accompanying drawing, the detailed description of the invention of the present invention is described in detail.It should be appreciated that this place is retouched
The detailed description of the invention stated is merely to illustrate and explains the present invention, is not limited to the present invention.
For the angle of energy, the vibration damping process of the lightly damped system that steel wire rope 4-suspension hook 5-lift heavy 6 is formed is this
Lightly damped system dissipation of energy process or this lightly damped system energy are to the transfer process of other structural system.Owing to this rises
Heavy-duty machine structural system has the advantages that boom structure damping is higher, steel wire rope damping is weak, when being hung on steel cord ends suspension hook
After lift heavy swings, it is swung response and is difficult to be decayed it by the damping of steel wire rope self.Therefore, the present invention provides
Utilize and control rope capacity and change the structure build-in attribute of arm 3-steel wire rope 4-lift heavy 6, it is achieved each portion of proportioning again
The response divided.And then the energy realizing lift heavy 6-steel wire rope 4 shifts to arm 3, and the arm with relatively high-damping is allowed quickly to consume
The energy of the system of dissipating, finally realizes the purpose swinging response of rapid decay lift heavy.
In order to clearly illustrate the thought of the present invention, crane will be applied to lift heavy weave control system below
Control process is described in detail, it should be appreciated that this example is exemplary non-limiting example, provided by the present invention
Lift heavy weave control system go for any scene needing and lift heavy being controlled, this is not limited by the present invention
Fixed.
According to one embodiment of the present invention, this system may include that detection device, is used for detecting steel wire rope state letter
Breath；And according to lift heavy weave control equipment provided by the present invention, wherein said detection device and described lift heavy weave control
Equipment connects.
Fig. 2 is the structural representation of the example lift heavy weave control equipment according to one embodiment of the present invention, such as Fig. 2
Shown in, this lift heavy weave control equipment may include that receptor 100, is used for obtaining current work status information and steel wire rope
Status information；And controller 200, for according to current work status information and rope capacity-job state mapping table
Determine the length that optimal rope capacity, wherein said rope capacity are the steel wire rope from arm head 31 to suspension hook 5；
And for controlling the withdrawing rope of elevator according to described optimal rope capacity and described steel wire rope status information so that described in hang
The pendulum angle of weight is less than predetermined angular range, and described pendulum angle θ is between current steel wire rope and arm place vertical guide
Angle.
Specifically, described current work status information can include vehicle, hang load operating mode and lift heavy information etc..These
Information can be obtained from crane PLC by receptor 100, or can also be defeated by control panel by operator
Enter.And described steel wire rope status information can include current rope capacity and the pendulum angle of current steel wire rope.
Wherein, described detection device can be any device being capable of above-mentioned functions, such as device for detecting length and
Angle detection devices etc., this is not defined by the present invention.
In order to more accurately obtain current rope capacity and the pendulum angle of current steel wire rope and minimize detection dress
The quantity put and type, it is preferable that described detection device can be gps receiver.Detection device may be mounted at arm head
31 and suspension hook 5 at, Fig. 3 A-3B is the scheme of installation of example detection device.In this example, gps receiver can in real time by
The pendulum angle of current rope capacity and current steel wire rope is sent to receptor 100.Receptor 100 will in the above-mentioned information of acquisition
It is sent to controller 200.
Afterwards, controller 200 can be true according to current work status information and rope capacity-job state mapping table
Fixed optimal rope capacity, wherein said rope capacity-job state mapping table is to pre-build and be stored in controller 200
On (this rope capacity-job state mapping table is set up process and will be described in detail below), and according to
Described optimal rope capacity and described steel wire rope status information control the withdrawing rope of elevator, so that the pendulum angle of described lift heavy
Less than predetermined angular range.
Specifically, described rope capacity-job state mapping table is set up according to following steps:
1) the mechanics simplified model of arm 3-steel wire rope 4-lift heavy 6 is set up:
Fig. 4 is the schematic diagram of the mechanics simplified model of example arm-steel wire rope-lift heavy, as shown in Figure 4, establishes arm
The FEM (finite element) model of 3-steel wire rope 4-lift heavy 6 system, and utilize test that it is modified, according to emulation and result of the test,
Go out the arm 3 equivalent stiffness k in luffing plane1And equivalent damping c1, arm equivalent stiffness k in plane of rotation2And
Equivalent damping c2.The control swung for lift heavy, is primarily upon swing and the vibration of arm arm head of lift heavy, so from mechanics
The angle of modeling, arm being equivalent to one and concentrates on equivalent mass is m1Arm arm head, and luffing, plane of rotation etc.
Effect rigidity is k1、k2And equivalent damping is c1、c2Mass-spring model, lift heavy 6 be reduced to one and concentrate on equivalent mass be
m2Wire rope end, steel wire rope is reduced to an a length of l, and equivalent stiffness, equivalent damping are respectively ks、csSpring, final
The mechanics simplified model of the arm 3-steel wire rope 4-lift heavy 6 arrived, as shown in Figure 4.
2) kinetics equation group is obtained according to described mechanics simplified model:
For arm 3-steel wire rope 4-lift heavy 6, due to the damping of the damping remote little arm 3 self of steel wire rope 4, it is drawn
Power and produce deformation much smaller than arm vibration produce response, the buoyancy effect of the most negligible steel wire rope.Therefore, based on
Upper analysis can be used Lagrangian method to set up and simplify the kinetics equation obtaining following arm 3-steel wire rope 4-lift heavy 6
Group:
Wherein: k1、c1It is respectively the arm 3 equivalent stiffness in luffing plane and equivalent damping；k2、c2Exist for arm
Equivalent stiffness in plane of rotation and equivalent damping；m1、m2It is respectively equivalent mass and the equivalent mass of lift heavy of arm 3；l
Equivalent length for steel wire rope 4；θ、For the angle between current steel wire rope and arm 3 place vertical guide (herein by steel
Cord and suspension hook, lift heavy are reduced to one), the angular velocity of this angle, the angular acceleration of this angle；(x y) is arm head 31
At the coordinate of space coordinates, andFor arm head 31 plane of rotation and the speed of luffing plane,
Acceleration, g is acceleration of gravity.Owing to above-mentioned kinetics equation group is Nonlinear System of Equations, prior art therefore can be utilized
In any suitable Solving Nonlinear Systems of Equations method and/or software solve, such as utilize newmark algorithm or
Runge-kutta algorithm can solve equation group, makes pendulum angle minimum to find, and by steel wire rope 4 and lift heavy 6
Lightly damped system energy when arm 3 shifts most, the optimal solution of rope capacity, it is therefore desirable to carry out following searching
The step of excellent solution, it may be assumed that
3) it is relevance grade function to the maximum with θ value minimum, x, y value and solves described kinetics equation group, and obtain under the conditions of this
Equivalent length l of the steel wire rope obtained is stored as optimal rope capacity.Preferably, it is possible to use intelligent algorithm is with above-mentioned
Newmark algorithm or Runge-kutta algorithm combine and solve this optimal solution.Described intelligent algorithm can be genetic algorithm,
The intelligent algorithm such as 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, omit at this.
According to the method described above, load is hung according to different automobile types (i.e. equivalent stiffness, equivalent damping, equivalent mass difference), difference
At least one in operating mode (i.e. equivalent stiffness, equivalent damping difference), different lift heavy information (i.e. equivalent mass is different), circulation is held
Row step 1)-3), thus set up rope capacity-job state mapping table, which includes optimal steel under different situations
Cord length.
As it has been described above, controller 200 can be in real time according to current work status information and rope capacity-operation shape
State mapping table determines optimal rope capacity, controls according to described optimal rope capacity and described steel wire rope status information afterwards
The withdrawing rope of elevator, so that the pendulum angle of described lift heavy is less than predetermined angular range.
Such as, controller 200, in the case of current rope capacity is not equal to described optimal rope capacity, controls volume
The withdrawing rope raised is so that current rope capacity is equal to described optimal rope capacity.And, controller 200 is at current steel wire rope
Length is equal in the case of described optimal rope capacity, it is judged that whether the pendulum angle of current lift heavy is less than predetermined angular model
Enclose.Wherein, in the case of the pendulum angle of current lift heavy is less than predetermined angular range, controller 200 can control elevator
Withdrawing rope, so that described lift heavy reaches to specify position, terminates this secondary control process；Otherwise, big at the pendulum angle of current lift heavy
In the case of predetermined angular range, controller 200 need to monitor the pendulum of the current steel wire rope that receptor 100 obtains from detection device
Dynamic angle, until pendulum angle is less than in the case of predetermined angular range, controls the withdrawing rope of elevator, so that described lift heavy reaches
Specify position, terminate this secondary control process.Wherein said predetermined angular range can according to actual job situation (such as vehicle,
The difference of lift heavy) it is configured, this is not defined by the present invention.
Fig. 5 is the flow chart of the example lift heavy weave control method according to one embodiment of the present invention, such as Fig. 5 institute
Showing, the method may comprise steps of:
In step 1001, it is thus achieved that current work status information and steel wire rope status information；
In step 1002, according to current work status information and rope capacity-job state mapping table, determine optimal
Rope capacity, wherein said rope capacity be from arm head to suspension hook between the length of steel wire rope；And
In step 1003, control the folding and unfolding of elevator according to described optimal rope capacity and described steel wire rope status information
Rope, so that the pendulum angle of described lift heavy is less than predetermined angular range, described pendulum angle is current steel wire rope and arm place
Angle between vertical guide.
Preferably, described current work status information includes vehicle, hangs load operating mode and lift heavy information.
Preferably, described steel wire rope status information includes current rope capacity and the pendulum angle of current steel wire rope.
Preferably, described rope capacity-job state mapping table is set up according to following steps:
1) the mechanics simplified model of arm-steel wire rope-lift heavy is set up；
2) kinetics equation group is obtained according to described mechanics simplified model:
Wherein: k1、c1It is respectively arm equivalent stiffness in luffing plane and equivalent damping；k2、c2Returning for arm
Turn the equivalent stiffness in plane and equivalent damping；m1、m2It is respectively equivalent mass and the equivalent mass of lift heavy of arm；L is steel
The equivalent length of cord；θ、For the angle between current steel wire rope and arm place vertical guide, the angular velocity of this angle,
The angular acceleration of this angle；(x, y) is the arm head coordinate in space coordinates, andFor arm head
Portion is at plane of rotation and the speed of luffing plane, acceleration, and g is acceleration of gravity；
3) it is relevance grade function to the maximum with θ value minimum, x, y value and solves described kinetics equation group, and obtain under the conditions of this
Equivalent length l of the steel wire rope obtained is stored as optimal rope capacity.
Preferably, utilize newmark algorithm or Runge-kutta algorithm to be combined with intelligent algorithm and solve described kinetics side
Journey group.
Preferably, described intelligent algorithm is genetic algorithm.
Preferably, control the withdrawing rope of elevator according to described optimal rope capacity and described steel wire rope status information, with
The pendulum angle making described lift heavy includes less than predetermined angular range: be not equal to described optimal steel wire rope in current rope capacity
In the case of length, control the withdrawing rope of elevator so that current rope capacity is equal to described optimal rope capacity, currently
Rope capacity is equal in the case of described optimal rope capacity, it is judged that whether the pendulum angle of current lift heavy is less than predetermined angle
Degree scope；Wherein, in the case of the pendulum angle of current lift heavy is less than predetermined angular range, control the withdrawing rope of elevator, with
Described lift heavy is made to reach to specify position.
The detailed description of the invention of said method step illustrates the most in the embodiment of above-mentioned lift heavy weave control system,
Do not repeat them here.
Correspondingly, present invention also offers the engineering machinery included according to lift heavy weave control system provided by the present invention
(the most as shown in Figure 1), this engineering machinery not only can swing control by the lift heavy according to embodiment of the present invention included as described above
System processed, and this engineering machinery can also use any one in above-mentioned control method and equipment and combinations thereof to carry out above-mentioned control
Process processed.It should be appreciated that this engineering machinery can be any needs, and lift heavy is swung the engineering machinery being controlled, such as
Crane.
Use lift heavy weave control method provided by the present invention, equipment and system, it is possible to achieve during hanging load
Lift heavy amplitude of fluctuation is carried out effectively, controls in real time, it is ensured that lift heavy can the most steadily arrive is specifying position,
Substantially increase and hang the efficiency carrying operation, and safety is higher.
The preferred embodiment of the present invention is described in detail above in association with accompanying drawing, but, the present invention is not limited to above-mentioned reality
Execute the detail in mode, in the technology concept of the present invention, technical scheme can be carried out multiple letter
Monotropic type, these simple variant belong to protection scope of the present invention.
It is further to note that each the concrete technical characteristic described in above-mentioned detailed description of the invention, at not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to various can
The compound mode of energy illustrates the most separately.
Additionally, combination in any can also be carried out between the various different embodiment of the present invention, as long as it is without prejudice to this
The thought of invention, it should be considered as content disclosed in this invention equally.
Claims (17)
1. a lift heavy weave control method, it is characterised in that the method includes:
Obtain current work status information and steel wire rope status information；
According to current work status information and rope capacity-job state mapping table, determine optimal rope capacity, wherein
Described rope capacity be from arm head to suspension hook between the length of steel wire rope；And
The withdrawing rope of elevator is controlled according to described optimal rope capacity and described steel wire rope status information, so that described lift heavy
Pendulum angle is less than predetermined angular range, and described pendulum angle is the angle between current steel wire rope and arm place vertical guide.
Method the most according to claim 1, it is characterised in that described current work status information includes vehicle, hangs load work
Condition and lift heavy information.
Method the most according to claim 1, it is characterised in that described steel wire rope status information includes current rope capacity
Pendulum angle with current steel wire rope.
Method the most according to claim 2, it is characterised in that described rope capacity-job state mapping table according to
Lower step is set up:
1) the mechanics simplified model of arm-steel wire rope-lift heavy is set up；
2) kinetics equation group is obtained according to described mechanics simplified model:
Wherein: k1、c1It is respectively arm equivalent stiffness in luffing plane and equivalent damping；k2、c2Flat in revolution for arm
Equivalent stiffness in face and equivalent damping；m1、m2It is respectively equivalent mass and the equivalent mass of lift heavy of arm；L is steel wire rope
Equivalent length；θ、For the angle between current steel wire rope and arm place vertical guide, the angular velocity of this angle, this folder
The angular acceleration at angle；(x, y) is the arm head coordinate in space coordinates, andExist for arm head
Plane of rotation and the speed of luffing plane, acceleration, g is acceleration of gravity；
3) it is relevance grade function to the maximum with θ value minimum, x, y value and solves described kinetics equation group, and by acquisition under the conditions of this
Equivalent length l of steel wire rope is stored as optimal rope capacity.
Method the most according to claim 4, it is characterised in that utilize newmark algorithm or Runge-kutta algorithm and intelligence
Algorithm combination can solve described kinetics equation group.
Method the most according to claim 5, it is characterised in that described intelligent algorithm is genetic algorithm.
Method the most according to claim 3, it is characterised in that according to described optimal rope capacity and described steel wire rope form
State information controls the withdrawing rope of elevator, so that the pendulum angle of described lift heavy includes less than predetermined angular range:
In the case of current rope capacity is not equal to described optimal rope capacity, control the withdrawing rope of elevator so that current
Rope capacity is equal to described optimal rope capacity, is equal to the situation of described optimal rope capacity in current rope capacity
Under, it is judged that whether the pendulum angle of current lift heavy is less than predetermined angular range；
Wherein, in the case of the pendulum angle of current lift heavy is less than predetermined angular range, control the withdrawing rope of elevator, so that institute
State lift heavy to reach to specify position.
8. a lift heavy weave control equipment, it is characterised in that this equipment includes:
Receptor, is used for obtaining current work status information and steel wire rope status information；And
Controller, for determining optimal steel wire according to current work status information and rope capacity-job state mapping table
Rope length, wherein said rope capacity be from arm head to suspension hook between the length of steel wire rope；And for according to institute
State optimal rope capacity and the withdrawing rope of described steel wire rope status information control elevator, so that the pendulum angle of described lift heavy is little
In predetermined angular range, described pendulum angle is the angle between current steel wire rope and arm place vertical guide.
Equipment the most according to claim 8, it is characterised in that described current work status information includes vehicle, hangs load work
Condition and lift heavy information.
Equipment the most according to claim 8, it is characterised in that described steel wire rope status information includes current length of steel rope
Degree and the pendulum angle of current steel wire rope.
11. equipment according to claim 9, it is characterised in that described rope capacity-job state mapping table according to
Lower step is set up:
1) the mechanics simplified model of arm-steel wire rope-lift heavy is set up；
2) kinetics equation group is obtained according to described mechanics simplified model:
Wherein: k1、c1It is respectively arm equivalent stiffness in luffing plane and equivalent damping；k2、c2Flat in revolution for arm
Equivalent stiffness in face and equivalent damping；m1、m2It is respectively equivalent mass and the equivalent mass of lift heavy of arm；L is steel wire rope
Equivalent length；θ、For the angle between current steel wire rope and arm place vertical guide, the angular velocity of this angle, this folder
The angular acceleration at angle；(x, y) is the arm head coordinate in space coordinates, andExist for arm head
Plane of rotation and the speed of luffing plane, acceleration, g is acceleration of gravity；
3) it is relevance grade function to the maximum with θ value minimum, x, y value and solves described kinetics equation group, and by acquisition under the conditions of this
Equivalent length l of steel wire rope is stored as optimal rope capacity.
12. equipment according to claim 11, it is characterised in that utilize newmark algorithm or Runge-kutta algorithm with
Intelligent algorithm combines and solves described kinetics equation group.
13. equipment according to claim 12, it is characterised in that described intelligent algorithm is genetic algorithm.
14. equipment according to claim 10, it is characterised in that according to described optimal rope capacity and described steel wire rope
Status information controls the withdrawing rope of elevator, so that the pendulum angle of described lift heavy includes less than predetermined angular range:
In the case of current rope capacity is not equal to described optimal rope capacity, control the withdrawing rope of elevator so that current
Rope capacity is equal to described optimal rope capacity, is equal to the situation of described optimal rope capacity in current rope capacity
Under, it is judged that whether the pendulum angle of current lift heavy is less than predetermined angular range；
Wherein, in the case of the pendulum angle of current lift heavy is less than predetermined angular range, control the withdrawing rope of elevator, so that institute
State lift heavy to reach to specify position.
15. 1 kinds of lift heavy weave control systems, it is characterised in that this system includes:
Detection device, is used for detecting steel wire rope status information；And
Lift heavy weave control equipment according to any one of-14 according to Claim 8, wherein said detection device and described lift heavy
Weave control equipment connects.
16. systems according to claim 15, it is characterised in that described detection device is gps receiver, is arranged on arm
At head and suspension hook.
17. 1 kinds include that claim requires the engineering machinery of the lift heavy weave control system described in 15 or 16.
Priority Applications (1)
| 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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| 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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| Publication Number | Publication Date |
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| CN104555733A CN104555733A (en) | 2015-04-29 |
| CN104555733B true CN104555733B (en) | 2016-07-27 |
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| CN201410826322.1A Active CN104555733B (en) | 2014-12-26 | 2014-12-26 | Hoisting swing control method, equipment and system and engineering machinery |
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| CN106006417B (en) * | 2016-08-17 | 2019-03-19 | 徐州重型机械有限公司 | A kind of monitoring system and method that crane hook is swung |
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