CN107473092B - Suspender swing angle acquisition methods and device and crane are prevented shaking method and device - Google Patents
Suspender swing angle acquisition methods and device and crane are prevented shaking method and device Download PDFInfo
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- CN107473092B CN107473092B CN201710936379.0A CN201710936379A CN107473092B CN 107473092 B CN107473092 B CN 107473092B CN 201710936379 A CN201710936379 A CN 201710936379A CN 107473092 B CN107473092 B CN 107473092B
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- suspender
- deflection
- trolley platform
- swing angle
- acceleration
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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
-
- 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
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0023—Measuring of sport goods, e.g. bowling accessories, golfclubs, game balls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention provides suspender swing angle acquisition methods and device and crane to prevent shaking method and device, is related to lifting equipment and prevents shaking field.Suspender swing angle acquisition methods provided by the invention, the variation of track amount of deflection is considered when calculating suspender practical swing angle, and then after getting the swing angle to be optimized of deflection angle and suspender along the trolley platform direction of motion of trolley platform along the vertical direction, the practical swing angle of suspender has been calculated according to the two parameters, to ensure that calculated practical swing angle is accurately, so that carrying out preventing shaking control being highly efficient using the calculated practical swing angle to a certain extent.
Description
Technical field
Prevent shaking field the present invention relates to lifting equipment, in particular to suspender swing angle acquisition methods and device, and
Crane is anti-to shake method and device.
Background technique
Lifting equipment can move container along assigned direction (as both vertically and horizontally).General work
In industry production activity, lifting equipment is often used.
It is influenced by factors such as inertia, wind-force, at work, suspender thereon often shakes lifting equipment
The phenomenon that rolling, this, which will lead to suspender when grabbing case, can not fast and accurately be directed at container to be crawled, can not be accurate when putting case
Container is put into target position, this strong influence operating efficiency.
For this kind of situation, need to increase the anti-device shaken to avoid suspender from rocking.In the related technology, it will usually using control
The modes such as big trolley platform acceleration and deceleration are made to avoid suspender from rocking, but anti-shake that the effect is unsatisfactory.
Summary of the invention
The purpose of the present invention is to provide suspender swing angle acquisition methods and device and crane to prevent shaking method and dress
It sets, with the anti-order of accuarcy for shaking control of crane.
In a first aspect, the embodiment of the invention provides suspender swing angle acquisition methods, comprising:
Obtain trolley platform deflection angle along the vertical direction, and, obtain suspender along the trolley platform direction of motion to
Optimize swing angle；
According to deflection angle and swing angle to be optimized, the practical swing angle of suspender is calculated.
With reference to first aspect, the embodiment of the invention provides the first possible embodiments of first aspect, wherein step
It is rapid to obtain the deflection angle of trolley platform along the vertical direction, comprising:
Trolley platform is directly measured along the vertical direction by the vertical direction angel measuring instrument that is arranged on trolley platform
Deflection angle.
With reference to first aspect, the embodiment of the invention provides second of possible embodiments of first aspect, wherein presses
According to such as deflection angle of under type counting of carriers platform along the vertical direction:
Wherein, B is the deflection angle of trolley platform along the vertical direction, and ML is that two the first acceleration transducers are flat along trolley
Distance on platform moving direction, dL1=∫ ∫ a1Dt, dL2=∫ ∫ a2dta1The vertical side measured for first acceleration transducer
To acceleration value, a2For the acceleration value for the vertical direction that another first acceleration transducer measures；Two first acceleration
Degree sensor is arranged on trolley platform.
With reference to first aspect, the embodiment of the invention provides the third possible embodiments of first aspect, wherein two
Distance of a first acceleration transducer on trolley platform moving direction is greater than 3.2 meters.
With reference to first aspect, the embodiment of the invention provides the 4th kind of possible embodiments of first aspect, wherein small
The track amount of deflection of track is calculated according to following formula where vehicle platform:
dL5=∫ ∫ a5dt；
dL5It is track amount of deflection, a5It is the acceleration value obtained measured by the 5th acceleration transducer, the 5th acceleration sensing
Device is arranged on trolley platform.
With reference to first aspect, the embodiment of the invention provides the 5th kind of possible embodiments of first aspect, wherein small
The track amount of deflection of track determines as follows where vehicle platform:
The distance of each second acceleration transducer distance objective position is obtained, target position is the center institute of trolley platform
Position；Second acceleration transducer is multiple；
Track amount of deflection is calculated using following formula:
dL6=∫ ∫ a6dt；
In formula, dL6It is track amount of deflection, a6It is the acceleration value obtained measured by aimed acceleration sensor；Target accelerates
Degree sensor is that all second acceleration transducer mid-range objectives positions are nearest.
Second aspect, the embodiment of the invention also provides suspender swing angle acquisition device, comprising:
Module is obtained, for obtaining the deflection angle of trolley platform along the vertical direction, and, suspender is obtained along trolley platform
The swing angle to be optimized of the direction of motion；
Computing module, for calculating the practical swing angle of suspender according to deflection angle and swing angle to be optimized.
The third aspect shakes method the embodiment of the invention also provides crane is anti-, the suspender swing including such as first aspect
Angle acquisition methods, further includes:
It carries out preventing shaking control according to the practical swing angle of suspender.
In conjunction with the third aspect, the embodiment of the invention provides the first possible embodiments of the third aspect, wherein root
It carries out preventing that shaking control includes: according to the practical swing angle of suspender
According to the input speed of following formula counting of carriers motor: Vc=vx+k1 (sx-sx ')+k2 (vx-vx ')+k3 (A)
+k4(E)；Wherein, K1-K4 is closed loop feedback coefficient, and Vc is the input speed of vehicle motor；Sx is that suspender is moved in trolley platform
The planned position in direction；Sx ' is physical location of the suspender in the trolley platform direction of motion；Vx is suspender in moving of car direction
Plan speed；Vx ' is actual speed of the suspender in moving of car direction；A is the practical swing angle of suspender；E is suspender swing
The magnitude of angular velocity that angular transducer measures；
It carries out preventing shaking control according to the input speed of vehicle motor.
Second aspect, the embodiment of the invention also provides crane anti-roll devices, the suspender angle of oscillation including second aspect
Spend acquisition device, further includes:
It is anti-to shake module, it carries out preventing shaking control for the practical swing angle according to suspender.
Suspender swing angle acquisition methods provided in an embodiment of the present invention are examined when calculating suspender practical swing angle
Consider the variation of track amount of deflection, and then gets trolley platform deflection angle along the vertical direction and suspender along trolley platform
After the swing angle to be optimized of the direction of motion, the practical swing angle of suspender is calculated according to the two parameters, thus centainly
Ensure that in degree calculated practical swing angle be accurately so that using the calculated practical swing angle into
Row prevents that it is highly efficient for shaking control.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the basic flow chart of suspender swing angle acquisition methods provided by the embodiment of the present invention；
Fig. 2 shows first principle analysis in suspender swing angle acquisition methods provided by the embodiment of the present invention
Figure；
Fig. 3 shows second principle analysis in suspender swing angle acquisition methods provided by the embodiment of the present invention
Figure；
Fig. 4 shows the module frame figure of suspender swing angle acquisition device provided by the embodiment of the present invention.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
Aiming at the problem that lifting equipment is prevented shaking, in the related technology, some anti-swinging technologies are had already appeared, these have already appeared
Anti-swinging technology when in use, it is necessary first to (location parameter includes suspender to the location parameter of suspender for first determining on lifting equipment
The angle parameter and spreader height parameter of swing, wherein the angle that typically directly measurement suspender is swung), such as swing angle.It is related
In technology, it will usually obtain the swing angle of suspender using mode measured directly, this operating condition is for driver in equipment
Can substantially meet requirement when manual operation, but under automation operating condition, it is anti-for suspender shake propose it is higher
It is required that system needs to carry out by way of negative-feedback to prevent to shake, this just needs to obtain accurate swing angle.
But the inventors of the present application found that the suspender got is swung in the anti-swinging technology having already appeared in the related technology
Angle is not accurate enough.It tests and analyzes by inventor, it is believed that in actual use, directly acquired and hung using some detection device
If the height or swing angle of tool, the precision of the numerical value got is inadequate, this also directly results in subsequent using these numbers
It is undesirable that value carries out the anti-effect for shaking processing.
For this kind of problem, this application provides suspender swing angle acquisition methods, as shown in Figure 1, this method includes such as
Lower step:
S101 obtains the deflection angle of trolley platform along the vertical direction, and, suspender is obtained along the trolley platform direction of motion
Swing angle to be optimized；
S102 calculates the practical swing angle of suspender according to deflection angle and swing angle to be optimized.
That is, completing the calculating practical swing angle of the task by step S101 and step S102.As shown in Fig. 2, showing
The theory analysis figure of method provided herein.In the following, being illustrated in conjunction with scheme of the Fig. 2 to the application, (11 are in figure
Suspender；12 be the trolley track in the case where not considering amount of deflection, the as horizontal line parallel with earth's surface；13 be to consider amount of deflection
In the case of trolley track, an as curve；14 be trolley platform, and the tangent line L1 in figure refers to trolley platform position
Trolley track tangent line, horizontal line L 2 refers to the horizontal line of trolley platform position, in suspender center and sensor
Heart line is that the plumb line of L3 trolley platform position is L4, and the axis of sensor is L5；H is suspender actual height, i.e., small
The distance between the horizontal line where horizontal line and suspender where the highest point in track road, dL are that trolley platform is (preferably small
Vehicle Platform center point) position track amount of deflection).
As shown in Figure 2, the mode that the increase angular transducer on trolley platform is usually taken in the related technology is directly surveyed
The swing angle of suspender is measured, but that actually measure using the mode of this measurement is angle D, it can be seen that angle D is sensing
(swing angle to be optimized in namely step S101, the angle can be passed by angle for device axis and the angle of target link
Sensor directly measures), target link herein is that suspender center and center sensor (measure the sensor of swing angle to be optimized
Center) line.Directly using angle D as the practical swing angle of suspender participate in it is anti-shake control be it is not accurate enough, this
It is that (amount of deflection is mainly the active force in track self gravity and suspender to track due to not accounting for the influence of track amount of deflection
Under the influence of generate).Thus, in order to determine the practical swing angle of accurate suspender, need to combine track along the vertical direction inclined
Gyration calculates, and since suspender is hung directly from trolley platform, the angle that should be measured is trolley platform edge
The deflection angle of vertical direction.As shown in Figure 2, the measuring instrument (such as level) of the angle using measurement along the vertical direction can
Directly measure angle B (deflection angle of trolley platform along the vertical direction, the angle generated due to track amount of deflection, Ke Yitong
Cross level and directly measure and obtain), in turn, according to geometrical relationship, (angle C is sensor axis and vertical by angle B and angle C
The angle of line, or perhaps the angle of sensor axis and gravity vertical) it is equal, meanwhile, the sum of angle A and angle C are equal to angle
D, so that it may which (suspender is along the trolley platform direction of motion according to angle B (deflection angle of trolley platform along the vertical direction) and angle D
Swing angle to be optimized) directly calculate angle A (the practical swing angle of suspender), such as can be according to following formula meter
Calculate angle A: A=D-B.
In turn, through the above scheme, it after considering amount of deflection caused by track, can determine more accurately to put
Dynamic angle carries out preventing shaking control, then available more preferably control effect using the angle A in turn.
On above scheme basis, method provided herein additionally provides the calculation method of suspender actual height,
After step s 102, this method further include:
According to the track amount of deflection of track where trolley platform and the practical swing angle of suspender, suspender actual height is calculated.
Herein, directly participate in calculating is the amount of deflection of orbital position where trolley platform, and the acquisition modes of the amount of deflection have more
Kind, it hereinafter will do it and illustrate.
More specifically, following formula can be used when calculating the actual height of suspender to be calculated:
H=L cos (A)+dL；
Wherein, H be suspender actual height, L be suspender pendulum length (or perhaps the straight line between trolley platform and suspender away from
From a usually predetermined definite value), A is the practical swing angle of suspender accessed in step S102, and dL is rail
Road amount of deflection (more precisely, being the track amount of deflection of orbital position where trolley platform).
To after the actual height of practical swing angle and suspender that accurate suspender has been determined, so that it may according to this
Two parameters carry out more accurate anti-shake and control.
The acquisition process of data in above-mentioned steps is specifically described below.
In step S101, two angle values are obtained, are the deflection angle and suspender of trolley platform along the vertical direction respectively
Along the swing angle to be optimized of the trolley platform direction of motion.Wherein, the deflection angle (angle B) of trolley platform along the vertical direction has
Two kinds of acquisition modes, in the following, both modes are introduced respectively:
Mode 1 (obtains the deflection angle of trolley platform along the vertical direction):
It can directly be measured and be obtained by the measuring instrument of the vertical direction angle of level one kind.Usual measuring instrument is direct
It is arranged on trolley platform, the angle measured in this way is more direct and accurate.That is, obtaining trolley platform along the vertical direction
Deflection angle, comprising:
Trolley platform is directly measured along the vertical direction by the vertical direction angel measuring instrument that is arranged on trolley platform
Deflection angle.
Wherein, which is preferably provided at center or the trolley platform up/down of trolley platform
The center position on surface.
Mode 2 (obtains the deflection angle of trolley platform along the vertical direction), and (11 be suspender in figure as shown in Figure 3；12 for
The trolley track in the case where amount of deflection, the as horizontal line parallel with earth's surface are not considered；13 be small in the case where considering amount of deflection
Track road, as a curve；14 be trolley platform, and the tangent line L1 in figure refers to the trolley track of trolley platform position
Tangent line, horizontal line L 2 refers to the horizontal line of trolley platform position, and the line of centres of suspender center and sensor is L3
The plumb line of trolley platform position is L4, and the axis of sensor measurement is L5；H is suspender actual height, i.e. trolley track
Highest point where horizontal line and suspender where the distance between horizontal line；DL1 is that plane on trolley platform is arranged in
The amount of deflection of one acceleration transducer position, dL2 are another acceleration transducer that plane on trolley platform is arranged in
The amount of deflection of position, dL are the track amount of deflection of trolley platform central point position, remaining parameter contains with the parameter in Fig. 2
Justice is identical, is not illustrating excessively herein):
The deflection angle can be calculated in such a way that two or more first acceleration transducers are set.Specifically
, the two first acceleration transducers are usually arranged on trolley platform, also, the two first acceleration sensings
Device is the direction sequence interval setting moved along trolley platform (that is, the two first acceleration transducers are moved along trolley platform
Position on dynamic direction is different).In turn, the two first acceleration transducers are getting acceleration value (a respectively1
And a2) after, so that it may deflection angle is calculated using the two acceleration values.Due to two the first acceleration transducers it
Between distance it is relatively small, can be approximately straight line in the line of writing music of disturbing of the track of the trolley platform position, it is specifically used
Calculation formula is as follows:
Wherein, B is the deflection angle (angle B) of trolley platform along the vertical direction, and ML is two the first acceleration transducers
The distance between (being more precisely distance of two the first acceleration transducers on trolley platform moving direction), dL1=∫
∫a1Dt, dL2=∫ ∫ a2Dt, a1For the acceleration value for the vertical direction that first acceleration transducer measures, a2For another
The acceleration value for the vertical direction that one acceleration transducer measures.Namely surveyed getting two the first acceleration transducers
After the acceleration value measured, the mode of double integral is respectively adopted to acquire dL1And dL2.The two first acceleration transducers
It is preferred that being arranged at the upper surface or lower surface of trolley platform.dL1And dL2Respectively where the two first acceleration transducers
The track amount of deflection of position.Preferably, distance of two the first acceleration transducers on trolley platform moving direction is greater than 3.2
Rice.
When specifically used, the remoter the distance between the two acceleration transducers the better, the two acceleration transducers it
Between distance it is remoter, the difference for the acceleration value detected that the two obtains is bigger, calculated final inclined in this way
Gyration is more accurate.
The mode calculated using two acceleration transducers is introduced in above content, uses three or more acceleration
The mode that degree sensor is calculated is similar to the mode calculated using two acceleration transducers, for example can first use
Acceleration value measured by acceleration transducer calculates a deflection angle, is using acceleration measured by acceleration transducer
Angle value calculates another deflection angle, then, utilizes two obtained deflection angle meters according still further to the mode that weighting is averaging
Calculate final deflection angle.But no matter participate in calculating using how many a acceleration transducers, Computing Principle is all similar
(the mode as provided by preceding both ends) is therefore repeated no more using the mode that more acceleration transducers are calculated.
It obtains suspender and usually directly passes through angle of oscillation along the mode of the swing angle to be optimized of the trolley platform direction of motion
It is measured directly to spend measuring instrument.The swing angle measuring instrument is normally located on trolley platform, also, its sensor axis
Under being directed towards.
It is practical high to calculate suspender according to the track amount of deflection of track where trolley platform and the practical swing angle of suspender for step
In degree, track is different according to the quantity for the acceleration transducer being arranged on trolley platform and position in the amount of deflection of vertical direction,
Also there are different acquisition modes.The acquisition modes different to this are illustrated (the acceleration in following each case separately below
Sensor is arranged on trolley platform).
The first situation, when five acceleration transducer only is arranged on trolley platform, can directly using this
Acceleration value measured by five acceleration transducers is integrated to obtain.Following formula specifically can be used to be calculated:
dL5=∫ ∫ a5dt；
In formula, dL5It is track amount of deflection, a5It is the acceleration value obtained measured by the 5th acceleration transducer.It is,
Track amount of deflection can be obtained by carrying out double integral to acceleration value.5th acceleration transducer is preferably provided at trolley platform
Center, or the center on trolley platform up/down surface is set.
Second situation, when being provided with 2 or more the second acceleration transducers on trolley platform, then in order to guarantee to count
The accuracy of calculation should select to can be understood as what wirerope was in contact with trolley platform apart from the trolley platform center center line
Point) numerical value detected by nearest the second acceleration transducer participates in calculating.It should select apart from wirerope (wirerope
It is the rope for being suspended on suspender on trolley platform) second acceleration transducer nearest with the target intersection point of trolley platform
It is scratched as aimed acceleration sensor, and using acceleration value measured by aimed acceleration sensor to calculate track
Degree.Specific calculation is identical as the calculation of the first situation.When wirerope is multiple, target intersection point herein
It is then to be obtained according to the intersection point calculation of each wirerope and trolley platform, the coordinate of target intersection point is general intersecting point coordinate (steel
The coordinate of the intersection point of cord and trolley platform) average value.
Specifically, track amount of deflection can determine as follows:
The distance of each second acceleration transducer distance objective position is obtained, target position is the center institute of trolley platform
Position；Second acceleration transducer is multiple；
Track amount of deflection is calculated using following formula:
dL6=∫ ∫ a6dt；
In formula, dL6It is track amount of deflection, a6It is the acceleration value obtained measured by aimed acceleration sensor；Target accelerates
Degree sensor is that all second acceleration transducer mid-range objectives positions are nearest.Wherein, the second acceleration transducer is preferred
It is arranged on trolley platform.
The third situation, when being provided with 2 or more third acceleration transducers on trolley platform, then in order to guarantee to count
The accuracy of calculation can calculate track amount of deflection in such a way that weighting is averaging.Specifically, being then according to the first situation
Mode, the acceleration value detected using each third acceleration transducer are calculated accordingly with reference to amount of deflection；Then,
In the way of weighting and being averaging, final track amount of deflection is calculated.
Specifically, track amount of deflection can determine as follows:
Reference amount of deflection corresponding to each third acceleration transducer is calculated using following formula:
dL7=∫ ∫ a7dt；
In formula, dL7It is with reference to amount of deflection, a7It is the acceleration value obtained measured by specified third acceleration transducer；
In the way of weighting and being averaging, track amount of deflection is calculated according to reference amount of deflection.
I.e., it is possible to use the average value for the whole amounts of deflection being calculated as track amount of deflection.
4th kind of situation, second and third kind of situation is combined.Steps are as follows for execution:
The distance of each 4th acceleration transducer distance objective position is obtained, target position is the center institute of trolley platform
Position；4th acceleration transducer is multiple；
Judge whether reference distance is less than preset distance；Reference distance is nearest the 4 in the center apart from trolley platform
The distance between acceleration transducer and trolley platform center；
If so, calculating track amount of deflection using following formula:
dL3=∫ ∫ a3dt；
In formula, dL3It is track amount of deflection, a3It is the acceleration value obtained measured by aimed acceleration sensor；Target accelerates
Degree sensor is that all 4th acceleration transducer mid-range objectives position is nearest；
If it is not, then calculating reference amount of deflection corresponding to each 4th acceleration transducer using following formula:
dL4=∫ ∫ a4dt；
In formula, dL4It is with reference to amount of deflection, a4It is the acceleration value obtained measured by the 4th specified acceleration transducer；
In the way of weighting and being averaging, track amount of deflection is calculated according to reference amount of deflection.
That is, in the 4th kind of situation, determined distance and after, first judge in aimed acceleration sensor and trolley platform
Whether heart distance is close enough, enough closely, is then calculated in the way of second situation, otherwise, just according to the third
The mode of situation is calculated.
Above content describes the practical swing angle for calculating suspender and calculates the mode of the actual height of suspender, in determination
After practical swing angle (after the actual height for preferably calculating suspender), so that it may carry out preventing shaking control using the two parameters
System.
Specifically, preventing shaking method present invention also provides crane, after step S102, further includes:
It carries out preventing shaking control according to the practical swing angle of suspender.
It when specific operation, can also be according further to suspender reality in addition to carrying out preventing shaking control according to practical swing angle
Height carry out it is anti-shake control, in turn, step prevent shaking control according to the practical swing angle of suspender can be as follows
Operation:
It can be according to the input speed of following formula counting of carriers motor (for adjusting movement of the trolley platform along track
Speed):
Vc=vx+k1 (sx-sx ')+k2 (vx-vx ')+k3 (A)+k4 (E)；
Wherein, K1-K4 is closed loop feedback coefficient, and method of determination can refer to patent CN106829740, and (a kind of crane is anti-
Shake control method and system), this four parameters are feedback factor, and specific value can be adjusted according to particular condition in use
Whole, Vc is the input speed of vehicle motor；Sx is planned position of the suspender in the trolley platform direction of motion；Sx ' is suspender small
The physical location of the vehicle platform direction of motion；Vx is planning speed of the suspender in moving of car direction；Vx ' is suspender in moving of car
The actual speed in direction；A is the practical swing angle of suspender；E is the magnitude of angular velocity that suspender swing angle sensor measures.
And the input speed for rising motor (for adjusting spreader height) can be calculated according to following formula:
V l=VC+k5 (sz-sz ')+k6 (vz-vz ')；
Wherein, K5, k6 are regulation coefficient, are PI setting parameter；Sz is the planned position of suspender raising direction；Sz ' is to hang
Has the physical location of raising direction；Vz is the planning speed of suspender raising direction；Vz ' is physical location of the suspender in raising direction
(i.e. the actual height of suspender)；Vl is the input speed of hoisting motor；Vz '=dH/dt；
It is controlled according to the input speed of the input speed of vehicle motor, and/or rise motor.
That is, the movement of the input speed control trolley platform according to vehicle motor, and, according to the input speed of provincial motor
Motor rotation is risen in degree control.
Corresponding with preceding method, present invention also provides suspender swing angle acquisition device, as shown in Figure 4, comprising:
Module 401 is obtained, for obtaining the deflection angle of trolley platform along the vertical direction, and, suspender is obtained along trolley
The swing angle to be optimized of the platform direction of motion；
Computing module 402, for calculating the practical swing angle of suspender according to deflection angle and swing angle to be optimized.
Corresponding with preceding method, present invention also provides crane anti-roll devices, comprising:
It is anti-to shake module, it carries out preventing shaking control for the practical swing angle according to suspender.
Prevent that shaking module specifically includes:
First computing unit, for the input speed according to following formula counting of carriers motor:
Vc=vx+k1 (sx-sx ')+k2 (vx-vx ')+k3 (A)+k4 (E)；
Wherein, K1-K4 is closed loop feedback coefficient, and method of determination can refer to patent CN106829740, and (a kind of crane is anti-
Shake control method and system), this four parameters are feedback factor, and specific value can be adjusted according to particular condition in use
Whole, Vc is the input speed of vehicle motor；Sx is planned position of the suspender in the trolley platform direction of motion；Sx ' is suspender small
The physical location of the vehicle platform direction of motion；Vx is planning speed of the suspender in the trolley platform direction of motion；Vx ' is suspender in trolley
The actual speed of the platform direction of motion；A is the practical swing angle of suspender；E is the angle speed that suspender swing angle sensor measures
Angle value；
Second computing unit, for calculating the input speed for rising motor (for adjusting spreader height) according to following formula
Degree:
V l=VC+k5 (sz-sz ')+k6 (vz-vz ')；
Wherein, K5, k6 are regulation coefficient, are PI setting parameter；Sz is the planned position of suspender raising direction；Sz ' is to hang
Has the physical location of raising direction；Vz is the planning speed of suspender raising direction；Vz ' is physical location of the suspender in raising direction
(i.e. the actual height of suspender)；Vl is the input speed of hoisting motor；Vz '=dH/dt；
Control unit, for exporting the input speed of vehicle motor, and/or the input speed of output rise motor.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. suspender swing angle acquisition methods characterized by comprising
The deflection angle of trolley platform along the vertical direction is obtained, and, suspender is obtained along the to be optimized of the trolley platform direction of motion
Swing angle；
According to deflection angle and swing angle to be optimized, the practical swing angle of suspender is calculated；
The deflection angle of counting of carriers platform along the vertical direction as follows:
Wherein, B is the deflection angle of trolley platform along the vertical direction, and ML is that two the first acceleration transducers are moved along trolley platform
Distance on dynamic direction, dL1=∫ ∫ a1Dt, dL2=∫ ∫ a2Dt, a1The vertical direction measured for first acceleration transducer
Acceleration value, a2For the acceleration value for the vertical direction that another first acceleration transducer measures；Two the first acceleration pass
Sensor is arranged on trolley platform；DL1 is the acceleration transducer position that plane on trolley platform is arranged in
Amount of deflection, dL2 are the amount of deflection that another acceleration transducer position of plane on trolley platform is arranged in.
2. the method according to claim 1, wherein two the first acceleration transducers are along the trolley platform side of movement
Upward distance is greater than 3.2 meters.
3. the method according to claim 1, wherein the track amount of deflection of track is according to following public affairs where trolley platform
Formula calculates:
dL5=∫ ∫ a5dt；
dL5It is track amount of deflection, a5It is the acceleration value obtained measured by the 5th acceleration transducer, the 5th acceleration sensing
Device is arranged on trolley platform.
4. the method according to claim 1, wherein the track amount of deflection of track is according to such as lower section where trolley platform
Formula determines:
The distance of each second acceleration transducer distance objective position is obtained, the target position is the center institute of trolley platform
Position；Second acceleration transducer is multiple；
Track amount of deflection is calculated using following formula:
dL6=∫ ∫ a6dt；
In formula, dL6It is track amount of deflection, a6It is the acceleration value obtained measured by aimed acceleration sensor；Aimed acceleration passes
Sensor is that all second acceleration transducer mid-range objectives positions are nearest.
5. suspender swing angle acquisition device characterized by comprising
Module is obtained, for obtaining the deflection angle of trolley platform along the vertical direction, and, it obtains suspender and is moved along trolley platform
The swing angle to be optimized in direction；
Computing module, for calculating the practical swing angle of suspender according to deflection angle and swing angle to be optimized；
The deflection angle of counting of carriers platform along the vertical direction as follows:
Wherein, B is the deflection angle of trolley platform along the vertical direction, and ML is that two the first acceleration transducers are moved along trolley platform
Distance on dynamic direction, dL1=∫ ∫ a1Dt, dL2=∫ ∫ a2Dt, a1The vertical direction measured for first acceleration transducer
Acceleration value, a2For the acceleration value for the vertical direction that another first acceleration transducer measures；Two the first acceleration pass
Sensor is arranged on trolley platform；DL1 is the acceleration transducer position that plane on trolley platform is arranged in
Amount of deflection, dL2 are the amount of deflection that another acceleration transducer position of plane on trolley platform is arranged in.
6. crane is anti-to shake method, including suspender swing angle acquisition methods according to any one of claims 1-4, feature
It is, further includes:
It carries out preventing shaking control according to the practical swing angle of suspender.
7. crane according to claim 6 is anti-to shake method, which is characterized in that carried out according to the practical swing angle of suspender
Prevent that shaking control includes:
According to the input speed of following formula counting of carriers motor: Vc=vx+k1 (sx-sx ')+k2 (vx-vx ')+k3 (A)+k4
(E)；Wherein, k1-k4 is closed loop feedback coefficient, and Vc is the input speed of vehicle motor；Sx is suspender in trolley platform movement side
To planned position；Sx ' is physical location of the suspender in the trolley platform direction of motion；Vx is rule of the suspender in moving of car direction
Draw speed；Vx ' is actual speed of the suspender in moving of car direction；A is the practical swing angle of suspender；E is suspender angle of oscillation
The magnitude of angular velocity that degree sensor measures；
It carries out preventing shaking control according to the input speed of vehicle motor.
8. crane anti-roll device, including suspender swing angle acquisition device as claimed in claim 5, which is characterized in that also
Include:
It is anti-to shake module, it carries out preventing shaking control for the practical swing angle according to suspender.
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| CN201710936379.0A CN107473092B (en) | 2017-10-10 | 2017-10-10 | Suspender swing angle acquisition methods and device and crane are prevented shaking method and device |
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| CN201710936379.0A CN107473092B (en) | 2017-10-10 | 2017-10-10 | Suspender swing angle acquisition methods and device and crane are prevented shaking method and device |
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| CN112340603A (en) * | 2020-02-27 | 2021-02-09 | 徐州建机工程机械有限公司 | Anti-swing control system for tower crane lifting hook |
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| JP5293977B2 (en) * | 2011-03-17 | 2013-09-18 | 富士電機株式会社 | Crane steady rest control method and steady rest control apparatus |
| FI20115922A0 (en) * | 2011-09-20 | 2011-09-20 | Konecranes Oyj | Crane control |
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| DE4315005A1 (en) * | 1993-05-06 | 1994-11-10 | Deutsche Aerospace | Device for measuring angular positions of a moving object with respect to its initial position |
| CN1216104A (en) * | 1997-02-10 | 1999-05-05 | 莱卡地球系统公开股份有限公司 | Method for determining correction parameters |
| US6442439B1 (en) * | 1999-06-24 | 2002-08-27 | Sandia Corporation | Pendulation control system and method for rotary boom cranes |
| CN1486920A (en) * | 2002-08-29 | 2004-04-07 | 株式会社安川电机 | Method for detecting vibropendulous angle of crane wire rope |
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