CN111591887A - Vibration reduction system and vibration reduction method for tower crane pull rod - Google Patents
Vibration reduction system and vibration reduction method for tower crane pull rod Download PDFInfo
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- CN111591887A CN111591887A CN202010493943.8A CN202010493943A CN111591887A CN 111591887 A CN111591887 A CN 111591887A CN 202010493943 A CN202010493943 A CN 202010493943A CN 111591887 A CN111591887 A CN 111591887A
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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
- B66C13/04—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
- B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/0275—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using fuzzy logic only
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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
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/18—Control arrangements
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Artificial Intelligence (AREA)
- Software Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Health & Medical Sciences (AREA)
- Mathematical Physics (AREA)
- Evolutionary Computation (AREA)
- Medical Informatics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fuzzy Systems (AREA)
- Electromagnetism (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention relates to a vibration reduction system and a vibration reduction method for a tower crane pull rod, and aims to solve the technical problem that the tower crane pull rod is easy to vibrate under the excitation of wind load, so that the operation stability of a crane boom of a tower crane is influenced. The vibration damping system comprises two acceleration sensors, a charge amplifier, an analog-digital converter, a controller, a D/A converter, a U/I conversion circuit and a plurality of actuators; the invention utilizes the characteristic of variable damping of the magnetorheological damper to quickly absorb vibration energy, thereby reducing vibration, enabling the pull rod to recover stably in a short time and avoiding tower crane accidents caused by vibration. The invention adopts the fuzzy PID controller, combines the fuzzy control and the PID control, can weaken the negative effect caused by the time lag of the magnetorheological damper structure, has quick response and good robustness, can well adapt to the change of conditions, solves the nonlinear problem of the system, has obvious vibration reduction effect, low energy consumption and high intellectualization.
Description
Technical Field
The invention belongs to the technical field of vibration prevention of pull rods of tower cranes, and particularly relates to a vibration reduction system and a vibration reduction method for the pull rods of the tower cranes.
Background
Tower cranes, also known as tower cranes or tower cranes (hereinafter referred to as tower cranes), can perform vertical and horizontal operations within a certain three-dimensional space. The tower crane has very high work efficiency in the construction industry, and has the characteristics of convenient transportation, simple operation mode, wide application range and the like. As a common hoisting device in construction sites, a tower crane is used to hoist construction raw materials such as reinforcing steel bars, wood beams, concrete, steel pipes and the like for construction. Due to the nature of the operation and the environment of operation, tower cranes are subjected to wind loads. The pull rod is one of main stressed components of the tower crane, has the characteristics of small rigidity, small damping and small mass, and is easy to vibrate under the excitation of wind load, so that the stability of the operation of a crane boom of the tower crane and the like is damaged.
Disclosure of Invention
The invention aims to solve the technical problem that the tower crane pull rod is easy to vibrate under the excitation of wind load so as to influence the operation stability of a crane boom of the tower crane, and provides a vibration damping system and a vibration damping method for the tower crane pull rod, so that the tower crane pull rod is prevented from generating large vibration under the excitation of the wind load and other loads, and the stability and the safety of the tower crane are improved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a vibration damping system for a pull rod of a tower crane comprises two acceleration sensors, a charge amplifier, an analog-digital converter, a controller, a D/A converter, a U/I conversion circuit and a plurality of actuators; the two acceleration sensors are respectively arranged on the top of a tower and a crane boom at the end part of a pull rod of the tower crane, the signal output ends of the acceleration sensors are connected with a charge amplifier, the signal output end of the charge amplifier is connected with an analog-digital converter, the signal output end of the analog-digital converter is connected with a controller, the output end of the controller is connected with a D/A converter, the signal output end of the D/A converter is connected with a U/I conversion circuit, the output end of the U/I conversion circuit is connected with an actuator, and the actuator is connected in series on the pull rod of the tower crane.
Further, the actuator is a magneto-rheological damper.
Further, the number of the actuators is two.
Further, the vibration damping system is based on a digital computer.
Further, the controller is a fuzzy PID controller combining a fuzzy control system and a PID control system.
The vibration reduction method of the crane pull rod by adopting the vibration reduction system comprises the following steps:
(1) the pull rod of the tower crane vibrates under the influence of wind load, and the acceleration sensor collects vibration signals and transmits the vibration signals to the charge amplifier;
(2) the charge amplifier amplifies the collected signals and transmits the signals to the analog-digital converter, and the analog-digital converter converts the collected analog signals into digital signals and transmits the digital signals to the controller;
(3) after the digital signal is input into the controller, PID parameters are adjusted through fuzzy rule calculation of the controller, then required control force is obtained through analysis and calculation of a calculation module in the controller, the control force is corrected through a judgment module in the controller, and finally the corrected digital signal is output;
(4) the digital signal output by the controller is converted into a voltage signal through a D/A converter;
(5) the voltage signal is converted into a current signal through the U/I conversion circuit and flows into the actuator;
(6) the actuator receives the current signal, an external magnetic field is generated through current, the external magnetic field influences the output of the damping force of the actuator, the damping force output by the actuator is controlled in real time according to the vibration condition of the crane pull rod, the vibration of the crane pull rod is restrained, and therefore the vibration reduction effect is achieved.
The invention has the beneficial effects that:
1. according to the invention, the magnetorheological damper is arranged on the pull rod of the tower crane, and the special performance of the magnetorheological damper is utilized to weaken the vibration of the pull rod of the tower crane in real time, so that the damage of wind load to the tower crane is reduced. When the pull rod vibrates, the damping variable characteristic of the magnetorheological damper can be utilized to quickly absorb vibration energy, so that the vibration is reduced, the pull rod is enabled to recover stably in a short time, and tower crane accidents caused by vibration are avoided
2. The invention adopts the fuzzy PID controller, adopts the combination of the fuzzy control system and the PID control system, can weaken the negative effect caused by the time lag of the magnetorheological damper structure, has quick response and good robustness, can well adapt to the change of conditions, solves the nonlinear problem of the system, has obvious vibration reduction effect, low energy consumption and high intelligence.
Drawings
FIG. 1 is a schematic structural view of the damping system of the present invention;
FIG. 2 is a schematic view of the mounting of an actuator in the damping system of the present invention;
FIG. 3 is a schematic diagram of the composition of a fuzzy control system;
FIG. 4 is a schematic diagram of a PID control system.
Detailed Description
The invention is further described below with reference to examples and figures.
As shown in fig. 1, the damping system for the tower crane pull rod in the embodiment includes two acceleration sensors, a charge amplifier, an analog-digital converter, a controller, a D/a converter, a U/I conversion circuit, and two actuators.
The two acceleration sensors are respectively arranged on the tower top and the crane boom at the end part of a pull rod of the tower crane, the signal output ends of the acceleration sensors are connected with a charge amplifier, the signal output end of the charge amplifier is connected with an analog-digital converter, the signal output end of the analog-digital converter is connected with a controller, the output end of the controller is connected with a D/A converter, the signal output end of the D/A converter is connected with a U/I conversion circuit, the output end of the U/I conversion circuit is connected with an actuator, and the actuator is connected in series on the pull rod of the tower crane, as shown in figure 2. The actuator is a magneto-rheological damper and only receives a current signal.
The shock absorbing system is based on a digital computer and receives only digital signals. The fuzzy controller has the characteristics of quick response, strong robustness, large occupied storage space of a computer and low control precision; and PID control has good adaptability, but manual adjustment of parameters is complicated. The controller of the invention adopts a fuzzy PID controller combining a fuzzy control system and a PID control system to realize the control of the vibration reduction system.
The vibration reduction method of the crane pull rod by adopting the vibration reduction system comprises the following steps:
(1) the pull rod of the tower crane vibrates under the influence of wind load, and the acceleration sensor collects vibration signals and transmits the vibration signals to the charge amplifier; because the information collected by the sensor is generally weak, the charge amplifier and the sensor need to be connected in series;
(2) the charge amplifier amplifies the collected signals and transmits the signals to the analog-digital converter, and the analog-digital converter converts the collected analog signals into digital signals and transmits the digital signals to the controller;
(3) after the digital signal is input into the controller, PID parameters are adjusted through fuzzy rule calculation of the controller, then required control force is obtained through analysis and calculation of a calculation module in the controller, the control force is corrected through a judgment module in the controller, and finally the corrected digital signal is output;
the controller is a fuzzy PID controller combining a fuzzy control system and a PID control system.
Although the fuzzy control has the characteristics of quick response, small overshoot and strong robustness, the nonlinear problem of the system can be solved, but the fuzzy controller comprises a fuzzy theory, a knowledge base and the like, needs to occupy a large storage space of a computer, and conflicts with the storage space of the computer, so the fuzzy controller cannot fully play the role of the fuzzy controller, and the control precision is not high. The PID controller has better adaptability, but manual parameter adjustment is more complex; even if the PID parameters are well regulated, control performance may be affected when the control system parameters change. Based on the complex working environment of the pull rod of the tower crane, the invention combines fuzzy control and PID control.
The fuzzy control system is divided into four parts, namely a fuzzification interface (for carrying out fuzzy operation on input and converting the input into a symbol which can be identified by the fuzzy control system), a knowledge base (comprising a database and a rule base and providing data and rules for the fuzzy operation process), a fuzzy logic inference engine (a process of solving unknown results by known knowledge) and a defuzzification interface (a process of converting fuzzy language into actual required output). The basic structure is shown in fig. 3. The fuzzy rule determines the control quality of the fuzzy controller, and is the heart of the fuzzy controller.
PID control is based on analysis of past states, regulation of present states and a kind of confidence in future states. In a PID control system, a given value r (t) and a deviation e (t) of a feedback value are used as input, linear combination operation is realized by different weight proportion links, integration links and differentiation links according to different influence factors, and an output control quantity u (t) directly controls a controlled object. A schematic diagram of a PID control system is shown in fig. 4. The input-output relationship of the controller is expressed as follows:
in the formula KpIs a proportional gain coefficient, TiAs an integral coefficient, TdIs a differential coefficient.
The fuzzy PID controller can utilize fuzzy rules to control the PID parameter Kp，Ti，TdAnd real-time control is realized. And automatically adjusting PID parameters on line by using fuzzy reasoning decision according to the deviation of the system to adapt to the change of the working environment and the system parameters. The fuzzy controller is associated with PID parameters, the performance of the system is influenced, and the precision and the adaptability of the control system can be effectively improved through the fuzzy PID control. And performing fuzzification calculation on input variables of the fuzzy controller, performing inference decision according to a fuzzy rule, and finally performing defuzzification to obtain output variables of the fuzzy controller. Then, whether the calculated control force F meets the condition is judged through a judging module, and if the calculated control force F is smaller than the F of the actuatorminIf F is equal to Fmin(ii) a If the control force F is greater than F of the actuatormaxIf F is equal to Fmax(ii) a And finally, obtaining a digital signal matched with the actuator through calculation and analysis.
(4) The digital signal output by the controller is converted into a voltage signal through a D/A converter;
(5) the voltage signal is converted into a current signal through the U/I conversion circuit and flows into the actuator;
(6) the actuator receives the current signal, an external magnetic field is generated through current, the external magnetic field influences the output of the damping force of the actuator, the damping force output by the actuator is controlled in real time according to the vibration condition of the crane pull rod, the vibration of the crane pull rod is restrained, and therefore the vibration reduction effect is achieved.
The above-described embodiments are only for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to carry out the same, and the scope of the present invention is not limited only by the embodiments, i.e., all equivalent changes or modifications made in the spirit of the present invention are still within the scope of the present invention.
Claims (6)
1. A damping system for a tower crane draw bar, characterized in that: the device comprises two acceleration sensors, a charge amplifier, an analog-digital converter, a controller, a D/A converter, a U/I conversion circuit and a plurality of actuators; the two acceleration sensors are respectively arranged on the top of a tower and a crane boom at the end part of a pull rod of the tower crane, the signal output ends of the acceleration sensors are connected with a charge amplifier, the signal output end of the charge amplifier is connected with an analog-digital converter, the signal output end of the analog-digital converter is connected with a controller, the output end of the controller is connected with a D/A converter, the signal output end of the D/A converter is connected with a U/I conversion circuit, the output end of the U/I conversion circuit is connected with an actuator, and the actuator is connected in series on the pull rod of the tower crane.
2. The vibration damping system for a tower crane drawbar according to claim 1, wherein: the actuator is a magneto-rheological damper.
3. The vibration damping system for a tower crane drawbar according to claim 1, wherein: the number of the actuators is two.
4. The vibration damping system for a tower crane drawbar according to claim 1, wherein: the vibration damping system is based on a digital computer.
5. The vibration damping system for a tower crane drawbar according to claim 1, wherein: the controller is a fuzzy PID controller combining a fuzzy control system and a PID control system.
6. Method for damping the vibrations of a crane rod using a damping system according to any one of claims 1 to 5, characterized in that it comprises the following steps:
(1) the pull rod of the tower crane vibrates under the influence of wind load, and the acceleration sensor collects vibration signals and transmits the vibration signals to the charge amplifier;
(2) the charge amplifier amplifies the collected signals and transmits the signals to the analog-digital converter, and the analog-digital converter converts the collected analog signals into digital signals and transmits the digital signals to the controller;
(3) after the digital signal is input into the controller, PID parameters are adjusted through fuzzy rule calculation of the controller, then required control force is obtained through analysis and calculation of a calculation module in the controller, the control force is corrected through a judgment module in the controller, and finally the corrected digital signal is output;
(4) the digital signal output by the controller is converted into a voltage signal through a D/A converter;
(5) the voltage signal is converted into a current signal through the U/I conversion circuit and flows into the actuator;
(6) the actuator receives the current signal, an external magnetic field is generated through current, the external magnetic field influences the output of the damping force of the actuator, the damping force output by the actuator is controlled in real time according to the vibration condition of the crane pull rod, the vibration of the crane pull rod is restrained, and therefore the vibration reduction effect is achieved.
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| CN202010493943.8A CN111591887A (en) | 2020-06-03 | 2020-06-03 | Vibration reduction system and vibration reduction method for tower crane pull rod |
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| CN202010493943.8A CN111591887A (en) | 2020-06-03 | 2020-06-03 | Vibration reduction system and vibration reduction method for tower crane pull rod |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113175492A (en) * | 2021-04-07 | 2021-07-27 | 华南理工大学 | Adaptive shock absorption nonlinear spring-variable damping system and mobile platform system |
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| US20100230370A1 (en) * | 2008-05-21 | 2010-09-16 | Klaus Schneider | Crane control with active heave compensation |
| CN102493652A (en) * | 2011-12-08 | 2012-06-13 | 中联重科股份有限公司 | Concrete pumping equipment and cantilever crane vibration semi-active control device and control method thereof |
| CN102828621A (en) * | 2012-08-06 | 2012-12-19 | 中联重科股份有限公司 | Engineering machinery arm support control method, device and system |
| CN104850010A (en) * | 2015-03-18 | 2015-08-19 | 北京工业大学 | Intelligent control method for pulsation vacuum sterilizer based on fuzzy control |
| CN107479376A (en) * | 2017-08-03 | 2017-12-15 | 大连理工大学 | Based on fuzzy and proportion-plus-derivative control switching at runtime wind-tunnel pole vibration suppression method |
| US20200148510A1 (en) * | 2017-07-03 | 2020-05-14 | Florentin Rauscher | Crane and method for controlling such a crane |
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2020
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100230370A1 (en) * | 2008-05-21 | 2010-09-16 | Klaus Schneider | Crane control with active heave compensation |
| CN102493652A (en) * | 2011-12-08 | 2012-06-13 | 中联重科股份有限公司 | Concrete pumping equipment and cantilever crane vibration semi-active control device and control method thereof |
| CN102828621A (en) * | 2012-08-06 | 2012-12-19 | 中联重科股份有限公司 | Engineering machinery arm support control method, device and system |
| CN104850010A (en) * | 2015-03-18 | 2015-08-19 | 北京工业大学 | Intelligent control method for pulsation vacuum sterilizer based on fuzzy control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113175492A (en) * | 2021-04-07 | 2021-07-27 | 华南理工大学 | Adaptive shock absorption nonlinear spring-variable damping system and mobile platform system |
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Application publication date: 20200828 |