CN105217454A - The anti-sway crashproof control system of a kind of revolving crane lift heavy and control method - Google Patents

Abstract

The invention discloses a control system and control method for anti-swing and anti-collision lifting of a rotary crane, including a coordination control module, a lifting control module, a lifting and anti-swing control module, a trajectory optimization control module, a PROFIBUS field bus, and a driving mechanism , the first detection mechanism, the second detection mechanism and the third detection mechanism; the coordination control module, the lifting control module, the lifting anti-swing control module and the trajectory optimization control module are all connected to the PROFIBUS field bus; one end of the driving mechanism is connected to the PROFIBUS field The bus and the other end are connected to the crane entity; after coordination between the coordination control module, lifting control module, lifting and anti-sway control module, and trajectory optimization control module, the drive information is sent to the drive mechanism, and the drive mechanism drives the rotary crane entity to perform operations. The three detection mechanisms detect the driving mechanism information and the crane operation status information, and feed back to the relevant control module to form three closed-loop controls. Better realize the anti-swing and anti-collision functions in the lifting operation process.

Description

A control system and control method for anti-swing and anti-collision of a rotary crane

technical field

The invention relates to the field of engineering machinery, in particular to a control system and control method for hoisting, anti-swing and anti-collision of a rotary crane.

Background technique

Slewing crane is a kind of commonly used construction machinery. It is generally composed of four major operating mechanisms of pitching, slewing, lifting and walking, as well as columns, booms and cabs. The specified movement of the four major mechanisms of the walking mechanism, and the lifting and transporting of the goods are realized by means of the shrinkage of the wire rope. Due to the driving action of the slewing, pitching and lifting mechanisms in the working process, the hoisting weight suspended at the lower end of the wire rope will not stand still immediately after reaching the target position but will swing. Such swing phenomenon not only affects the normal operation of hoisting and transporting, but also poses a safety threat to surrounding equipment, cargo, load itself and on-site operators. At the same time, due to the limitation of the safe movement space of the hoisting operation, the hoisting weight is required to run in a straight line or a specific space trajectory. Such a movement often requires the coordinated movement of multiple kinematic mechanisms, which undoubtedly increases the difficulty of the hoisting operation.

In order to suppress the swing phenomenon of slewing cranes and realize the optimal control of the hoisting trajectory, the relevant crane industry and research institutes have also carried out certain research on this issue, and the research results are also different. As far as the current research situation is concerned, the anti-swing control is mainly focused on the anti-sway control of the gantry and bridge cranes, especially the anti-sway control of the hoisting weight under the running trolley of the bridge crane, while the swing control of the hoisting operation of the slewing crane is prevented. And the research on trajectory optimization control is still relatively shallow, most of which is that the electrical control system of the crane can automatically adjust and control the running speed of the trolley in real time, so that the load does not sway.

The application number is 201120724182.7, and the utility model patent titled "a crane slewing anti-sway device and crane" proposes to install a driving device and a tensioning device on the boom, and restrain the crane by pulling the wire rope connected to it. Swaying occurs during slewing. However, the real-time detection and control capabilities of the above-mentioned mechanical anti-swing device are insufficient; in addition, the operating height of the driving device needs to be adjusted manually, which cannot realize the automatic control of the operation process, and also cannot realize the function of trajectory optimization control.

The application number is 201210752281.5, and the invention patent titled "a crane and crane wire rope anti-sway control method" proposes a wire rope sway limit control method that suppresses the X and Y directions, and realizes automatic fine-tuning of the slewing and pitching speeds. However, this anti-swing control method has a blind area in the measurement of the position of the steel wire rope, the reliability of the anti-swing is poor, the work efficiency is also low, and there is no function of trajectory optimization control.

The application number is 200810225150.5, and the invention patent titled "rotary crane trajectory optimization control system and its control method" proposes a method to convert the natural space coordinate motion trajectory information of the hoist into the pre-designed coordinate information of the hoist. The control command of the optimization control module realizes the operation of a specific lifting trajectory; however, although the patent proposes a trajectory optimization control method, it only controls the lifting trajectory through simple constraints, and at the same time, it lacks in the operation process. The anti-swing control function of the hoist is only to limit the speed of the crane to achieve a slight swing after the hoist reaches the target position, which lacks efficiency.

Contents of the invention

In order to overcome the above-mentioned deficiencies in the prior art, the present invention proposes a control system and control method for hoisting, anti-swing and anti-collision of a rotary crane, and the adopted technical scheme is as follows:

An anti-swing and anti-collision control system for hoisting by a slewing crane, comprising: a coordination control module, a hoisting control module, a hoisting anti-swing control module, a trajectory optimization control module, a PROFIBUS field bus, and a driving mechanism;

The coordination control module, the lifting control module, the lifting anti-swing control module and the trajectory optimization control module are all connected to the PROFIBUS field bus; The hoisting control module, the hoisting anti-swing control module and the trajectory optimization control module perform comprehensive coordinated control and safety protection;

One end of the driving mechanism is connected to the PROFIBUS field bus, and the other end of the driving mechanism is connected to the slewing crane entity; the coordination control module, the lifting control module, the lifting anti-swing control module and the trajectory optimization After comprehensive coordination between the control modules, the driving information is sent to the driving mechanism through the PROFIBUS field bus, and the driving mechanism drives the slewing crane entity to perform operations.

Further, the anti-swing and anti-collision control system for hoisting by a slewing crane further includes: a first detection mechanism; one end of the first detection mechanism is connected to the other end of the drive mechanism, and the first detection mechanism The other end is connected to the PROFIBUS field bus; the first detection mechanism transmits the detected information to the coordination control module through the PROFIBUS field bus; the drive mechanism includes: a rotary motion drive mechanism, a pitch motion drive mechanism and a lifting motion drive mechanism .

Further, the anti-swing and anti-collision control system for hoisting by a slewing crane further includes: a second detection mechanism; one end of the second detection mechanism is connected to the slewing crane entity, and the other end of the second detection mechanism is connected to PROFIBUS field bus; the second detection mechanism transmits the detected information to the lifting anti-swing control module through the PROFIBUS field bus.

Further, the anti-swing and anti-collision control system for hoisting by a slewing crane further includes: a third detection mechanism; one end of the third detection mechanism is connected to the slewing crane entity, and the other end of the third detection mechanism is connected to PROFIBUS field bus; the third detection mechanism transmits the detected information to the trajectory optimization control module through the PROFIBUS field bus.

Further, the coordination control module includes an upper PC I and an integrated coordination controller; the upper PC I is connected to the integrated coordination controller, and the integrated coordination controller is connected to the PROFIBUS field bus;

The hoisting control module includes a control panel, a crane master controller, and a mechanism motion controller; both the control panel and the crane master controller are connected to the mechanism motion controller, and the mechanism motion control The device is connected with the PROFIBUS field bus;

The lifting weight anti-swing control module includes an upper PC II and a lifting weight anti-swing controller; the upper PC II is connected to the lifting weight anti-swing controller, and the lifting weight anti-swing controller is connected to the PROFIBUS Fieldbus connection;

The trajectory optimization control module includes a host PC III and a trajectory optimization controller; the host PC III is connected to the trajectory optimization controller, and the trajectory optimization controller is connected to the PROFIBUS field bus.

Further, the first detection mechanism includes: a photoelectric encoder for the slewing mechanism, a photoelectric encoder for the pitching mechanism, and a photoelectric encoder for the lifting mechanism; the photoelectric encoder for the slewing mechanism detects the output of the slewing motion driving mechanism, and the pitching mechanism The photoelectric encoder detects the output of the pitching motion driving mechanism, and the hoisting mechanism photoelectric encoder detects the output of the lifting motion driving mechanism.

Further, the second detection mechanism is a device for measuring the swing angle of the crane, including: a device for measuring the in-plane swing angle of the boom and a device for measuring the out-of-plane swing angle of the boom; the device for measuring the in-plane swing angle of the boom is installed on the boom The top; the out-of-plane swing angle measuring device of the boom is installed below the end of the boom on the slewing central axis.

Further, the third detection mechanism is a hoisting position measuring device, including: a boom rotation angle measurement device and a boom pitch angle measurement device; the boom rotation angle measurement device is installed on the left side of the boom; the boom The pitch angle measuring device is installed on the right side of the boom.

Based on the above system, the present invention also proposes an anti-swing and anti-collision control method for hoisting by a rotary crane, comprising the following steps:

Step 1, switch on the power supply of the control system of the slewing crane, and at the same time input a given value to the upper PC Ⅲ of the trajectory optimization control module and the upper PC Ⅱ of the hoisting anti-swing control module;

Step 2, the given value is transferred to the trajectory optimization controller and the hoisting anti-swing controller respectively after being converted by the upper PC III of the trajectory optimization control module and the upper PC II of the lifting anti-swing control module, and the information is passed through After the optimization processing of the trajectory optimization controller and the shaping processing of the hoisting anti-sway controller, it is transmitted to the integrated coordination controller of the coordination control module for coordination processing;

Step 3: The information processed by the integrated coordination controller is transmitted to the mechanism motion controller of the lifting control module, and the mechanism motion controller converts and processes the information and transmits it to the rotary motion drive mechanism, pitch motion drive mechanism, and lifting motion drive mechanism respectively. Mechanism; the slewing motion drive mechanism, the pitching motion drive mechanism, and the lifting motion drive mechanism perform corresponding actions according to the transmitted drive information, and the slewing crane entity enters the working state;

Step 4, the photoelectric encoder of the slewing mechanism detects the number of revolutions n ₁ of the driving motor of the slewing mechanism in real time; the photoelectric encoder of the pitching mechanism detects the number of revolutions n ₂ of the driving motor of the pitching mechanism in real time; the photoelectric encoder of the hoisting mechanism detects the driving motor of the hoisting mechanism in real time The number of revolutions n ₃ ;

Step 5, the n ₁ , n ₂ and n ₃ information is transferred to the integrated coordination controller of the coordination control module through the PROFIBUS field bus for comparative calculation;

Step 6, the swing angle measuring device in the plane of the boom detects in real time the swing angle θ ₁ of the hoisting weight in the plane of the boom during the operation; Swing angle θ ₂ ;

Step 7, the information of the swing angles θ ₁ and θ ₂ is transmitted to the heavy lifting anti-swing controller of the heavy lifting anti-swing control module through the PROFIBUS field bus for comparison and calculation;

Step 8, the boom rotation angle measuring device detects the rotation angle α of the boom during the operation in real time; the boom pitch angle measurement device detects the pitch angle β of the boom during the operation in real time;

Step 9, the information of the rotation angle α and the pitch angle β is transmitted to the trajectory optimization controller of the trajectory optimization control module through the PROFIBUS field bus for comparison and calculation;

Step 10, transfer the calculation results of Step 5, Step 7, and Step 9 to the mechanism motion controller of the lifting control module, and the mechanism motion controller sends corresponding instructions to drive the rotary motion drive mechanism, the pitch motion drive mechanism and the lifting mechanism. Motion drive mechanism;

Step 11, the driving mechanism of the slewing motion, the driving mechanism of the pitching motion and the driving mechanism of the lifting motion adjust the hoisting weight to make an approximate straight line running track by changing the corresponding parameters, and adjust the swing of the hoisting weight under the running track to be within the allowable range .

Compared with prior art, the beneficial effect of the present invention:

(1) Aiming at the problem of space swing and trajectory optimization of slewing crane hoisting, an anti-swing and anti-collision control scheme based on slewing crane is constructed by using the principle of coordinated control, optimal control theory and input shaping technology, which can better realize Anti-swing and anti-collision functions in the process of lifting heavy loads, and the reliability of anti-swing and anti-collision is strong.

(2) It can simultaneously realize the dual control functions of the trajectory optimization control of the hoisting operation process and the anti-swing control of the hoisting under the trajectory.

(3) Using the principle of coordinated control, the coordinated operation of the anti-swing and anti-collision control of the slewing crane is realized.

(4) The anti-sway and anti-collision control system and method are safe, reliable, highly automated, simple to operate, and outstanding in stability and efficiency.

Description of drawings

Figure 1 is a schematic composition diagram of the anti-swing and anti-collision control system for hoisting of a rotary crane;

Fig. 2 is a schematic diagram of the control method of the heavy lifting anti-swing anti-collision control system of the slewing crane;

Fig. 3 is an equivalent schematic diagram of the physical operation of the slewing crane.

detailed description

The present invention proposes a control system and control method for anti-swing and anti-collision hoisting of a rotary crane, which can simultaneously perform real-time feedback control on the trajectory of the hoisting weight during the operation of the rotary crane and the swing of the hoisting weight under the trajectory. The control system is mainly based on the hoisting control of the slewing crane, which combines trajectory optimization control and anti-swing control to form a safe, efficient and stable anti-swing and anti-collision comprehensive coordination control system; the control method of the system combines the three The organic combination of control modules, and the coordinated control module monitors the trajectory and swing of the hoisting weight in real time to ensure the safety, efficiency and stability of the crane operation process.

The invention integrates the coordinated control module, lifting control module, hoisting anti-swing control module and track optimization control module of the slewing crane into one system, and performs comprehensive control and safety protection through the principle of coordinated control; at the same time, in the driving mechanism Appropriate monitoring devices are installed on the crane and the crane body, so that the coordinated control of the slewing crane, the hoisting anti-sway control and the trajectory optimization control constitute three parallel closed-loop feedback control systems; on this basis, through the comprehensive coordination control of the coordination control module The controller coordinates and calculates the relevant signals fed back by the monitoring device to ensure that the approximate straight-line running track of the hoisting weight of the slewing crane and control the swing of the hoisting weight are within the allowable range.

The present invention will be further described below in conjunction with accompanying drawing.

As shown in Figure 1, it is a schematic diagram of the anti-swing and anti-collision control system for slewing cranes. Testing agency, second testing agency, third testing agency. The coordinated control module performs comprehensive coordinated control on the lifting control module, the lifting anti-sway control module and the trajectory optimization control module through the PROFIBUS field bus; the driving mechanism includes a rotary motion driving mechanism, a pitching motion driving mechanism and a lifting motion Drive mechanism; the first detection mechanism includes a rotary mechanism photoelectric encoder, a pitch mechanism photoelectric encoder and a hoisting mechanism photoelectric encoder, the rotary mechanism photoelectric encoder detects the output of the rotary motion drive mechanism, and the pitch mechanism The photoelectric encoder detects the output of the pitching motion drive mechanism, and the hoisting mechanism photoelectric encoder detects the output of the lifting motion drive mechanism; one end of the second detection mechanism is connected to the rotary crane entity, the second detection mechanism The other end of the mechanism is connected to the PROFIBUS field bus, and the detected information is transmitted to the lifting anti-sway control module through the PROFIBUS field bus; one end of the third detection mechanism is connected to the rotary crane entity, and the other end of the third detection mechanism is connected to The PROFIBUS field bus transmits the detected information to the trajectory optimization control module through the PROFIBUS field bus.

The coordination control module includes an upper PC I and an integrated coordination controller; data information can be transmitted between the upper PC I and the integrated coordination controller, and the integrated coordination controller realizes external information transmission and communication through the PROFIBUS field bus. Control; the comprehensive coordination controller of the coordination control module uses the mean value principle to control the lifting control module, the lifting weight anti-swing control module and the trajectory optimization control module, and achieves coordination by performing mean value processing on the information transmitted by the PROFIBUS field bus. purpose of control.

The hoisting control module includes a control panel, a crane master controller, and a mechanism motion controller. The control panel is bidirectionally connected to the mechanism motion controller, and the crane master controller is connected to the mechanism motion controller; the control panel is used to allow users to view and operate basic system settings and controls; the mechanism motion The controller realizes synchronous operation of the slewing motion driving mechanism, pitching motion driving mechanism and lifting motion driving mechanism of the slewing crane through the PROFIBUS field bus, so that the slewing crane entity enters the working state.

The rotary motion driving mechanism, the pitching motion driving mechanism and the lifting motion driving mechanism are composed of a frequency converter, a driving motor and a reducer, and may also be composed of a servo controller, a servo motor and a reducer, wherein the frequency converter is installed to the drive through a wire Outside the motor, the drive motor is connected to the reducer through a coupling. The photoelectric encoder of the rotary mechanism of the first detection mechanism is installed on the drive motor of the rotary motion drive mechanism for real-time detection of the number of revolutions n1 _of the drive motor of the rotary motion drive mechanism; the photoelectric encoder of the pitch mechanism of the first detection mechanism The encoder is installed on the driving motor of the pitching motion driving mechanism for real-time detection of the number of revolutions _n2 of the driving motor of the pitching motion driving mechanism; the photoelectric encoder of the lifting mechanism of the first detection mechanism is installed on the lifting motion driving mechanism On the driving motor, it is used to detect the number of revolutions n ₃ of the driving motor of the lifting motion driving mechanism in real time; three photoelectric encoders (rotary mechanism photoelectric encoder, pitch mechanism photoelectric encoder, hoisting mechanism photoelectric encoder) will detect The received information is transmitted to the integrated coordination controller of the coordination control module through the PROFIBUS field bus, forming the first closed-loop feedback control.

The heavy-lifting anti-swing control module includes a host PC II and a heavy-lifting anti-swing controller; the heavy-lifting anti-swing controller is an input shaping controller based on input shaping technology designed according to the working state of the crane, and it can By shaping the input information, the swing limit of the lifting weight after reaching the target position is limited within the allowable range.

The trajectory optimization control module includes a host PC III and a trajectory optimization controller; the trajectory optimization controller is an optimal controller designed using the optimal control theory, and the trajectory optimization controller can make the running trajectory of the hoisting weight close to a straight line. The constraint equation for optimizing the straight line trajectory of the hoist is:

${\mathrm{<span\; class="notranslate">\; V</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; A</span>}}_{\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; f</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}_{\mathrm{<span\; class="notranslate">\; S</span>}\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; W</span>}}<span\; class="notranslate">\; *</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}}{{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{\mathrm{<span\; class="notranslate">\; S</span>}\mathrm{<span\; class="notranslate">\; L</span>}\mathrm{<span\; class="notranslate">\; W</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

In formula (1): V _LF is the pitch velocity, A _LF is the pitch acceleration, ω _SLW is the rotation angular velocity, α _SLW is the angular acceleration, and X ₁ is the abscissa of the hoisting starting point.

The upper PC Ⅰ, upper PC Ⅱ and upper PC Ⅲ mentioned above all use SIMATICIPC547ECO, which is convenient for the operator to input relevant instructions to the trajectory optimization controller, integrated coordination controller and hoisting anti-swing controller.

The second detection mechanism is a hoisting weight swing angle measuring device, including a boom in-plane swing angle measuring device and a boom out-of-plane swing angle measuring device. The in-plane swing angle measuring device of the boom is installed on the top of the boom, and the out-of-plane swing angle measuring device is installed under the end of the boom on the slewing center axis, which are respectively used to measure the lifting weight of the crane entity on the plane of the boom during operation. The inner swing angle θ ₁ and the outer swing angle θ ₂ of the boom plane; the measuring device for the inner swing angle of the boom plane and the outer swing angle measuring device for the boom plane transmit the detected information to the crane of the heavy lifting anti-swing control module through the PROFIBUS field bus. In the heavy anti-sway controller, a second closed-loop feedback control is formed.

The third detection mechanism is a hoisting weight position measuring device, including a boom rotation angle measuring device and a boom pitching angle measuring device. The boom rotation angle measurement device is installed on the left side of the boom, and the boom pitch angle measurement device is installed on the right side of the boom, which are respectively used to measure the rotation angle α and pitch angle β of the boom during the operation of the crane entity; The angle measurement device and the boom pitch angle measurement device transmit the detected information to the trajectory optimization controller of the trajectory optimization control module through the PROFIBUS field bus to form the third closed-loop feedback control.

The coordinates of the lifting weight can be calculated according to the following formula (2):

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; L</span>}{\mathrm{<span\; class="notranslate">\; cos\&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; sin\&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; L</span>}{\mathrm{<span\; class="notranslate">\; sin\&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; L</span>}{\mathrm{<span\; class="notranslate">\; cos\&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{\mathrm{<span\; class="notranslate">\; sin\&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; L</span>}{\mathrm{<span\; class="notranslate">\; sin\&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; t</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; L</span>}{\mathrm{<span\; class="notranslate">\; cos\&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; cos\&theta;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

In formula (2): L is the length of the rope, x _t , y _t , z _t are the coordinates of the hoisting weight in the inertial coordinate system, and x _b , y _b , z _b are the coordinates of the top of the boom in the inertial coordinate system , its expression is as formula (3):

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\\ {\mathrm{<span\; class="notranslate">\; the\; y</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}\\ {\mathrm{<span\; class="notranslate">\; z</span>}}_{\mathrm{<span\; class="notranslate">\; b</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; L</span>}}_{\mathrm{<span\; class="notranslate">\; B</span>}}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; h</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

In formula (3): L _B is the length of the boom, h is the height from the installation axis of the boom to the reference plane, and the reference plane is the XOY plane of the slewing crane system in Fig. 1 .

As shown in Figure 2, it is a schematic diagram of the control method of the anti-swing and anti-collision control system for hoisting of the rotary crane, and Figure 3 is an equivalent schematic diagram of the physical operation of the rotary crane. The method proposed by the present invention is to configure appropriate sensors respectively in the hoisting control system of the slewing crane, the hoisting anti-sway control system and the track optimization control system to realize the detection of relevant measurement quantities (the measured information is the information of the slewing motion drive mechanism). The number of revolutions n ₁ of the drive motor, the number of revolutions n ₂ of the drive motor of the pitching motion drive mechanism, the number of revolutions n ₃ of the drive motor of the hoisting motion drive mechanism, the swing angle θ ₁ of the hoisting weight in the plane of the boom, and the hoisting weight at swing angle θ ₂ of the boom plane, the rotation angle α of the boom, and the pitch angle β of the boom), and the detected information is transmitted to the corresponding control module through the PROFIBUS field bus, so that the lifting control and lifting of the slewing crane Heavy anti-swing control and trajectory optimization control constitute three parallel closed-loop feedback control systems; on this basis, the integrated coordination controller of the coordination control module coordinates and calculates the signal fed back by the sensor to realize the approximate linear operation of the rotary crane. Track and control the swing of hoisting weight within the allowable range. The specific implementation steps are as follows:

Step 1, turn on the power supply of the control system of the slewing crane, and at the same time input a given value to the upper PC of the trajectory optimization control module and the hoisting anti-swing control module as a reference;

Step 2, the given value is transferred to the trajectory optimization controller and the hoisting anti-swing controller respectively after being transformed by the host PC of the trajectory optimization control module and the lifting weight anti-swing control module, and the information is optimized and processed by the trajectory optimization controller After shaping and processing with the anti-swing controller of the hoisting weight, it is transmitted to the integrated coordination controller of the coordination control module for coordination processing;

Step 3, the information processed by the integrated coordination controller is output to the mechanism motion controller of the lifting control module, and the mechanism motion controller processes the information and transmits it to the rotary motion drive mechanism, the pitch motion drive mechanism, and the lifting motion drive mechanism respectively; The slewing motion driving mechanism, the pitching motion driving mechanism, and the lifting motion driving mechanism perform corresponding actions according to the transmitted driving information, so that the slewing crane entity enters the working state;

Step 4, the photoelectric encoder of the slewing mechanism detects the number of revolutions n ₁ of the drive motor of the slewing motion drive mechanism in real time; the photoelectric encoder of the pitch mechanism detects the number of revolutions n ₂ of the drive motor of the pitch motion drive mechanism in real time; Detect the number of revolutions n ₃ of the drive motor of the lifting motion drive mechanism;

Step 5, the information of n ₁ , n ₂ and n ₃ is transmitted to the integrated coordination controller of the coordination control module through the PROFIBUS field bus for comparative calculation;

Step 6, the swing angle measuring device in the plane of the boom detects in real time the swing angle θ ₁ of the hoisting weight in the plane of the boom during the operation; Swing angle θ ₂ ;

Step 7, the information of the swing angles θ ₁ and θ ₂ is transmitted to the lifting weight anti-swing controller of the lifting weight anti-swing control module through the PROFIBUS field bus for comparison and calculation, and the detected measured value is compared with the given value;

Step 8, the boom rotation angle measuring device detects the rotation angle α of the boom during the operation in real time; the boom pitch angle measurement device detects the pitch angle β of the boom during the operation in real time;

Step 9, the information of the rotation angle α and the pitch angle β is transmitted to the trajectory optimization controller of the trajectory optimization control module through the PROFIBUS field bus for comparison and calculation, and the detected measured value is compared with the given value;

Step 10, the calculation results of steps 5, 7, and 9 are transmitted to the mechanism motion controller of the lifting control module through the PROFIBUS field bus, and the mechanism motion controller sends corresponding instructions to drive the rotary motion drive mechanism, Pitching motion drive mechanism, lifting motion drive mechanism;

Step 11, the slewing motion drive mechanism, the pitch motion drive mechanism, and the lifting motion drive mechanism adjust the hoisting weight to make an approximate straight line running track by changing the corresponding parameters, and adjust the swing of the hoisting weight under the running track to allow within range.

The above description is only used to explain the technical solutions and specific embodiments of the present invention, and is not used to limit the protection scope of the present invention. It should be understood that any modification, improvement or equivalent Substitutions and the like will fall within the protection scope of the present invention.

Claims (9)

1. An anti-swing and anti-collision control system for hoisting by a slewing crane is characterized in that it comprises: a coordination control module, a lifting control module, a heavy lifting anti-swing control module, a trajectory optimization control module, PROFIBUS field bus, and a drive mechanism ; The coordination control module, the lifting control module, the lifting anti-swing control module and the trajectory optimization control module are all connected to the PROFIBUS field bus; The hoisting control module, the hoisting anti-swing control module and the trajectory optimization control module perform comprehensive coordinated control and safety protection; One end of the driving mechanism is connected to the PROFIBUS field bus, and the other end of the driving mechanism is connected to the slewing crane entity; the coordination control module, the lifting control module, the lifting anti-swing control module and the trajectory optimization After comprehensive coordination between the control modules, the driving information is sent to the driving mechanism through the PROFIBUS field bus, and the driving mechanism drives the slewing crane entity to perform operations. 2. The anti-swing and anti-collision control system for hoisting by a slewing crane according to claim 1, further comprising: a first detection mechanism; one end of the first detection mechanism is connected to the drive mechanism The other end, the other end of the first detection mechanism is connected to the PROFIBUS field bus; the first detection mechanism transmits the detected information to the coordination control module through the PROFIBUS field bus; The driving mechanism includes: a rotary motion driving mechanism, a pitching motion driving mechanism and a lifting motion driving mechanism. 3. The anti-swing and anti-collision control system for hoisting by a slewing crane according to claim 1, further comprising: a second detection mechanism; one end of the second detection mechanism is connected to the slewing crane entity, The other end of the second detection mechanism is connected to the PROFIBUS field bus; the second detection mechanism transmits the detected information to the lifting anti-swing control module through the PROFIBUS field bus. 4. The anti-swing and anti-collision control system for hoisting by a rotary crane according to claim 1, further comprising: a third detection mechanism; one end of the third detection mechanism is connected to the rotary crane entity, The other end of the third detection mechanism is connected to the PROFIBUS field bus; the third detection mechanism transmits the detected information to the trajectory optimization control module through the PROFIBUS field bus. 5. The anti-swing and anti-collision control system for hoisting by a slewing crane according to claim 1, characterized in that, The coordination control module includes an upper PC I and an integrated coordination controller; the upper PC I is connected to the integrated coordination controller, and the integrated coordination controller is connected to the PROFIBUS field bus; The hoisting control module includes a control panel, a crane master controller, and a mechanism motion controller; both the control panel and the crane master controller are connected to the mechanism motion controller, and the mechanism motion control The device is connected with the PROFIBUS field bus; The lifting weight anti-swing control module includes an upper PC II and a lifting weight anti-swing controller; the upper PC II is connected to the lifting weight anti-swing controller, and the lifting weight anti-swing controller is connected to the PROFIBUS Fieldbus connection; The trajectory optimization control module includes a host PC III and a trajectory optimization controller; the host PC III is connected to the trajectory optimization controller, and the trajectory optimization controller is connected to the PROFIBUS field bus. 6. The anti-swing and anti-collision control system for hoisting by a slewing crane according to claim 2, wherein the first detection mechanism includes: a photoelectric encoder for a slewing mechanism, a photoelectric encoder for a pitching mechanism, and a lifting mechanism. Mechanism photoelectric encoder; the slewing mechanism photoelectric encoder detects the output of the slewing motion drive mechanism, the pitch mechanism photoelectric encoder detects the output of the pitch motion drive mechanism, and the hoisting mechanism photoelectric encoder detects the The output of the lifting motion drive mechanism. 7. The anti-swing and anti-collision control system for the hoisting of a rotary crane according to claim 3, wherein the second detection mechanism is a hoisting weight swing angle measuring device, comprising: the in-plane swing angle of the boom The measuring device and the measuring device for the swing angle outside the plane of the boom; the measuring device for the swing angle inside the plane of the boom is installed on the top of the boom; 8. The anti-swing and anti-collision control system for hoisting of a slewing crane according to claim 4, wherein the third detection mechanism is a hoisting position measuring device, comprising: a boom rotation angle measuring device and The boom angle measuring device; the boom rotation angle measuring device is installed on the left side of the boom; the boom pitch angle measuring device is installed on the right side of the boom. 9. An anti-swing and anti-collision control method for hoisting by a slewing crane, characterized in that it comprises the following steps: Step 1, switch on the power supply of the control system of the slewing crane, and at the same time input a given value to the upper PC Ⅲ of the trajectory optimization control module and the upper PC Ⅱ of the hoisting anti-swing control module; Step 2, the given value is transferred to the trajectory optimization controller and the hoisting anti-swing controller respectively after being converted by the upper PC III of the trajectory optimization control module and the upper PC II of the lifting anti-swing control module, and the information is passed through After the optimization processing of the trajectory optimization controller and the shaping processing of the hoisting anti-sway controller, it is transmitted to the integrated coordination controller of the coordination control module for coordination processing; Step 3: The information processed by the integrated coordination controller is transmitted to the mechanism motion controller of the lifting control module, and the mechanism motion controller converts and processes the information and transmits it to the rotary motion drive mechanism, pitch motion drive mechanism, and lifting motion drive mechanism respectively. Mechanism; the slewing motion drive mechanism, the pitching motion drive mechanism, and the lifting motion drive mechanism perform corresponding actions according to the transmitted drive information, and the slewing crane entity enters the working state; Step 4, the photoelectric encoder of the slewing mechanism detects the number of revolutions n ₁ of the driving motor of the slewing mechanism in real time; the photoelectric encoder of the pitching mechanism detects the number of revolutions n ₂ of the driving motor of the pitching mechanism in real time; the photoelectric encoder of the hoisting mechanism detects the driving motor of the hoisting mechanism in real time The number of revolutions n ₃ ; Step 5, the n ₁ , n ₂ and n ₃ information is transferred to the integrated coordination controller of the coordination control module through the PROFIBUS field bus for comparative calculation; Step 6, the swing angle measuring device in the plane of the boom detects in real time the swing angle θ ₁ of the hoisting weight in the plane of the boom during the operation; Swing angle θ ₂ ; Step 7, the information of the swing angles θ ₁ and θ ₂ is transmitted to the heavy lifting anti-swing controller of the heavy lifting anti-swing control module through the PROFIBUS field bus for comparison and calculation; Step 8, the boom rotation angle measuring device detects the rotation angle α of the boom during the operation in real time; the boom pitch angle measurement device detects the pitch angle β of the boom during the operation in real time; Step 9, the information of the rotation angle α and the pitch angle β is transmitted to the trajectory optimization controller of the trajectory optimization control module through the PROFIBUS field bus for comparison and calculation; Step 10, transfer the calculation results of Step 5, Step 7, and Step 9 to the mechanism motion controller of the lifting control module, and the mechanism motion controller sends corresponding instructions to drive the rotary motion drive mechanism, the pitch motion drive mechanism and the lifting mechanism. Motion drive mechanism; Step 11, the driving mechanism of the slewing motion, the driving mechanism of the pitching motion and the driving mechanism of the lifting motion adjust the hoisting weight to make an approximate straight line running track by changing the corresponding parameters, and adjust the swing of the hoisting weight under the running track to be within the allowable range .