CN108706481A - Suspension hook Hovering control method, apparatus and frequency converter - Google Patents
Suspension hook Hovering control method, apparatus and frequency converter Download PDFInfo
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- CN108706481A CN108706481A CN201810626374.2A CN201810626374A CN108706481A CN 108706481 A CN108706481 A CN 108706481A CN 201810626374 A CN201810626374 A CN 201810626374A CN 108706481 A CN108706481 A CN 108706481A
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- hoisting motor
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- frequency converter
- suspension hook
- motor
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- 239000000725 suspension Substances 0.000 title claims abstract description 56
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- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 229910001208 Crucible steel Inorganic materials 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
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Classifications
-
- 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
- B66C23/88—Safety gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/30—Circuits for braking, traversing, or slewing motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C2700/00—Cranes
- B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
- B66C2700/084—Protection measures
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The present invention provides a kind of suspension hook Hovering control method, apparatus and frequency converter, this method to include：When frequency converter stops to hoisting motor output drive signal, whether detection hoisting motor is out of service；If not, opposing torque is exported to hoisting motor, and to inhibit hoisting motor to rotate, control suspension hook hovering.Which can control suspension hook hovering in the case of the mechanical brake brake failure of derrick crane, improve the safety and reliability of derrick crane.
Description
Technical field
The present invention relates to a kind of derrick crane technical fields, more particularly, to a kind of suspension hook Hovering control method, apparatus
And frequency converter.
Background technology
With the rapid development of construction technology, construction is higher and higher to the technical property requirements of derrick crane, especially
It is to require higher to the security performance of derrick crane.Due to the continuous generation of construction site derrick crane safety accident,
Derrick crane security performance is increasingly paid attention to.The product of tower starter is usually equipped with brake system in hoisting motor
Dynamic device；One way in which is that mechanical brake device is installed in transmission system, but due to the regular reciprocal fortune of brake apparatus
It is dynamic that mechanical performance is declined, easily there is brake failure, safety and reliability is poor；Another mode is in hoisting motor
Hydraulic brake system is installed, but the mating cost of mode of this hydraulic braking is higher on reel, only in high-end product or has spy
It is used on the product very required, it is poor using universality.
For the problem that the suspension hook Hovering control mode safety and reliability of above-mentioned derrick crane is poor, not yet propose
Effective solution scheme.
Invention content
In view of this, the purpose of the present invention is to provide a kind of suspension hook Hovering control method, apparatus and frequency converter, to improve
The safety and reliability of derrick crane.
In a first aspect, an embodiment of the present invention provides a kind of suspension hook Hovering control method, this method is applied to tower lifting
The frequency converter of machine；This method includes：When frequency converter stops to hoisting motor output drive signal, whether detection hoisting motor stops
Only run；If not, opposing torque is exported to hoisting motor, and to inhibit hoisting motor to rotate, control suspension hook hovering.
Further, before above-mentioned detection hoisting motor step whether out of service, the above method further includes：To raising electricity
The brake apparatus of machine sends enabling signal, so that brake apparatus brakes above-mentioned hoisting motor.
Further, encoder is installed on the motor shaft of above-mentioned hoisting motor；Whether out of service detect hoisting motor
Step, including：According to the pulse signal of encoder output, judge whether hoisting motor is out of service.
Further, the above-mentioned pulse signal according to encoder output judges hoisting motor step whether out of service, packet
It includes：Judge the variable quantity of the pulse signal of the encoder output whether beyond the variable quantity threshold value set；If so, determining institute
It is not out of service to state hoisting motor；If not, determining that the hoisting motor is out of service.
Further, above-mentioned the step of exporting opposing torque to hoisting motor, including：At set time intervals, Xiang Qi
The opposing torque of lifting motor output setting number；After output every time above-mentioned opposing torque, detect whether above-mentioned hoisting motor stops
Only run；If before exporting last time opposing torque, above-mentioned hoisting motor do not have it is out of service, output it is above-mentioned last
Secondary opposing torque, so that the hoisting motor is out of service.Further, the above method further includes：If above-mentioned reversed turn of output
The number of square reaches the frequency threshold value of setting, generates and exports and slips hook alarm signal.
Second aspect, an embodiment of the present invention provides a kind of suspension hook Hovering control device, which is set to tower lifting
The frequency converter of machine；Above-mentioned apparatus includes：Detection module stops for working as above-mentioned frequency converter to hoisting motor output drive signal
When, whether detection hoisting motor is out of service；Control module, do not have for above-mentioned hoisting motor it is out of service, to above-mentioned raising
Motor exports opposing torque, to inhibit hoisting motor to rotate, control suspension hook hovering.
Further, above-mentioned apparatus further includes：Signal transmitting module, for being opened to the transmission of the brake apparatus of above-mentioned hoisting motor
Dynamic signal, so that above-mentioned brake apparatus brakes the hoisting motor.
Further, encoder is installed on the motor shaft of above-mentioned hoisting motor；Detection module is additionally operable to defeated according to encoder
The pulse signal gone out judges whether hoisting motor is out of service.
The third aspect, an embodiment of the present invention provides a kind of frequency converter, above-mentioned frequency converter is set on derrick crane；The
The suspension hook Hovering control device of two aspects is set in above-mentioned frequency converter.
The embodiment of the present invention brings following advantageous effect：
The present invention provides a kind of suspension hook Hovering control method, apparatus and frequency converters, when frequency converter stops to hoisting motor
When output drive signal, whether detection hoisting motor is out of service；If hoisting motor do not have it is out of service, to hoisting motor
Opposing torque is exported, to inhibit hoisting motor to rotate, control suspension hook hovering.Which can be in the mechanical system of derrick crane
Suspension hook hovering is controlled in the case of dynamic device brake failure, improves the safety and reliability of derrick crane.
Other features and advantages of the present invention will illustrate in the following description, alternatively, Partial Feature and advantage can be with
Deduce from specification or unambiguously determine, or by implement the present invention above-mentioned technology it can be learnt that.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, better embodiment cited below particularly, and match
Appended attached drawing is closed, is described in detail below.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is a kind of application scenarios schematic diagram of suspension hook Hovering control method provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of suspension hook Hovering control method provided in an embodiment of the present invention；
Fig. 3 is the flow chart of another suspension hook Hovering control method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of suspension hook Hovering control device provided in an embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, shall fall within the protection scope of the present invention.
Mechanical brake device in derrick crane, when lifting mechanism rises or falls action, brake apparatus is automatic
It opens, when acting stopping, brake apparatus (being referred to as brake) automatically turns on braking, prevents suspension hook from falling.Such side
Formula brake is since regular reciprocating motion causes mechanical performance to decline, or without replacement in time or is adjusted after braking pad wear
When brake force, it may appear that suspension hook falls phenomenon.Mode on lifting mechanism reel second is that install hydraulic brake system, when machinery is made
When dynamic failure of apparatus, hydraulic brake system brake drum can be started automatically, prevent suspension hook from falling.But due to hydraulic brake system
Cost is higher, usually only in high-end product or has and is used on the product of particular/special requirement.
Based on this, an embodiment of the present invention provides a kind of suspension hook Hovering control method, apparatus and frequency converters；The technology can be with
Applied in the suspension hook Hovering control of derrick crane, bridge crane or other cranes.
The present embodiment is understood for convenience, introduces the application scenarios of suspension hook Hovering control method first below, such as
Shown in Fig. 1.The system includes frequency converter, encoder, hoisting motor, electromotor brake, speed reducer and reel；Above-mentioned encoder
Input terminal is connected with hoisting motor；The pulse output end of above-mentioned encoder is connected to the input terminal of frequency converter；Frequency converter respectively with
Hoisting motor is connected with electromotor brake；Speed reducer is separately connected hoisting motor and reel.
Above-mentioned speed changer is used to control the torque of hoisting motor；Above-mentioned hoisting motor drives weight according to the torque of output
Upper and lower operation；Under in the braking state, encoder is continually monitored whether hoisting motor stops operating, and by the pulse of the detection
Amount is sent to frequency converter；Frequency converter can make corresponding action according to the pulsed quantity of output.Above-mentioned speed reducer is derrick crane
One of critical piece of operating mechanism, its main function are that the high speed of motor operation is transformed into derrick crane is each
The speed of mechanism actual needs, and larger torque is obtained, to which smoothly hoisting heavy, common speed reducer have worm gear reducer
Machine, planetary reducer and hard-tooth surface speed reducer.Above-mentioned reel is the component for being used for lay winding wire ropes in crane, cylinder material one
As cast iron can be used, it is accordingly required in particular to when cast steel can be used or roll welding manufacture with steel plate.
Based on above application scene, a kind of flow chart of suspension hook Hovering control method shown in Figure 2, this method application
In the frequency converter of above-mentioned derrick crane；This method comprises the following steps：
Step S202 detects whether the hoisting motor stops when frequency converter stops to hoisting motor output drive signal
Operation.
In normal operation, above-mentioned transducer drive hoisting motor output torque, hoisting motor drives weight by suspension hook
Move upwards, when frequency converter stops to hoisting motor output drive signal, electromotor brake close, while export brake force with
Make hoisting motor shaft remains stationary, to suspension hook remains stationary；If electromotor brake brake force is insufficient or brake failure,
Hoisting motor axis is also rotating.
Step S204, if not, opposing torque is exported to above-mentioned hoisting motor, to inhibit the hoisting motor to rotate, control
Suspension hook hovers.
Opposing torque is referred to as reactive torque；After frequency converter exports stop signal, if hoisting motor axis is also rotating,
Above-mentioned frequency converter can be run according to the pulse signal of encoder output come automatic zero-speed, and export reversed shaft to hoisting motor,
To inhibit hoisting motor shaft rotation dynamic, so that suspension hook is hovered, finally reach the purpose of zero-speed hovering, keeps being parked in for weight stabilization aerial,
It simultaneously also can output alarm signal.
The present invention provides a kind of suspension hook Hovering control methods, when frequency converter stops to hoisting motor output drive signal
When, whether detection hoisting motor is out of service；If hoisting motor does not have out of service, turn to hoisting motor output is reversed
Square, to inhibit hoisting motor to rotate, control suspension hook hovering.Which can be braked in the mechanical brake of derrick crane and be lost
Suspension hook hovering is controlled in the case of spirit, improves the safety and reliability of derrick crane.
The present embodiment additionally provides another suspension hook Hovering control method, the base of this method method shown in above-mentioned Fig. 2
It is realized on plinth, this method is applied in the frequency converter of derrick crane, pacifies on the motor shaft of the hoisting motor of the derrick crane
Equipped with encoder；The operating status that motor is detected using encoder, using transducer drive hoisting motor, to realize that suspension hook hovers
Control, as shown in figure 3, steps are as follows for specific implementation：
Step S302, frequency converter stop to hoisting motor output drive signal；
Step S304 sends enabling signal to the brake apparatus of hoisting motor, so that brake apparatus brakes hoisting motor.
First by the corresponding software program typing frequency converter of suspension hook Hovering control method, then transducer drive raising
Motor output torque after hoisting motor obtains the signal, drives the object (for example, weight that load-carrying is one ton) for having constant weight
Ground is left, and weight is increased to (for example, height from the ground can be 1 meter or 3 by preset height according to the signal
Rice etc.).When requiring weight to hover over presetting height, frequency converter stops to hoisting motor output drive signal, at this time
The brake apparatus of hoisting motor exports brake force, so that hoisting motor remains stationary state, suspension hook and weight hovering are in the air.
In general, brake starts after braking hoisting motor, frequency converter can judge according to the pulse signal of encoder output
Whether hoisting motor is out of service；It can specifically be realized by following step：
Whether step S306 judges the variable quantity of the pulse signal of encoder output beyond the variable quantity threshold value set；Such as
Fruit is no, determines that hoisting motor is out of service, continues to execute step S306；If so, executing step S308；
In the program of frequency converter typing, the threshold value of pulse change amount is preset, if the pulse of encoder output increases
Amount is less than the threshold value, then monitors the pulse increment of encoder again, it is ensured that hoisting motor has stopped；If the arteries and veins of encoder output
It rushes increment and is greater than or equal to threshold value, then judge that brake is insufficient or brake failure, the automatic zero-speed operation of frequency converter export
Opposing torque, to inhibit the shaft of hoisting motor to rotate.
If hoisting motor do not have it is out of service, at set time intervals, to hoisting motor output repeatedly it is reversed
Torque；For example, an opposing torque is exported to hoisting motor every 10ms, until detecting that hoisting motor is out of service；Every time
The opposing torque size of output can be identical, can become larger, taper into, can also be according to the rotating speed of current hoisting motor
The opposing torque exported every time is adjusted, i.e. the size of opposing torque can be flexibly arranged.
Derrick crane is in hanged weight, when stopping since inertia or band-type brake abrasion will appear sinkage,
Export multiple opposing torque, with sound out whether be weight it is natural sinking, if hoisting motor still rotates, it is determined that for brake
Device breaks down, then exports opposing torque again to hoisting motor, to prevent weight from continuing to sink.
Step S308 determines that hoisting motor is not out of service；At set time intervals, it is set to hoisting motor output
Determine the opposing torque of number；
In the case of brake deficiency or brake failure, the shaft of hoisting motor will not be static in braking,
Weight on suspension hook can fall, and in the process, encoder continuously can send pulse signal to frequency converter, and frequency converter can basis
Pulse signal is made to be judged three times, and reverse frequency (phase three times is continuously exported in when interval (for example, 3 seconds) interior frequency converter of setting
When in output opposing torque), to inhibit the shaft of hoisting motor to rotate.
Step S310, after exporting each opposing torque, whether detection hoisting motor is out of service；If not, executing step
Rapid S312；If so, terminating；
Step S312 judges whether last time opposing torque to be exported；If so, executing step S314；If not,
Execute step S308；
Step S314 exports last time opposing torque, so that hoisting motor is out of service；
Step S316 after hoisting motor is out of service, judges whether the number for exporting opposing torque reaches the number of setting
Threshold value, if so, executing step S318；If not, terminating.
Step S318 is generated and is exported and slips hook alarm signal.
Frequency converter exports opposing torque every time, and whether encoder can all detect hoisting motor out of service, if do not stopped
It only runs, needs to input opposing torque again, stop not yet if reaching preset output opposing torque number hoisting motor
Only, then when last time exports opposing torque, hook alarm signal, frequency converter are slipped in the buzzer warning output on joint action table
Reactive torque can be exported, operation is left the motor off.
Suspension hook lift heavy object weight and tower crane rated load weight are consistent, and weight are improved to 1 meter from the ground of distance, then
Make lifting mechanism brake failure, weight free falling, after weight declines certain distance, if hovering is in the air, rather than directly
Landing, joint action table buzzer and frequency converter all can alarms.After hook alarm is slipped by mechanism, suspension hook cannot rise, and can only decline,
Weight is dropped to safe place, then repairs the locking system of lifting mechanism.
A set of suspension hook hovering system is entered into frequency converter by a kind of suspension hook Hovering control method provided by the invention first
In, to realize program control, using the principle of transducer drive hoisting motor, lifting mechanism, encoder, frequency converter formation is made to close
The action of encoder collected hoisting motor is identified in ring control loop, frequency converter, then makes a response and send out instruction letter
Breath, control is accurate, securely and reliably.This method solve hoisting machinery formula brakes due to caused by external cause or long-time service
Mechanical performance is unstable and the problem of failure, reduction increases attached control device in mechanism, economic and practical, environmentally protective, together
When also improve the safety of derrick crane.
Corresponding to above method embodiment, the structural schematic diagram of suspension hook Hovering control device shown in Figure 4, the device
It is placed in the frequency converter of derrick crane, which includes：
Detection module 40, for when above-mentioned frequency converter stops to hoisting motor output drive signal, detecting hoisting motor
It is whether out of service；
Control module 41, do not have for above-mentioned hoisting motor it is out of service, to above-mentioned hoisting motor export opposing torque, with
Inhibit hoisting motor rotation, control suspension hook hovering.
Above-mentioned apparatus further includes：Signal transmitting module, for sending enabling signal to the brake apparatus of above-mentioned hoisting motor,
So that above-mentioned brake apparatus brakes the hoisting motor.
Encoder is installed on the motor shaft of above-mentioned hoisting motor；Detection module is additionally operable to the pulse according to encoder output
Signal judges whether hoisting motor is out of service.
Suspension hook Hovering control device provided in an embodiment of the present invention, the suspension hook Hovering control method provided with above-described embodiment
Technical characteristic having the same reaches identical technique effect so can also solve identical technical problem.
The present embodiment additionally provides a kind of a kind of frequency converter corresponding with above method embodiment.The frequency converter is set to
On derrick crane, above-mentioned suspension hook suspension device is set in above-mentioned frequency converter.
A kind of suspension hook Hovering control method, apparatus and frequency converter that the embodiment of the present invention is provided stop defeated in frequency converter
When going out, since the effect of brake braking force makes hoisting motor shaft remains stationary, the encoder on hoisting motor axis is kept not
It is dynamic.Frequency converter reads the pulse change amount of encoder in real time, and pulse change amount is 0, then brake is normal；Pulse change amount reaches
Certain threshold values, then it is assumed that motor shaft is rotating, then infer brake braking force not enough or brake failure, at this time frequency converter from
Dynamic zero-speed operation, exports certain torque, to inhibit the rotation of motor, finally reaches the purpose of zero-speed hovering, suspension hook is made to stablize
In the air.This method solve hoisting machinery formula brake since mechanical performance caused by external cause or long-time service is unstable
And the problem of failure, reduction increase attached control device in mechanism, and it is economic and practical, it is environmentally protective.
The computer program product of suspension hook Hovering control method, apparatus and frequency converter that the embodiment of the present invention is provided, packet
The computer readable storage medium for storing program code is included, the instruction that said program code includes can be used for executing previous methods
Method described in embodiment, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
And/or the specific work process of device, it can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
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 read/write memory medium.Based on this understanding, technical scheme 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 expressed 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
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：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 disc or CD.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for description purposes only, and is not understood to indicate or imply relative importance.
Finally it should be noted that：Embodiment described above, only specific implementation mode of the invention, to illustrate the present invention
Technical solution, rather than its limitations, scope of protection of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those of ordinary skill in the art that：Any one skilled in the art
In the technical scope disclosed by the present invention, it can still modify to the technical solution recorded in previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of technical solution of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. a kind of suspension hook Hovering control method, which is characterized in that the method is applied to the frequency converter of derrick crane；The side
Method includes：
When the frequency converter stops to hoisting motor output drive signal, whether out of service the hoisting motor is detected；
If not, opposing torque is exported to the hoisting motor, and to inhibit the hoisting motor to rotate, control suspension hook hovering.
2. according to the method described in claim 1, it is characterized in that, described detect hoisting motor step whether out of service
Before rapid, the method further includes：Enabling signal is sent to the brake apparatus of the hoisting motor, so that the brake apparatus system
Move the hoisting motor.
3. according to the method described in claim 1, it is characterized in that, being equipped with encoder on the motor shaft of the hoisting motor；
Detection hoisting motor step whether out of service, including：
According to the pulse signal of the encoder output, judge whether the hoisting motor is out of service.
4. according to the method described in claim 3, it is characterized in that, the pulse signal according to the encoder output, sentences
The hoisting motor of breaking step whether out of service, including：
Judge the variable quantity of the pulse signal of the encoder output whether beyond the variable quantity threshold value set；
If so, determining that the hoisting motor is not out of service；
If not, determining that the hoisting motor is out of service.
5. according to the method described in claim 1, it is characterized in that, the step for exporting opposing torque to the hoisting motor
Suddenly, including：
At set time intervals, the opposing torque of setting number is exported to the hoisting motor；
After the output every time opposing torque, whether out of service the hoisting motor is detected；
If before exporting last time opposing torque, the hoisting motor does not have out of service, exports the last time
Opposing torque, so that the hoisting motor is out of service.
6. according to the method described in claim 1, it is characterized in that, the method further includes：
If the number for exporting the opposing torque reaches the frequency threshold value of setting, generates and export and slip hook alarm signal.
7. a kind of suspension hook Hovering control device, which is characterized in that described device is set to the frequency converter of derrick crane；The dress
Set including：
Detection module, for when the frequency converter stops to hoisting motor output drive signal, detecting the hoisting motor to be
It is no out of service；
Control module, if do not have for the hoisting motor it is out of service, to the hoisting motor export opposing torque, with suppression
Make the hoisting motor rotation, control suspension hook hovering.
8. device according to claim 7, which is characterized in that described device further includes：Signal transmitting module is used for institute
The brake apparatus for stating hoisting motor sends enabling signal, so that the brake apparatus brakes the hoisting motor.
9. device according to claim 7, which is characterized in that be equipped with encoder on the motor shaft of the hoisting motor；
Detection module is additionally operable to：According to the pulse signal of the encoder output, judge whether the hoisting motor is out of service.
10. a kind of frequency converter, which is characterized in that the frequency converter is set on derrick crane；Any one of claim 7-9 institutes
The device stated is set in the frequency converter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810626374.2A CN108706481B (en) | 2018-06-15 | 2018-06-15 | Suspension hook hovering control method and device and frequency converter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810626374.2A CN108706481B (en) | 2018-06-15 | 2018-06-15 | Suspension hook hovering control method and device and frequency converter |
Publications (2)
| Publication Number | Publication Date |
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| CN108706481A true CN108706481A (en) | 2018-10-26 |
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| CN111137797A (en) * | 2019-12-31 | 2020-05-12 | 湖南中联重科建筑起重机械有限责任公司 | Tower crane hook slipping fault detection method and system and storage medium |
| CN112573405A (en) * | 2021-03-01 | 2021-03-30 | 河南工学院 | Tower crane abnormity early warning method and system based on image processing |
| CN113620176A (en) * | 2020-05-09 | 2021-11-09 | 安川电机（中国）有限公司 | Control method and device of hoisting equipment |
| CN116730231A (en) * | 2022-03-04 | 2023-09-12 | 中联重科股份有限公司 | Hoisting control method and device and hoisting equipment |
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Address after: 065000 No.86 dikuo Road, Longhe hi tech Industrial Zone, anci District, Langfang City, Hebei Province Patentee after: China Construction Machinery Co.,Ltd. Address before: 065000 No.86 dikuo Road, Longhe hi tech Industrial Zone, anci District, Langfang City, Hebei Province Patentee before: LANGFANG CSCEC MACHINERY Co.,Ltd. |