CN111377358B - Method for stably controlling slewing mechanism of tower crane - Google Patents
Method for stably controlling slewing mechanism of tower crane Download PDFInfo
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- CN111377358B CN111377358B CN202010004992.0A CN202010004992A CN111377358B CN 111377358 B CN111377358 B CN 111377358B CN 202010004992 A CN202010004992 A CN 202010004992A CN 111377358 B CN111377358 B CN 111377358B
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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
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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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
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
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- Automation & Control Theory (AREA)
- Control Of Ac Motors In General (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a method for stably controlling a swing mechanism of a tower crane, wherein a frequency converter controls a variable frequency motor of the tower crane, and a slope conversion module enables a step speed command omega to be generatedrefGenerating a speed command ω that changes according to a predetermined gradientcmd(ii) a The torque function generation module generates a first torque command T by using a torque function of a torque motorcmd1(ii) a The eddy current brake torque function generation module generates a second torque command T using the eddy current brake torque functioncmd2(ii) a The torque synthesis module receives a first torque command Tcmd1A second torque command Tcmd2And the rotating speed direction signal input by the rotating speed direction judging module generates a torque synthesis command Tcmd3(ii) a Synthesizing the torque into a command Tcmd3The torque control loop as a frequency converter drives a frequency conversion motor of the tower crane. The invention can lead the slewing mechanism of the tower crane to be stable in starting and braking, and has short integral acceleration and deceleration time and high working efficiency.
Description
Technical Field
The invention belongs to a control method applied to a swing mechanism of a crane, and particularly relates to a method for stably controlling the swing mechanism of a tower crane.
Background
The overall system of the slewing mechanism of the tower crane has the characteristics of long arm support, heavy weight and large inertia, and simultaneously has the characteristic of larger flexibility of the arm support, which brings trouble to the control of the slewing mechanism.
At present, the control of the slewing mechanism of the tower crane has several mainstream modes, and the control effect, the reliability and the cost of the slewing mechanism of the tower crane have advantages and disadvantages respectively. The first is that the motor adopts a torque motor and an eddy current brake, and the controller adopts an alternating current voltage regulation type RCV control mode, as disclosed in CN201512374U and CN200910013251, the control mode has the advantages of good control effect, smooth starting and braking of the swing mechanism of the tower crane and high speed. In the mode, the torque motor only generates driving torque, the eddy current brake only generates braking torque, and the resultant torque is generated on the output shaft of the motor through the control of the pressure regulating device, wherein the resultant torque can firstly meet the requirements that the resultant torque is the driving torque during acceleration and the braking torque during deceleration according to a speed command, and the slewing mechanism of the tower crane can be driven to normally work. Secondly, due to the characteristics of large inertia and large flexibility of a slewing mechanism of the tower crane, the softer mechanical property of the torque motor can well absorb the action of stress when the arm support is twisted to generate stress, namely when the stress shows that the tower arm has the tendency of driving the motor to accelerate, the load torque on the torque motor is reduced, and the speed of the torque motor can be increased to follow the tower arm; when the stress shows that the tower arm tends to block the speed of the motor, the load torque on the torque motor is increased, the speed of the torque motor is reduced and the torque motor also follows the movement of the tower arm, so that the stress is not continuously increased but is quickly released.
In addition, the principle of the eddy current brake is that the driving torque is not provided, only the braking torque is provided, the damping effect is achieved, and the stress state of the tower arm can be relieved. Therefore, the mechanical characteristics formed by the combination of the torque motor and the eddy current brake are very suitable for driving the slewing mechanism of the tower crane.
However, the first method has the disadvantages that the torque motor has large slip at low speed, the rotor generates heat greatly, the heat dissipation performance is poor, the protection level is low, the eddy current brake generates heat greatly, frequent maintenance is required, and the reliability of the RCV controller is not high.
In view of the characteristic that the reliability of the RCV controller is not high in the first mode, a second control mode that the RCV controller is replaced by a frequency converter with higher reliability appears, that is, the motor adopts a torque motor matched eddy current brake or a frequency converter matched eddy current brake, the controller adopts a common control mode of acceleration and deceleration of a universal frequency converter, that is, a mode of fixed acceleration and deceleration time (also called a mode of fixed acceleration and deceleration slope), the mode also keeps the defects that the eddy current brake generates heat seriously and needs regular maintenance, and the mode adopting the torque motor also keeps the defects that the torque motor has poor heat dissipation performance and lower protection level. Because the variable frequency control is adopted, the mechanical property of the controlled motor is much harder than that of the torque motor adopting the pressure regulating control, the starting and braking effects of the swing mechanism of the tower crane are controlled to be worse than that of RCV, the phenomena of tower arm rebounding when the tower arm stops and tower body shaking when the tower arm stops can occur when the acceleration and deceleration time is short, the solution is only to simply prolong the acceleration and deceleration time, and thus, although the phenomena of the tower arm rebounding and the tower body shaking can be relieved, the working efficiency of the swing mechanism of the tower crane is directly reduced.
In view of the second mode that the common acceleration and deceleration control mode of the frequency converter cannot well meet the control performance requirement of the slewing mechanism of the tower crane, several improved schemes of the common acceleration and deceleration control mode appear, and the motor is still provided with an eddy current brake of a torque motor or an eddy current brake of the frequency converter. CN201210161223 discloses a method, which changes the mode of fixing the acceleration and deceleration slope into the mode of first fast deceleration and then slow deceleration, and although the phenomena of tower arm rebound and tower body shake can be relieved, the method essentially prolongs the whole acceleration and deceleration time, and the working efficiency is slightly higher than that of the second scheme, but the RCV control mode is not high. CN201210576592 discloses a method, in which an acceleration sensor is required to be installed at the end of a tower arm to measure the acceleration and the speed of the end of the tower arm, so as to control a motor at a rotation driving side to follow the state of the end of the tower arm at any time, relieve the stress generated by the flexibility of the tower arm, and avoid the phenomena of tower arm rebound and tower body shake caused by stress concentration.
The invention content is as follows:
in order to overcome the defects of the background technology, the invention provides a method for stably controlling the swing mechanism of the tower crane, which has the advantages of stable braking, short deceleration time and high efficiency.
In order to solve the technical problems, the invention adopts the technical scheme that:
a method for stably controlling a swing mechanism of a tower crane, a frequency converter controls a variable frequency motor of the tower crane, and the frequency converter comprises:
a gear signal generator 1 for generating a step speed command omega according to a preset parameter from a gear signal received from a control handleref；
A ramp conversion module 3 for converting the step speed command omegarefGenerating a speed command ω that changes according to a predetermined gradientcmd；
The torque function generating module 4 of the torque motor receives a speed instruction omegacmdAnd the real-time rotating speed omega of the motormGenerating a first torque command T using a torque function of the torque motorcmd1(ii) a The eddy current brake torque function generating module 5 receives a speed command omegacmdAnd the real-time rotating speed omega of the motormGenerating a second torque command T using the eddy current brake torque functioncmd2；
A torque synthesis module 6 receiving the first torque command Tcmd1A second torque command Tcmd2And a rotational speed direction signal input by the rotational speed direction judgment module 7 to generate a torque synthesis command Tcmd3；
Synthesizing the torque into a command Tcmd3The torque control loop as a frequency converter drives a frequency conversion motor of the tower crane.
Preferably, the slope variation range in the slope conversion module 3 is-100% to 100%.
Preferably, the torque function generation module 4 receives the speed command ωcmdAnd the real-time rotating speed omega of the motormGenerating a first torque command using a torque motor torque function according to the formula
Wherein V is the rated voltage of the driving motor of the slewing mechanism, a1、a2、b1、b2、c1、c2、d1、d2The constant is obtained by fitting a rotating speed-torque mechanical characteristic curve of the driving motor of the slewing mechanism under the condition of different voltage inputs.
Preferably, the method for fitting the rotating speed-torque mechanical characteristic curve of the driving motor of the slewing mechanism under different voltage input conditions is a least square method.
Preferably, the eddy current brake torque function generating module 5 receives the speed command ωcmdAnd the real-time rotating speed omega of the motormGenerating a second torque command using the eddy current brake torque function according to the following equation
Wherein V is the rated voltage of the driving motor of the slewing mechanism, a3、a4、b3、b4、c3、c4、d3、d4The method is a constant obtained by performing least square fitting on a rotating speed-torque mechanical characteristic curve of the motor under different voltage input conditions.
Preferably, the method for fitting the rotating speed-torque mechanical characteristic curve of the motor under different voltage input conditions is a least square method.
Preferably, the torque synthesis module 6 generates the torque synthesis command T according to the following formulacmd3＝sgn(ωm)·(Tcmd1-Tcmd2)。
The invention has the beneficial effects that: the invention can adopt a common variable frequency motor in the slewing mechanism of the tower crane, does not need an eddy current brake, does not need an additional sensor, adopts a frequency converter to drive the common variable frequency motor, and has high system reliability and small maintenance workload. The invention can lead the slewing mechanism of the tower crane to be stable in starting and braking, and has short integral acceleration and deceleration time and high working efficiency.
Drawings
Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.
Fig. 2 is a graph of mechanical characteristics of a torque motor according to an embodiment of the present invention.
Figure 3 is a graph of the mechanical characteristics of an eddy current brake according to an embodiment of the invention.
FIG. 4 is a graph comparing simulated speed of a motor transient model according to an embodiment of the present invention and a torque function of a torque motor according to the present invention.
FIG. 5 is a simulated torque comparison of a motor transient model according to an embodiment of the present invention and a torque function of a torque motor according to the present invention.
In fig. 1: the system comprises a gear signal generator 1, a system constitution module 2, a slope conversion module 3, a torque function generation module of a 4-torque motor, a torque function generation module of a 5-eddy current brake, a torque synthesis module 6, a rotating speed direction judgment module 7 and a mechanical characteristic module of a motor 8.
Detailed Description
The invention is further described below with reference to the accompanying drawings and examples.
When the common variable frequency motor is driven by the frequency converter and adopts vector control, the common variable frequency motor has the capability of outputting constant torque in the range from zero rotating speed to rated rotating speed, namely, the common variable frequency motor can output any torque which is less than the maximum torque in the range from zero rotating speed to rated rotating speed, in other words, the common variable frequency motor can be regarded as a controllable torque generator. When the controllable torque generator can simulate the mechanical characteristics of a torque motor and an eddy current brake, the common variable frequency motor can control the slewing mechanism of the tower crane to achieve the RCV control effect.
As shown in fig. 1, a broken line frame 2 indicates a specific content of the present invention, and a shift position signal generator 1 generates a shift position command ω indicating an operation intention of a driverrefThe gear signal itself is discrete and step-changed, and the speed command corresponding to the gear is preset, for example, 1 gear corresponds to 10Hz, 2 gear corresponds to 25Hz, and 3 gear corresponds to 50 Hz.
Gear command omegarefAfter passing through the slope conversion module 3, a command omega changing according to a preset slope is generatedcmdThe range of the speed is generally changed from-100% to 100%, and the command and the motor feedback speed omegamThe torque commands are input into a torque function generation module 4 of the torque motor and a torque function generation module 5 of the eddy current brake together, and the generated torque commands are respectively Tcmd1And Tcmd2Together fed into a torque combining module 6, a torque motor and eddy currentsThe mechanical characteristics of the brake can be expressed by T ═ F (v, ω), i.e. the torque T generated is the applied voltage v and the current motor feedback speed ωmAs a function of (c). More specifically, the torque functions of the torque motor and eddy current brake are expressed in the form:
wherein a is1，a2，a3，a4，b1，b2，b3，b4，c1，c2，c3，c4，d1，d2，d3，d4The method is characterized in that a constant obtained by the least square method fitting method is adopted for a constant obtained by the least square method fitting of a rotating speed-torque mechanical characteristic curve of a driving motor of the slewing mechanism under different voltage input conditions, and V represents the rated voltage of the motor.
The torque synthesis module 6 also receives the input of the rotating speed direction judgment module 7 and generates a torque synthesis command Tcmd3。
Tcmd3＝sgn(ωm)·(Tcmd1-Tcmd2) (3)
The command controls the frequency converter to drive the motor to generate torque and external actual load torque TloadThe subtracted signal acts on a module 8 representing the mechanical properties of the machine, producing an actual feedback speed ωmWherein JmRepresenting the moment of inertia on the motor shaft and S the differential operator is a well known use of the system when it is represented by a transfer function.
T will be described by taking a torque motor with an eddy current brake commonly used in a tower crane as an examplecmd1And Tcmd2A function derivation method of (1). FIG. 2 shows the rotation of a torque motor at a power frequency of 50Hz and voltages of 230v, 300v and 380v, respectivelyA speed-torque mechanical characteristic curve, and fig. 3 is a rotating speed-torque mechanical characteristic curve of the eddy current brake at voltages of 8v, 16v and 24v respectively. Taking fig. 2 as an example, it can be seen that at each applied voltage, the torque is a function of the rotational speed, and there are three curves in the graph, which can be obtained by curve fitting, and are expressed as:
wherein T isv1，Tv2，Tv3Representing the torque at different voltages, Av1，Bv1，Av2，Bv2，Av3，Bv3Is a constant obtained by a curve fitting method. After these constants are obtained, a quadratic curve fit is performed as a function of voltage to obtain the following equation:
wherein,
Av＝a1(ωcmd·V)3+b1(ωcmd·V)2+c1(ωcmd·V)+d1 (8)
Bv＝a2(ωcmd·V)3+b2(ωcmd·V)2+c2(ωcmd·V)+d2 (9)
Tcmd2the derivation can be made in the same way.
The torque function derivation method is proved by a simulation method, the torque motor model adopted by simulation is a known transient model (a motor model in Matlab can be adopted), the power is 5.5kW, the rotor resistance value is increased, and the mechanical characteristics similar to the torque motor are obtained. The parameters of the motor are as follows:
stator resistance: 0.7384 Ω; stator inductance: 0.003045H; rotor resistance: 6.4101 Ω; rotor inductance: 0.003045H;
mutual inductance: 0.1241H; moment of inertia: 0.0343kg.m2。
And (3) making a rotating speed-torque characteristic curve under different voltage levels, and obtaining all constant coefficients of the torque function according to the torque function derivation method. The resulting function is:
the same voltage and feedback rotation speed changing from 0 to the rated voltage of the motor with a fixed slope are input to the transient motor model and the torque function, load torques of 40Nm, 100Nm and 5Nm are applied at 1 second, 2 seconds and 3 seconds respectively, and the obtained rotation speed curve and the torque curve are respectively shown in fig. 4 and 5. It can be seen from the figure that the torque function adopted in the embodiment can be well consistent with the transient motor model in terms of rotation speed and torque to a higher degree when different voltages are input, that is, the mechanical characteristics of the torque motor in a voltage regulation control mode are completely simulated. The mechanical characteristic simulation of the eddy current brake in a voltage regulation control mode is basically consistent with that of a torque motor.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (2)
1. A method for stably controlling a slewing mechanism of a tower crane is characterized by comprising the following steps: converter control tower crane's inverter motor, the converter includes:
gear signal generationA device (1) for generating a step speed command omega according to a preset parameter from a gear signal received from a control handleref；
A ramp conversion module (3) for converting the step speed command omegarefGenerating a speed command ω that changes according to a predetermined gradientcmd；
A torque function generation module (4) of the torque motor for receiving the speed instruction omegacmdAnd the real-time rotating speed omega of the motormGenerating a first torque command T using a torque function of the torque motorcmd1，
Tcmd1=[a1(ωcmd•V)3+b1(ωcmd•V)2+c1(ωcmd•V)+d1]ωm 2+[a2(ωcmd•V)3+b2(ωcmd•V)2+c2(ωcmd•V)+d2]•ωm
Wherein V is the rated voltage of the driving motor of the slewing mechanism, a1、a2、b1、b2、c1、c2、d1、d2A constant is obtained by performing least square method fitting on a rotating speed-torque mechanical characteristic curve of a driving motor of the slewing mechanism under different voltage input conditions;
an eddy current brake torque function generating module (5) receiving the speed command ωcmdAnd the real-time rotating speed omega of the motormGenerating a second torque command T using the eddy current brake torque functioncmd2，
Tcmd2=[a3(ωcmd•V)3+b3(ωcmd•V)2+c3(ωcmd•V)+d3]•ωm 2+[a4(ωcmd•V)3+b4(ωcmd•V)2+c4(ωcmd•V)+d4]•ωm
Wherein, a3、a4、b3、b4、c3、c4、d3、d4A constant is obtained by performing least square method fitting on a rotating speed-torque mechanical characteristic curve of a driving motor of the slewing mechanism under different voltage input conditions;
a torque synthesis module (6) receiving the first torque command Tcmd1The second torque command Tcmd2And a rotational speed direction signal input by a rotational speed direction judgment module (7) to generate a torque synthesis command Tcmd3(ii) a The torque synthesis module (6) generates a torque synthesis command T according to the following formulacmd3=sgn(ωm)•(Tcmd1-Tcmd2) (ii) a Synthesizing the torque into a command Tcmd3The torque control loop as a frequency converter drives a frequency conversion motor of the tower crane.
2. The method for smoothly controlling the slewing mechanism of the tower crane according to claim 1, wherein the method comprises the following steps: the slope change range in the slope conversion module (3) is-100%.
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| CN114671360A (en) * | 2021-04-09 | 2022-06-28 | 武汉市正弦电气技术有限公司 | Rotation control mechanism of tower crane and control method thereof |
| CN119037683B (en) * | 2024-11-04 | 2025-02-28 | 中国船舶集团有限公司第七〇七研究所 | Rudder angle control method for separated stern rudder of underwater vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000211882A (en) * | 1999-01-27 | 2000-08-02 | Nisshin Steel Co Ltd | Control method for stopping drive motor for crane |
| CN103338004A (en) * | 2013-07-09 | 2013-10-02 | 四川建设机械（集团）股份有限公司 | Speed adjustment control system |
| CN206088768U (en) * | 2016-08-12 | 2017-04-12 | 武汉港迪电气传动技术有限公司 | Gate seat formula crane grab prevents out control system of fill |
| CN207330191U (en) * | 2017-09-05 | 2018-05-08 | 浙江箭环电气开关有限公司 | A kind of swing mechanism using rcv controllers |
| CN109019341A (en) * | 2018-08-14 | 2018-12-18 | 苏州汇川技术有限公司 | Tower crane rotation control system and method |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000211882A (en) * | 1999-01-27 | 2000-08-02 | Nisshin Steel Co Ltd | Control method for stopping drive motor for crane |
| CN103338004A (en) * | 2013-07-09 | 2013-10-02 | 四川建设机械（集团）股份有限公司 | Speed adjustment control system |
| CN206088768U (en) * | 2016-08-12 | 2017-04-12 | 武汉港迪电气传动技术有限公司 | Gate seat formula crane grab prevents out control system of fill |
| CN207330191U (en) * | 2017-09-05 | 2018-05-08 | 浙江箭环电气开关有限公司 | A kind of swing mechanism using rcv controllers |
| CN109019341A (en) * | 2018-08-14 | 2018-12-18 | 苏州汇川技术有限公司 | Tower crane rotation control system and method |
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