The invention discloses a control method of a tower crane with a movable balance weight, a controller and the tower crane. The control method comprises the following steps: searching a load moment range corresponding to a position interval where the movable balance weight is currently located according to a segmentation relation table; the motor is controlled to increase or decrease the output load moment within the load moment range; monitoring whether the heavy object is completely off the ground or completely touches the ground in real time; when it is monitored that the heavy object is completely off the ground or completely touches the ground, the process of controlling the heavy object to be lifted off the ground or descended to touch the ground is stopped; and under the condition that the condition that the heavy object is completely off the ground or completely touches the ground is not monitored, the movable balance weight is controlled to move to the next position interval for control until the condition that the heavy object is completely off the ground or completely touches the ground is monitored. Segmented load moment control is introduced into the control process of the tower crane with the movable balance weight, the movable balance weight reaches the corresponding position interval of the balance arm, it is ensured that the bending moment borne by the tower body is balanced, and therefore the tower crane with the movable balance weight can be accurately controlled.
本申请公开了一种带移动配重的塔机的控制方法、控制器及塔机,该控制方法可以包括:根据分段关系表查找与移动配重当前所处的位置区间所对应的起重力矩范围;控制电机在起重力矩范围内增大或减小输出的起重力矩;实时监测重物是否完全离地或完全着地;在监测到重物完全离地或完全着地的情况下,停止控制重物的起升离地或下降着地的过程;在未监测到重物完全离地或完全着地的情况下,控制移动配重移动到下一位置区间进行控制,直至监测到重物完全离地或完全着地。本申请将分段起重力矩控制引入带移动配重的塔机的控制过程,使得移动配重到平衡臂对应位置区间,确保塔身所受弯矩平衡,从而能精准控制带移动配重的塔机。
Control method and controller of tower crane with movable balance weight and tower crane
带移动配重的塔机的控制方法、控制器及塔机
2023-09-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |