The invention discloses a method, a controller and a control system for controlling fixed-amplitude lifting of a movable arm tower crane. The method comprises the following steps: acquiring a structural geometric model of the movable arm tower crane; establishing a finite element model according to the structural geometric model of the movable arm tower crane; determining a target relation model of the amplitude deviation of the lifting hook of the movable arm tower crane according to the finite element model; in the lifting, hoisting and lifting off-ground process of the movable arm tower crane, according to the target relation model, the amplitude deviation of the lifting hook is calculated in real time; and based on the amplitude deviation of the lifting hook, the movable arm tower crane is controlled to perform amplitude variation action, and the amplitude deviation of the lifting hook is compensated to ensure that the amplitude of the lifting hook is not changed in the lifting load off-ground process. By controlling the luffing action of the movable arm tower crane, the amplitude deviation generated by hanging load deformation is compensated, the cable-stayed and inclined hanging phenomenon in the hanging load off-ground process of the movable arm tower crane is avoided, and the over-torque is prevented. Meanwhile, the compensation process based on the target relation model is smooth, excessive compensation or insufficient compensation is avoided, and the requirement for an operator is lowered.
本申请公开了一种动臂塔机定幅起升控制的方法、控制器及控制系统。该方法包括:获取动臂塔机的结构几何模型;根据动臂塔机的结构几何模型建立有限元模型;根据有限元模型确定动臂塔机的吊钩幅度偏差的目标关系模型;在动臂塔机的起升吊载离地过程中,根据目标关系模型,实时计算吊钩幅度偏差;基于吊钩幅度偏差,控制动臂塔机进行变幅动作,对吊钩幅度偏差进行补偿,以保证起升吊载离地过程中吊钩幅度不变。本申请通过控制动臂塔机进行变幅动作,对吊载形变产生的幅度偏差进行了补偿,避免了动臂塔机吊载离地过程中斜拉斜吊现象的发生,防止了超力矩。同时,基于目标关系模型的补偿过程平滑,不会过补或少补,降低了对操作者的要求。
Method, controller and control system for controlling fixed-amplitude lifting of movable arm tower crane
动臂塔机定幅起升控制的方法、控制器及控制系统
2023-12-12
Patent
Elektronische Ressource
Chinesisch
IPC: | B66C Krane , CRANES |
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