The invention discloses an electric control compensation method for variable amplitude and fixed height control of a movable arm tower crane. The method comprises the following steps: acquiring an angle value of a boom of a movable arm tower crane and a pitch angle of a movable arm frame through an angle sensor in the variable amplitude process of the movable arm tower crane, and acquiring a lifting position signal of a lifting winch through an encoder arranged on a lifting winding drum; calculating a variable amplitude linear speed and a lifting linear speed, and obtaining a corresponding relationship of tracking compensated lifting speed according to the variable amplitude linear speed and the lifting linear speed; and judging whether the difference value between the variable amplitude calculation compensation speed and the variable amplitude linear speed is within a preset threshold range or not, and whether the difference value between the lifting calculation compensation speed andthe lifting linear speed is within the preset threshold range or not, if so, not sending an alarm signal, and if not, sending an alarm signal. The method mainly aims at the following motion of a lifting main hook following a variable amplitude motion in the variable amplitude process of the movable arm tower crane.
本发明公开了一种动臂塔机变幅定高控制的电控补偿方法,包括:在动臂塔机变幅过程中通过角度传感器获取动臂塔机臂架的角度值及动臂架俯仰角,通过设置在起升卷筒上的编码器采集起升卷扬机的起升位置信号;计算变幅线速度和起升线速度,获得依据变幅线速度起升线速度来确定跟踪补偿的起升速度的对应关系;判断变幅计算补偿速度与变幅线速度的差值是否在预设阈值范围以内,以及起升计算补偿速度与起升线速度的差值是否在预设阈值范围以内,若是,不发出报警信号,若否,则发出报警信号。本发明主要针对动臂塔机在变幅过程中,起升主钩跟随变幅动作作跟随运动。
Electric control compensation method for variable amplitude and fixed height control of movable arm tower crane
一种动臂塔机变幅定高控制的电控补偿方法
2020-06-05
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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