The invention discloses a control method and system for a slewing mechanism of a tower crane. The method comprises the following steps: calculating a given speed of a motor according to a target speed of the motor and acceleration and deceleration time of the motor; obtaining motor torque current through calculation according to the three-phase current of the motor, and carrying out low-pass filtering calculation on the motor torque current to obtain motor torque current; calculating a motor adjusting speed according to the motor torque current; calculating the actual given speed of the motor according to the sum of the given speed of the motor and the adjusting speed of the motor; and adjusting the running speed of the motor in real time according to the actual given speed of the motor so as to adjust the rotating speed of the big arm of the tower crane in real time. According to the invention, the operation speed of the motor is adjusted in real time to suppress deformation oscillation of the tower body, overshoot and oscillation of the slewing speed of the big arm are prevented, and the slewing speed of the big arm can be stably controlled, so that the comfort, the reliability, the safety and the operation efficiency of a slewing system are remarkably improved; moreover, the method does not depend on parameters of a slewing system control model, and is high in algorithm robustness and good in applicability.

    一种塔式起重机回转机构控制方法及系统,其中方法包括:根据电机目标速度和电机加减速时间计算得到电机给定速度;根据电机三相电流计算得到电机转矩电流,并将电机转矩电流进行低通滤波计算得到电机转矩电流;根据电机转矩电流计算得到电机调整速度;根据电机给定速度与电机调整速度之和计算得到电机实际给定速度;根据电机实际给定速度实时调整电机运行速度,以实时调整塔式起重机大臂的回转速度。本发明通过实时调整电机运行速度以抑制塔身形变振荡,防止了大臂回转速度超调和振荡,可使大臂回转速度控制平稳,从而显著提高了回转系统舒适性、可靠性、安全性和运行效率;且本发明不依赖回转系统控制模型参数,算法鲁棒性强,适用性好。


    Access

    Download


    Export, share and cite



    Title :

    Control method and system for slewing mechanism of tower crane


    Additional title:

    一种塔式起重机回转机构控制方法及系统


    Contributors:
    ZHU WEIJIN (author)

    Publication date :

    2021-06-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern / B66C Krane , CRANES



    Slewing mechanism for tower crane

    LI WEI / ZHANG LI / ZHOU YOU | European Patent Office | 2021

    Free access

    Tower crane slewing mechanism mounting method

    TAN DAOHUI / CHEN CE / WEI JIRUI et al. | European Patent Office | 2021

    Free access

    Tower crane slewing bearing and tower crane

    ZHOU BING / WEN CHAOHUI / LI XIANGMIN et al. | European Patent Office | 2023

    Free access

    Slewing mechanism for low-consumption crane tower

    XIAO JIAMING / ZHAO JUN | European Patent Office | 2021

    Free access

    Tower crane slewing mechanism control method, equipment, system and storage medium

    LI LONGWEN / HUANG WEIJIE | European Patent Office | 2024

    Free access