The invention discloses a multi-mechanism double-closed-loop master-slave synchronous control system of a tower crane in the technical field of tower crane control, which comprises multiple variable-frequency driving devices adopting master-slave control, multiple speed encoders and multiple position encoders, wherein each variable-frequency driving device drives a winding drum to move through a driving motor based on a control signal; the multiple speed encoders are installed at the positions of the motors and feed back real-time speed signals to the corresponding variable-frequency driving devices after detecting the speed of the motors, and the variable-frequency driving devices conduct synchronous control over the speed of the motors in real time based on the real-time speed signals; and the position encoders are installed at the positions of the winding drums, detect the positions of the winding drums and then feed back winding drum position signals to the controller, and the position encoders conduct synchronous correction on the positions of the winding drums when responding to the fact that the position deviation of the winding drums exceeds the limit. According to the invention, a master-slave control mode and redundant double-closed-loop control of an inner-layer speed closed loop and an outer-layer position closed loop can be adopted, so that the accuracy and reliability of synchronous control of multiple mechanisms of the tower crane are guaranteed.

    本发明公开了塔机控制技术领域的一种塔机多机构双闭环主从同步控制系统,包括:采用主从控制的多个变频驱动装置,且每个变频驱动装置均基于控制信号通过驱动电机带动卷筒运动;多个速度编码器,安装于各电机处,检测电机速度后反馈实时速度信号至对应的变频驱动装置,所述变频驱动装置基于实时速度信号实时进行电机速度同步控制;多个位置编码器,安装于各卷筒处,检测卷筒位置后反馈卷筒位置信号至控制器,所述位置编码器响应于卷筒位置偏差超限时进行卷筒位置同步纠正。本发明能够采用主从控制模式,内层速度闭环和外层位置闭环的冗余双闭环控制,保障塔机多机构同步控制的精准度和可靠性。


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    Title :

    Multi-mechanism double-closed-loop master-slave synchronous control system of tower crane


    Additional title:

    一种塔机多机构双闭环主从同步控制系统


    Contributors:
    MI CHENGHONG (author) / YI LEI (author) / AN JIAN (author)

    Publication date :

    2022-02-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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