The invention discloses a tower crane rotation control method, device and equipment and a readable storage medium, belongs to the field of mechanical control, and is used for controlling rotation of a tower crane. Considering that the output torque of a motor is not completely contributed to the rotating speed of a large arm due to the flexibility of the tower crane and the tower body can generate torsion, the tower body torsion speed is used as an intermediate conversion value, and the tower body torsion speed of the tower crane is firstly calculated through the current output torque of the motor; calculating the rotating speed of the big arm of the tower crane according to the actual rotating speed of the motor and the torsion speed of the tower body, and finally adjusting the target rotating speed of the motor according to the rotating speed of the big arm so that the rotating speed of the big arm approaches the target rotating speed of the big arm, thereby realizing accurate rotating speed control of the big arm of the tower crane. And the working efficiency, the safety and the reliability of the tower crane can be improved.

    本发明公开了一种塔式起重机回转控制方法、装置、设备及可读存储介质,属于机械控制领域,用于对塔式起重机的回转进行控制。考虑到塔式起重机本身存在的柔性导致电机的输出转矩并不完全贡献至大臂转速,还会使得塔身产生扭转,因此本申请中将塔身扭转速度作为中间转换值,首先通过电机当前的输出转矩计算塔式起重机的塔身扭转速度,然后根据电机的实际转速与塔身扭转速度计算塔式起重机的大臂转速,最后便可以根据大臂转速对电机的目标转速进行调整,以便大臂转速趋近大臂目标转速,从而实现对于塔式起重机的大臂回转的精确速度控制,有利于提升塔式起重机的工作效率、安全性以及可靠性。


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    Title :

    Rotation control method, device and equipment of tower crane and readable storage medium


    Additional title:

    塔式起重机回转控制方法、装置、设备及可读存储介质


    Contributors:
    HE QIN (author) / SHEN WEN (author) / WANG ERFENG (author) / WU XUANQIN (author)

    Publication date :

    2023-04-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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