The invention relates to the technical field of intelligent control of tower cranes, in particular to an intelligent anti-swing method, system and equipment for a tower crane, and the method comprises the following steps: starting an anti-swing device after the crane is started, arranging the anti-swing device on a cargo boom, and starting a timer at the same time; the method comprises the following steps: establishing a swing model according to parameters of each part of a crane, decomposing the gravity received by a crane hook into a direction along a cycloid and a direction perpendicular to the cycloid, monitoring the position, posture, load, running speed and wind speed of the hook in real time by a sensor arranged on the hook, and preprocessing the data; according to the processed data, data processing is further carried out on the relation between the swing amplitude and the rope length and the speed, an anti-swing mechanism is analyzed, and anti-swing in the starting stage, anti-swing in the moving stage and anti-swing in the stopping stage; and finally, an instruction is sent to the anti-swing device according to the obtained data. Swing can be effectively eliminated within a short time by controlling the anti-swing device.
本发明涉及塔式起重机智能控制技术领域,尤其涉及一种塔式起重机智能防摇摆方法、系统及设备,包括以下步骤:启动起重机后同时开启防摇摆装置,防摇摆装置设置在起重臂上,并同时开启计时器;根基起重机各部位参数建立摇摆模型,将起重机吊钩所收到的重力分解为沿摆线方向与垂直于摆线的方向,设置在吊钩上的传感器实时监测吊钩的位置、姿态、载荷、运转速度,以及风速,将上述数据后进行预处理;根据处理后的数据进一步对摆幅与绳长和速度的关系、分析防摇摆机制、启动阶段防摇摆、运动阶段防摇摆、停止阶段防摇摆进行数据处理;最后根据得出的数据向防摇摆装置发送指令。本发明可以通过控制防摇摆装置,短时间内有效消除摇摆。
Intelligent anti-swing method, system and equipment for tower crane
一种塔式起重机智能防摇摆方法、系统及设备
2024-04-02
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
Variable amplitude anti-swing control method for tower crane
European Patent Office | 2022
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