CN110203829B - Three-truss synchronous lifting control system - Google Patents
Three-truss synchronous lifting control system Download PDFInfo
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- CN110203829B CN110203829B CN201910537256.9A CN201910537256A CN110203829B CN 110203829 B CN110203829 B CN 110203829B CN 201910537256 A CN201910537256 A CN 201910537256A CN 110203829 B CN110203829 B CN 110203829B
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- programmable controller
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 29
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 10
- 239000010959 steel Substances 0.000 claims abstract description 10
- 238000005516 engineering process Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Magnetic Bearings And Hydrostatic Bearings (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a three-truss synchronous lifting control system, which belongs to the field of engineering machinery and has the technical scheme that the three-truss synchronous lifting control system comprises a double-shaft inclination sensor, wherein the double-shaft inclination sensor is fixed on a lifting object, and the X, Y shaft of the double-shaft inclination sensor is parallel and consistent with the X, Y shaft direction of a steel beam; the input end of the wireless data transmission station is connected with the double-shaft inclination angle sensor, and the output end of the wireless data transmission station is electrically connected with the programmable controller; and the input end of the frequency converter is connected with the programmable controller, and the output end of the frequency converter is electrically connected with the variable frequency motor so that the variable frequency motor can operate at different speeds according to power supplies with different frequencies. The initial posture of the lifting object is measured, the change of the shaft angle of the horizontal sensor X, Y, namely the change quantity of the posture of the lifting object, is detected in real time during lifting, whether the lifting points are synchronous or not is judged, the output frequency of the frequency converter can be timely and automatically judged and adjusted according to the change value, the speed of the lifting points is changed, and finally the aim of synchronous lifting of three lifting points is achieved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a three-truss synchronous lifting control system.
Background
Lifting synchronization is often an important assurance indicator in the lifting industry. In order to ensure the synchronous lifting of the three lifting points, the lifting speed of the lifting points can be automatically adjusted.
The rotary encoder is installed on the hoisting winch with the hoisting point, and the length of the steel wire rope is calculated by calculating the pulse sent by the encoder and multiplying the circumference of the roller, so that the winding and unwinding synchronization is realized. In the method, if the steel wire ropes are arranged in multiple layers, the diameter of the steel wire rope wound on the roller can be increased, and if the steel wire ropes wound on the roller are arranged irregularly, the calculated length of the steel wire rope can be increased.
The other is to judge whether the lifting points are synchronous or not by detecting the force change of the lifting points when the lifting points are lifted through the force taking device on the lifting points, and the method has poor anti-interference capability and low practical application precision because the precision of the lifting point sensor is too low and the tonnage display can be greatly changed when the lifting points are lifted and lowered.
Therefore, a three-truss synchronous lifting control system is provided.
Disclosure of Invention
The invention mainly aims to provide a three-truss synchronous lifting control system, which aims to solve the problem that the lifting point synchronization precision is poor in the background technology.
In order to achieve the above purpose, the invention provides a three-truss synchronous lifting control system, which comprises a double-shaft inclination sensor, wherein the double-shaft inclination sensor is fixed on a lifting object, and the X, Y shaft of the double-shaft inclination sensor is parallel and consistent with the X, Y shaft direction of a steel beam; the input end of the wireless data transmission station is connected with the double-shaft inclination angle sensor, and the output end of the wireless data transmission station is electrically connected with the programmable controller; and the input end of the frequency converter is connected with the programmable controller, and the output end of the frequency converter is electrically connected with the variable frequency motor so that the variable frequency motor can operate at different speeds according to power supplies with different frequencies.
Further, the wireless data transmission radio station comprises a transmitting unit and a receiving unit, wherein the receiving unit is electrically connected with the double-shaft inclination sensor, and the transmitting unit is electrically connected with the programmable controller so that the programmable controller can receive the data of the angle change of the horizontal plane.
Further, the wireless data transmission radio station is a digital radio station adopting a DSP technology.
Further, the biaxial inclination sensor is a high-precision biaxial inclination sensor with a measurement precision of + -0.001 deg..
Further, the double-shaft inclination angle sensor is positioned at the gravity center position of a triangle formed by three lifting points.
By applying the technical scheme of the invention, the beneficial effects are as follows: the three-truss synchronous lifting control system measures the initial attitude of a lifting object, detects the angular change of the horizontal sensor X, Y shaft in real time, namely the change quantity of the attitude of the lifting object, judges whether the lifting points are synchronous or not, can timely and automatically judge and adjust the output frequency of the frequency converter according to the change value to change the speed of the lifting points, and finally achieves the aim of synchronous lifting of the three lifting points.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 shows a schematic diagram of a dual-axis tilt sensor placement for a three-truss synchronous lifting control system;
FIG. 2 shows a diagram of a dual-axis tilt sensor of a three-truss synchronous lifting control system in a horizontal attitude;
FIG. 3 shows a positive value for the Y-axis and positive value for the X-axis of the lifting object horizontal axis of a three-truss synchronous lifting control system;
FIG. 4 shows a lifting object horizontal axis Y-axis positive value and X-axis negative value lifting object attitude diagram of a three-truss synchronous lifting control system;
FIG. 5 shows a crane horizontal axis Y-axis negative value and X-axis 0-value crane attitude diagram of a three-truss synchronous lifting control system;
FIG. 6 shows a crane horizontal axis Y-axis positive value and X-axis 0-value crane attitude diagram of a three-truss synchronous lifting control system;
fig. 7 shows a working principle diagram of a three-truss synchronous lifting control system.
Wherein the above figures include the following reference numerals:
10. Lifting a heavy object; 20. a dual-axis tilt sensor; 30. a wireless data transfer station; 40. a frequency converter; 50. a programmable controller; 60. a variable frequency motor.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 7, the present invention provides a three-truss synchronous lifting control system, which comprises a dual-axis tilt sensor 20, wherein the dual-axis tilt sensor 20 is fixed on a lifting object 10, and the X, Y axis of the dual-axis tilt sensor 20 is parallel and consistent with the X, Y axis direction of a steel beam; the input end of the wireless data transmission radio station 30 is connected with the double-shaft inclination angle sensor 20, and the output end is electrically connected with the programmable controller 50; the input end of the frequency converter 40 and the input end of the frequency converter 60 are connected with the programmable controller 50, and the output end of the frequency converter 60 is electrically connected with the frequency converter motor 60, so that the frequency converter motor 60 can operate at different speeds according to power supplies with different frequencies.
By applying the technical scheme of the embodiment, the initial posture of the lifting object is measured, when the lifting object is lifted, the lifting object is lifted in the air and leveled, the angle of the horizontal X, Y shaft of the lifting object at the moment is recorded by the programmable controller 50, when any lifting point is lifted too fast or too slow, an angle value different from the angle of the horizontal X, Y shaft of the lifting position can be generated, the angle value different from the angle of the horizontal X, Y shaft of the lifting position is measured by the double-shaft inclination sensor 20 and is output to the programmable controller 50 by the wireless data transmission radio 30, the collected data is analyzed and processed by the programmable controller 50, meanwhile, the frequency to be output by the frequency converter 40 is controlled, so that the frequency converter 40 executes a control signal sent by the programmable controller 40 and sends power sources with different frequencies to the frequency conversion motor 60 according to the control signal, the frequency conversion motor 60 can make different-speed operation according to the power sources with different frequencies, the lifting speed is adjusted, the purposes of judging whether the lifting point is synchronous or not is effectively achieved, the effect of changing the lifting speed of the output frequency of the frequency converter according to the change value is automatically judged and the time is adjusted, and the purpose of synchronous lifting of three lifting points is finally achieved.
Wherein, as shown in fig. 1, X, Y axes of the dual-axis tilt sensor 20 are parallel and consistent with X, Y axes of the steel beam, and the arrangement enables the dual-axis tilt sensor 20 to directly measure an angle of X, Y axes of the lifting object, thereby improving the efficiency of the dual-axis tilt sensor 20 measurement.
In this embodiment, as shown in fig. 1, the biaxial inclination sensor 20 is located at the center of gravity of a triangle formed by three suspension points.
For the specific structure of the wireless data radio 30, the wireless data radio 30 comprises a transmitting unit and a receiving unit, the receiving unit is electrically connected with the dual-axis tilt sensor 20, the transmitting unit is electrically connected with the programmable controller 50, so that the programmable controller 50 receives the data of the change of the horizontal plane angle, the receiving unit is connected with the dual-axis tilt sensor 20, the obtained horizontal plane angle data of the dual-axis tilt sensor 20 is received, and the receiving unit is connected with the programmable controller 50, so that the received data can be transmitted into the programmable controller 50, and the feedback speed is effectively improved.
Alternatively, the wireless data transfer station 30 is a digital station employing DSP technology.
Specifically, the biaxial inclination sensor 20 is a high-precision biaxial inclination sensor with the measurement precision of +/-0.001 degrees, and the detection precision can be increased by arranging the biaxial inclination sensor 20 with the model of SCA100T-D01, so that the synchronous lifting accuracy of a system control lifting object is effectively improved.
From the above description, it can be seen that the specific usage and working principle of the above embodiment of the present invention are as follows: the height of the lifting point 1# is h1, the height of the lifting point 2# is h2, and the height of the lifting point 3# is h3.
Firstly, a corresponding control program is written in the programmable controller 50 according to the analysis, so as to control the rotating speed of the single lifting point variable frequency motor 60 in a correlated way, then, the initial posture of the lifting object is measured, then, the lifting object is suspended and leveled, the angle of the horizontal X, Y shaft of the lifting object at the moment is recorded through the programmable controller 50, when the lifting is that any lifting point is too fast or too slow, the horizontal shaft X, Y shaft has a difference value with the initial angle, the difference value data is transmitted to the programmable controller 50 through the wireless data transmission station 30, the programmable controller 50 analyzes and processes the collected data, meanwhile, the frequency to be output by the variable frequency motor 40 is controlled, therefore, the variable frequency motor 40 executes a control signal sent by the programmable controller 40, and according to the control signal, the variable frequency motor 60 sends power sources with different frequencies, so that the variable frequency motor 60 runs at different speeds according to the power sources with different frequencies, and then, the speed of one or two lifting points is adjusted, the difference value between the X, Y shaft of the double-shaft inclination sensor 20 and the initial horizontal X, Y shaft angle is zero, and finally, the lifting and the three lifting points are synchronously lifted.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A three-truss synchronous lifting control system is characterized in that: comprising
The double-shaft inclination angle sensor (20) is fixed on the lifting object (10), and the X, Y shaft of the double-shaft inclination angle sensor (20) is parallel and consistent with the X, Y shaft direction of the steel beam;
The wireless data transmission radio station (30), the input end of the wireless data transmission radio station (30) is connected with the double-shaft inclination angle sensor (20), and the output end is electrically connected with the programmable controller (50);
the input end of the frequency converter (40) is connected with the programmable controller (50), and the output end of the frequency converter is electrically connected with the variable frequency motor (60) so that the variable frequency motor (60) can operate at different speeds according to power supplies with different frequencies;
The wireless data transmission radio station (30) comprises a transmitting unit and a receiving unit, wherein the receiving unit is electrically connected with the double-shaft inclination angle sensor (20), and the transmitting unit is electrically connected with the programmable controller (50) so that the programmable controller (50) receives data of the angle change of the horizontal plane;
the wireless data transmission radio (30) is a digital radio adopting DSP technology.
2. The three-truss synchronous lifting control system according to claim 1, wherein: the biaxial inclination sensor (20) is a high-precision biaxial inclination sensor with a measurement precision of + -0.001 degrees.
3. A tri-truss synchronous lifting control system according to any of claims 1-2, wherein: the double-shaft inclination angle sensor (20) is positioned at the gravity center position of a triangle formed by three lifting points.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910537256.9A CN110203829B (en) | 2019-06-20 | 2019-06-20 | Three-truss synchronous lifting control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910537256.9A CN110203829B (en) | 2019-06-20 | 2019-06-20 | Three-truss synchronous lifting control system |
Publications (2)
| Publication Number | Publication Date |
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| CN110203829A CN110203829A (en) | 2019-09-06 |
| CN110203829B true CN110203829B (en) | 2024-08-16 |
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| CN201910537256.9A Active CN110203829B (en) | 2019-06-20 | 2019-06-20 | Three-truss synchronous lifting control system |
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| CN115849201A (en) * | 2022-12-12 | 2023-03-28 | 上海市基础工程集团有限公司 | Device and method for controlling height and hanging angle of small box girder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN210594955U (en) * | 2019-06-20 | 2020-05-22 | 中铁九桥工程有限公司 | Three-truss synchronous lifting control system |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4038981C2 (en) * | 1990-12-06 | 1998-05-07 | Man Ghh Logistics | Hoist drive, especially for a tower crane |
| CN101139069A (en) * | 2007-06-29 | 2008-03-12 | 大连华锐股份有限公司 | Electrical control method for multi-hoisting-point crane |
| CN201805402U (en) * | 2010-09-27 | 2011-04-20 | 中国葛洲坝集团机械船舶有限公司 | Electrical Synchronization Device for Hoist with Double Lifting Points |
| CN102431897B (en) * | 2011-11-25 | 2014-04-30 | 林汉丁 | Crane lifting verticality deviation measuring and displaying device and lifting method |
| CN102620719B (en) * | 2012-04-17 | 2014-04-23 | 西安精准测控有限责任公司 | Inclination sensor with high precision and temperature compensation and its dynamic compensation method |
| RU2521788C2 (en) * | 2012-06-22 | 2014-07-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Кубанский государственный аграрный университет" | Electric drives survey and test bench |
| CN104760889B (en) * | 2015-03-20 | 2016-08-24 | 成都千秋科技有限公司 | A kind of determine arm of force Crane control method with vector variable voltage variable frequency converter as power supply |
| CN204847943U (en) * | 2015-08-29 | 2015-12-09 | 河南真牛起重机有限公司 | Hoist swing control system |
| CN106325204A (en) * | 2016-11-22 | 2017-01-11 | 天津市万众科技发展有限公司 | Speed control system of oil pumping unit based on angular displacement sensor |
| CA3000240A1 (en) * | 2016-12-13 | 2018-06-21 | Obshchestvo S Ogranichennoj Otvetstvennostyu "Vdm-Tekhnika" | The method of adjusting wind turbine power take-off |
| CN207410255U (en) * | 2017-10-30 | 2018-05-25 | 鞍山师范学院 | An automatic balance control system for a dual-motor eddy-current braking hoisting mechanism |
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| CN210594955U (en) * | 2019-06-20 | 2020-05-22 | 中铁九桥工程有限公司 | Three-truss synchronous lifting control system |
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