Crane control method, controller, and control device

Abstract

The invention provides a control method, a controller and a control device for a crane. According to the invention, the control method for the crane comprises the following steps: the first judging procedure: judging whether the arm length and the amplitude of the crane exceed the corresponding threshold value limit of a hoisting weight chart; the second judging procedure: judging whether a dead-weight tip-over parameter exceeds a preset dead-weight tip-over parameter limit in case that the arm length and the amplitude of the crane exceed the corresponding threshold limit of the hoisting weight chart; control procedure: allowing the crane to operate in an empty-hook state in case that the dead-weight tip-over parameter does not exceed the preset dead-weight tip-over parameter limit, prohibiting dangerous operations of the crane in case that the dead-weight tip-over parameter exceeds the preset dead-weight tip-over parameter limit, wherein the dangerous operations comprise lifting arm extending, lifting arm downwards luffing, and winching and hoisting. According to the invention, the preset dead-weight tip-over parameter is introduced and the crane can be operated within a certain range in case that the arm length and the amplitude of the crane exceed the corresponding threshold limit of the hoisting weight chart, so that the operating range is enlarged.

Description

technical field [0001] The invention relates to the field of crane control, in particular to a crane control method, a controller, and a control device. Background technique [0002] In the prior art, the operation of the crane is controlled by the moment limiter. Generally, in order to prevent the crane from tipping over during the hoisting process, the lifting capacity table is formulated according to the working conditions such as the arm length, amplitude and lifting weight of the jib. The arm length of the crane , amplitude, and lifting weight can only be set under the set working conditions (lifting capacity table refers to the relationship table between the crane's boom length, range and rated lifting capacity, which lists the different boom lengths and different lifting capacity of the crane in the table. range, the maximum hoisting weight that can be lifted, etc.), when the arm length and amplitude adjustment of the crane exceed the lifting capacity table, the momen...

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Problems solved by technology

[0002] In the prior art, the operation of the crane is controlled by the moment limiter. Generally, in order to prevent the crane from tipping over during the hoisting process, the lifting capacity table is formulated according to the working conditions such as the arm length, amplitude and lifting weight of the jib. The arm length of the crane , amplitude, and lifting weight can only be set under the set working conditions (lifting capacity table refers to the relationship table between the crane's boom length, range and rated lifting capacity, which lists the different boom lengths and different lifting capacity of the crane in the table. range, the maximum hoisting weight that can be lifted, etc.), when the arm length and amplitude adjustment of the crane exceed the lifting capacity table, the moment limiter will directly cut off all movements in dangerous directions

[0003] However, under the existing control mode, after the crane reaches or exceeds the critical condition controlled by the lifting capacity table, the crane can still perform some luffing or boom telescopic operations without the crane tipping over when the hook is empty. In actual operation, there are also requirements for these operations

However, in the prior art, these operations are not allowed by the moment limiter because the adjustment range of the boom exceeds the limit of the lifting weight table, that is to say, the existing control method based on the self-weight table sacrifices part of the control Convenience

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