Amplitude change compensation control method and system and movable arm tower crane

Abstract

The invention discloses an amplitude change compensation control method and a system and a movable arm tower crane. In the amplitude change compensation control method, a driver can select a fixed-height amplitude change mode through a human-computer interface, and operates the amplitude change in the mode; a control system calculates deformations of a whole machine and an arm frame according to acquired angle change values of a large arm and weights of lifted heavy objects in the movable arm tower crane and internal preset data; and the lifting speed is controlled in real time according to the parameters along with amplitude change actions to guarantee no change of heights of the heavy objects in the amplitude change process. The driver only needs to select the fixed-height amplitude change mode, and then, only needs to operate an amplitude change mechanism, so that the heavy objects can be kept at the same height for horizontal movement, and the operation difficulty and intensity of the driver are greatly reduced; and when the driver leaves from a seat for a long time, the control system can perform automatic identification and corresponding control to prevent dangers.

Description

technical field [0001] The invention relates to a variable amplitude compensation control method, a system and a boom tower crane, belonging to the technical field of variable amplitude compensation of tower cranes. Background technique [0002] The luffing action of the existing luffing jib tower crane mainly depends on the winch mechanism to pull the boom 1 to perform the pitching action. During the luffing action in this way, the horizontal height of the weight 2 will change, such as figure 1 As shown, in the occasion where heavy objects need to be moved horizontally, it will cause inconvenience to the driver's operation. [0003] At present, it mainly relies on the driver to operate luffing and lifting at the same time, but there are the following problems in the actual operation process: [0004] 1. It is difficult to realize the operation: relying entirely on the driver to operate at the same time, it is difficult to ensure that the heavy object does not undergo a lar...

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Problems solved by technology

[0004] 1. It is difficult to realize the operation: relying entirely on the driver to operate at the same time, it is difficult to ensure that the heavy object does not undergo a large height change during the moving process, that is, it is difficult to ensure that the heavy object maintains the same height when moving horizontally;

[0005] 2. Prone to danger: rely entirely on the driver's personal coordination and operation. If the heavy object needs to be translated, once the heavy object hits the height, it is easy to be dangerous

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