Self-adaptive balance control method and device for crane

Abstract

The invention discloses a self-adaptive balance control method and device for a crane, and relates to the technical field of self-adaptive balance control, and the method comprises the steps: firstly building a crane dynamic model through historical balance data in a database, then predicting system state data of a next time node, and then analyzing the predicted data to obtain a crane dynamic model; accurately judging that the system is in a normal, dangerous or unbalanced state, when the system is in a dangerous state, collecting and deeply analyzing hydraulic system data, and setting a hydraulic regulation and control scheme in a targeted manner; when the crane is in an unbalanced state, load balance data are collected and analyzed, an effective supporting compensation scheme is formulated, finally, hydraulic regulation and control and supporting compensation data within a preset time period are collected, comprehensive analysis is conducted, and then a load dynamic compensation scheme is set. The working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of adaptive balance control, and particularly relates to a crane adaptive balance control method and device. Background Art

[0002] In many fields such as industrial production and construction, cranes, as key material handling equipment, play an irreplaceable and important role. The balance control problem during the operation of cranes is an important issue for crane safety. Therefore, a crane adaptive balance control method and device are needed.

[0003] The prior art, such as the invention patent application with publication number CN118419804A, discloses a working condition adaptive variable position counterweight control method, system and crane, belonging to the technical field of cranes. The control method includes: judging whether the current hoisting state of the crane is stable. If it is stable, perform the hoisting operation. If it is not stable, calculate the extended length of the variable position counterweight at the predicted variable position; judge whether the extended length of the variable position counterweight at the predicted variable position is within the allowable range. If it is within the allowable range, perform the variable position counterweight variable position operation to the predicted variable position. If it is not within the allowable range, obtain the included angle between the current variable position counterweight and the crane boom; judge whether the included angle between the current variable position counterweight and the crane boom is the optimal included angle. If it is the optimal included angle, give an alarm to the outside that the hoisting working condition is not satisfied. If it is not the optimal included angle, perform the variable position counterweight slewing operation in the angular direction towards the optimal included angle, so that the crane achieves the best lifting capacity and the maximum safety factor state during the hoisting operation.

[0004] For the above solution, there are the following technical problems: 1. The above solution only obtains the stability of the current hoisting state of the crane according to the force information, and does not analyze the system stability from multiple angles through multi-source data. The analysis of the system stability state has no breadth. The prediction of the future hoisting state stability based on historical data has no foresight for the analysis of the system stability state. The data analysis is simple and lagging, reducing the authenticity and effectiveness of the data analysis. The imbalance of the crane is an instantaneous state, and the state of the crane is not predicted in advance, reducing the safety of the crane.

[0005] 2. The above solution mainly makes judgments and operations based on fixed rules according to the current state, and does not dynamically adjust the hydraulic control scheme and the support compensation scheme according to different system states and data analysis results. It only performs fixed variable position or slewing operations according to the situation of the counterweight extended length and the included angle. The adaptive and dynamic adjustment capabilities are relatively weak. At the same time, the above solution does not consider analyzing the control data within a preset time period and further optimizing the balance control scheme according to the balance stability, reducing the fineness of the dynamic adjustment. Summary of the Invention

[0006] Aiming at the above-mentioned technical deficiencies, the purpose of the present invention is to provide a crane adaptive balance control method and device.

[0007] To solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a crane adaptive balance control method, including the following steps: Step 1, Power model construction: According to the historical balance data in the database, construct a crane dynamics model, collect the crane dynamics data at the current time node, and input the crane dynamics data at the current time node into the crane dynamics model to obtain the predicted crane system state data at the next time node.

[0008] Step 2, Balance system analysis: Analyze the predicted crane system state data at the next time node to obtain the system state. The system state is divided into: normal, dangerous, and unbalanced. When the system state is dangerous, collect the hydraulic system data, analyze the hydraulic system data, and set the hydraulic regulation plan. When the system is in an unbalanced state, collect the load balance data, analyze the load balance data, and set the support compensation plan.

[0009] Step 3, Power system analysis: According to the hydraulic regulation plan and the support compensation plan, collect the hydraulic regulation data and the support compensation data within a preset time period, analyze the hydraulic regulation data and the support compensation data within the preset time period, and set the load dynamic compensation plan.

[0010] Preferably: The process of specifically obtaining the crane system state data at the next time node is as follows: The historical balance data in the database includes the crane state data when not in use each time, the starting state data of the crane during each normal use, the ending state data of the crane during each normal use, the actual measurement data of the crane during each normal use, and the input state data during each normal use.

[0011] Vectorize the crane state data when not in use each time, the starting state data of the crane during each normal use, the ending state data of the crane during each normal use, and the input state data during each normal use to obtain the initial state vector of the crane when not in use each time, the starting state vector of the crane during each normal use, the ending state vector of the crane during each normal use, and the control input vector of the crane during each normal use.

[0012] Calculate the mean of the initial state vectors of the crane at each time when it is not in use to obtain the initial state vector of the crane. Subtract the initial state vector of the crane from the starting state vector and the ending state vector of the crane during each normal use respectively to obtain the starting state displacement vector and the ending state displacement vector of the crane during each normal use. Substitute the starting state displacement vector, the ending state displacement vector of the crane during each normal use, and the crane control into the vector to transform it into a state equation, and solve to obtain the function of the state equation, that is, the state transition matrix.

[0013] Vectorize the actual measurement data of the crane during each normal use to obtain the observation vector of the crane during each normal use. At the same time, obtain the relationship function between each element of the observation vector of the crane and each element of the corresponding state vector from the database, and transform each relationship function into a matrix to obtain the observation matrix.

[0014] Perform Kalman filter iteration on the initial state vector of the crane, the state transition matrix, and the observation matrix to obtain the crane dynamics model: , is the state vector of the crane at the predicted next time node, k + 1 is the number of the predicted next time node, k is the number of the current time node, and the value of k is a positive integer. , and are respectively the state vector of the crane, the control input vector, and the preset model error vector at the current time node. f is the dynamics function. When the function is a linear system function, , where F is the state transition matrix and B is the control input matrix.

[0015] Input the crane dynamics data at the current time node into the crane dynamics model to obtain the crane system state data at the next time node.

[0016] On the other hand, the present invention provides a crane adaptive balance control device, including the following modules: a dynamic model construction module, which is used to construct a crane dynamics model according to the historical balance data in the database, collect the crane dynamics data at the current time node, and input the crane dynamics data at the current time node into the crane dynamics model to obtain the crane system state data at the predicted next time node.

[0017] A balance system analysis module, which is used to analyze the crane system state data at the predicted next time node to obtain the system state. The system state is divided into: normal, dangerous, and unbalanced. When the system state is dangerous, collect the hydraulic system data, analyze the hydraulic system data, and set the hydraulic regulation plan. When the system is in an unbalanced state, collect the load balance data, analyze the load balance data, and set the support compensation plan.

[0018] The power system analysis module is used to collect hydraulic control data and support compensation data within a preset time period according to the hydraulic control plan and support compensation plan, analyze the hydraulic control data and support compensation data within the preset time period, and set a load dynamic compensation plan.

[0019] The beneficial effects of the present invention are: 1. The method of the present invention first constructs a crane dynamics model through the historical balance data in the database, and then predicts the system status data of the next time node, and then analyzes the predicted data to accurately determine whether the system is in a normal, dangerous or unbalanced state. When the system is in a dangerous state, the hydraulic system data is collected and deeply analyzed, and a hydraulic control plan is set up in a targeted manner; when in an unbalanced state, the load balance data is collected and analyzed, and an effective support compensation plan is formulated. Finally, by collecting the hydraulic control and support compensation data within a preset time period, a load dynamic compensation plan is set after comprehensive analysis. This method significantly enhances the crane's adaptive balancing ability, effectively reduces operational risks, and improves work efficiency.

[0020] 2. The present invention not only takes into account the system status of the crane, but also analyzes and sets corresponding solutions from multiple aspects such as hydraulic system and load balance for dangerous and unbalanced states. The control strategy is more comprehensive and integrated. At the same time, the present invention predicts and analyzes the future state by constructing a dynamic model, which increases the forward-looking judgment of the change of the crane system state, thereby improving the validity of the data and the control safety.

[0021] 3. The present invention collects relevant data within a preset time period based on the hydraulic control scheme and the support compensation scheme, and sets a load dynamic compensation scheme after analysis. The dynamic adjustment mechanism can enable the crane to optimize the control strategy in real time according to the actual situation during operation, better adapt to changes in different working conditions, and improve the balance control ability and stability of the crane. At the same time, the present invention dynamically adjusts the standard flow change and the standard opening change according to the judgment result of the balance stability. When the crane state tends to be stable, the adjustment amount is reduced to avoid excessive adjustment; when the state tends to be unbalanced, the adjustment amount is increased to enhance the control strength. The adaptive adjustment method can improve the accuracy and effectiveness of control. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the system structure connection of the present invention.

[0024] Figure 2 This is a schematic diagram of the implementation steps of the method of the present invention. Detailed implementation manner

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] According to Figure 1 As shown, the present invention provides a crane adaptive balance control method, including the following steps: Step 1, power model construction: According to the historical balance data in the database, construct a crane dynamics model, collect the crane dynamics data at the current time node, and input the crane dynamics data at the current time node into the crane dynamics model to obtain the predicted crane system state data at the next time node.

[0027] In a specific embodiment, the process of obtaining the crane system state data at the next time node is as follows: The historical balance data in the database includes the crane state data when not in use each time, the starting state data of the crane during each normal use, the ending state data of the crane during each normal use, the actual measurement data of the crane during each normal use, and the input state data during each normal use.

[0028] It should be noted that the state data includes, but is not limited to, position, speed, and acceleration. The actual measurement data includes, but is not limited to, the measurement values of inclination sensors and pressure sensors. The state data is an internal state variable of the system, and the data is collected through internal sensors of the machine or calculated through corresponding calculation formulas. The actual measurement data is directly measured by external sensors.

[0029] Vectorize the crane state data when not in use each time, the starting state data of the crane during each normal use, the ending state data of the crane during each normal use, and the input state data during each normal use to obtain the initial state vector of the crane when not in use each time, the starting state vector of the crane during each normal use, the ending state vector of the crane during each normal use, and the control input vector of the crane during each normal use.

[0030] Calculate the mean of the initial state vectors of the crane for each unused time to obtain the initialized state vector of the crane. Subtract the initialized state vector of the crane from the starting state vector and the ending state vector of the crane for each normal use respectively to obtain the starting state displacement vector and the ending state displacement vector of the crane for each normal use. Substitute the starting state displacement vector, the ending state displacement vector and the crane control of the crane for each normal use into the vector to transform it into a state equation, and solve to obtain the function of the state equation, that is, the state transition matrix.

[0031] Vectorize the actual measurement data of the crane for each normal use to obtain the observation vector of the crane for each normal use. At the same time, obtain the relationship function between each element of the observation vector of the crane and each element of the corresponding state vector from the database, and transform each relationship function into a matrix to obtain the observation matrix.

[0032] Perform Kalman filter iteration on the initialized state vector of the crane, the state transition matrix and the observation matrix to obtain the dynamic model of the crane: , is the state vector of the crane for predicting the next time node, k + 1 is the number of the next time node to be predicted, k is the number of the current time node, and the value of k is a positive integer. , and are respectively the state vector of the crane, the control input vector and the preset model error vector of the current time node. f is the dynamic function. When the function is a linear system function, , where F is the state transition matrix and B is the control input matrix.

[0033] It should be noted that the Kalman filter iteration algorithm is an algorithm that uses the linear system state equation to optimally estimate the system state through the system input and output observation data. It is an existing technology and can be specifically queried from the Internet, so it will not be elaborated here. is the error term, and the specific value can be obtained through multiple experiments.

[0034] Input the dynamic data of the crane at the current time node into the dynamic model of the crane to obtain the system state data of the crane at the next time node.

[0035] Step 2. Balance system analysis: Analyze the system state data of the crane at the predicted next time node to obtain the system state. The system state is divided into: normal, dangerous and unbalanced. When the system state is dangerous, collect the hydraulic system data, analyze the hydraulic system data, and set the hydraulic regulation plan. When the system is in an unbalanced state, collect the load balance data, analyze the load balance data, and set the support compensation plan.

[0036] In a specific embodiment, the system status is obtained, and the specific acquisition process is as follows: the input signal of the current time node is obtained from the control panel, and the crane control input vector of the current time node is obtained after vector conversion, and the historical normal changes, historical dangerous changes and historical imbalance changes that are identical to the crane control input vector of the current time node in the database are recorded as historical identical normal changes, historical identical dangerous changes and historical identical imbalance changes, respectively.

[0037] The initial state displacement vector and the final state displacement vector of each crane with the same historical normal change are obtained from the database, and each element of the final state displacement vector of each crane with the same historical normal change is divided by each element of the initial state displacement vector to obtain the displacement change rate of each element with the same historical normal change, and the displacement change rate of each element with the same historical normal change is summarized to obtain the normal state displacement change rate interval of each element at the current time node.

[0038] According to the method for obtaining the normal state displacement change rate interval of each element at the current time node, the dangerous state displacement change rate interval and the unbalanced state displacement change rate interval of each element at the current time node are obtained.

[0039] According to the analysis process of the initial state vector and the terminal state vector of the crane with the same normal changes in each history, the crane system state data of the predicted next time node and the crane system state data of the current time node are analyzed to obtain the displacement change rate of each element of the state vector of the current time node.

[0040] If the displacement change rates of each element of the state vector at the current time node belong to the normal state displacement change rate interval of the corresponding element, it indicates that the system state is normal. If the displacement change rate of an element of the state vector at the current time node belongs to the dangerous state displacement change rate interval of the corresponding element, and the displacement change rates of other elements do not belong to the unbalanced state displacement change rate interval of the corresponding element, it indicates that the system state is dangerous. If the displacement change rate of an element of the state vector at the current time node belongs to the unbalanced state displacement change rate interval of the corresponding element, it indicates that the system state is unbalanced.

[0041] In a specific embodiment, the hydraulic system data is collected, and the specific collection process is as follows: the hydraulic system data includes the pressure change index, flow change index, temperature change index, displacement evaluation index and leakage evaluation index of each heavy arm hydraulic cylinder.

[0042] Collect the hydraulic pressures collected by each boom cylinder through a pressure sensor, and obtain the current hydraulic pressure, maximum hydraulic pressure, and minimum hydraulic pressure of each boom cylinder from them. Divide the difference between the current hydraulic pressure and the minimum hydraulic pressure of each boom cylinder by the difference between the maximum hydraulic pressure and the minimum hydraulic pressure to obtain the pressure change index of each boom cylinder.

[0043] Collect the flow rates collected by each boom cylinder through a flow sensor, and analyze the flow rates and temperatures collected by each boom cylinder according to the analysis method of the hydraulic pressures collected by each boom cylinder to obtain the flow change index of each boom cylinder.

[0044] Collect the temperatures collected by each boom cylinder through a temperature sensor, and then obtain the current temperature and maximum temperature of each boom cylinder. Obtain the preset standard temperature from the database, and divide the difference between the current temperature and the standard temperature of each boom cylinder by the difference between the current temperature and the maximum temperature to obtain the temperature change index.

[0045] It should be noted that the standard temperature is the temperature threshold of normal hydraulic oil. When the temperature is greater than the threshold, it indicates that the risk of lubrication failure of the hydraulic cylinder is relatively large, and the specific value is obtained through experiments.

[0046] Collect the piston rod displacement amounts collected by each boom cylinder through a linear displacement sensor, and then obtain the current piston rod displacement amount and maximum piston rod displacement amount of each boom cylinder. Divide the current piston rod displacement amount of each boom cylinder by the maximum piston rod displacement amount to obtain the displacement evaluation index of each boom cylinder.

[0047] Collect the hydraulic oil leakage amounts collected by each boom cylinder through the liquid level monitoring method, and then obtain the current hydraulic oil leakage amount and maximum hydraulic oil leakage amount of each boom cylinder. Divide the current hydraulic oil leakage amount of each boom cylinder by the maximum hydraulic oil leakage amount to obtain the leakage amount evaluation index of each boom cylinder.

[0048] In a specific embodiment, the analysis of the hydraulic system data is as follows: Substitute the pressure change index, flow change index, temperature change index, displacement evaluation index, and leakage amount evaluation index of each boom cylinder into the hydraulic system health index calculation formula to obtain the hydraulic system health index of each boom cylinder.

[0049] It should be noted that the hydraulic system health index calculation formula is: , where is the hydraulic system health index of boom cylinder a, a is the number of the boom cylinder, and the value of a is a positive integer. , , , and are respectively the pressure change index, flow rate change index, temperature change index, displacement evaluation index, and leakage volume evaluation index of the heavy arm hydraulic cylinder a, , , , and are respectively the preset standard pressure change index, standard flow rate change index, standard temperature change index, standard displacement evaluation index, and standard leakage volume evaluation index, , , , and are respectively the weight factors of the preset pressure change index, flow rate change index, temperature change index, displacement evaluation index, and leakage volume evaluation index, , , , , , .

[0050] Standard parameters , , , and are respectively the pressure change index threshold, flow rate change index threshold, temperature change index threshold, displacement evaluation index threshold, and leakage volume evaluation index threshold under normal equilibrium state. When the pressure change index is greater than the threshold, it indicates that the system has an overpressure risk. When the flow rate change index is greater than the threshold, it indicates that the flow rate is abnormal, and further indicates that the hydraulic pressure is abnormal. When the temperature change index is greater than the threshold, it indicates a lubrication failure risk. When the displacement evaluation index is greater than the threshold, it indicates a mechanical wear risk in the system. When the leakage volume evaluation index is greater than the threshold, it indicates a leakage risk in the hydraulic cylinder. The specific values are set by the staff. For example is 1.32, is 1.37, is 1.27, is 0.98 and is 0.77, and the weight factors , , , and are set according to the safety importance of each analysis angle. The specific data are set by the staff. For example is 0.3, is 0.1, is 0.2, is 0.1 and is 0.3.

[0051] In a specific embodiment, the setting of the hydraulic control scheme is as follows: Obtain the historical hydraulic system health indexes of the boom cylinders in the normal state from the database, and then obtain the hydraulic system health index threshold of the normal boom cylinders. If the hydraulic system health index of a certain boom cylinder is greater than the hydraulic system health index threshold of the normal boom cylinders, mark this boom cylinder as an abnormal boom cylinder, and thus obtain each abnormal boom cylinder. Reduce the hydraulic pump output flow of the preset standard flow change amount of each abnormal boom cylinder through a proportional valve.

[0052] It should be noted that the hydraulic system health index threshold of the normal boom cylinders is the maximum hydraulic system health index among the historical hydraulic system health indexes. When the hydraulic system health index of the boom cylinder is greater than the hydraulic system health index threshold of the normal boom cylinders, it indicates that the current corresponding boom cylinder has an imbalance risk.

[0053] In a specific embodiment, the acquisition of the load balance data is as follows: The load balance data includes the hydraulic cylinder load force difference index, pressure difference evaluation index, displacement difference evaluation index, and tipping moment evaluation index of each support point. Collect the load force and pressure of each hydraulic cylinder at each support point through a pressure sensor, and then obtain the maximum pressure and minimum pressure of each support point, thereby obtaining the maximum pressure and minimum pressure of the support system. Divide the difference between the maximum pressure and the minimum pressure of each support point by the difference between the maximum pressure and the minimum pressure of the support system to obtain the hydraulic cylinder load force difference index of each support point. Similarly, according to the analysis method of the hydraulic cylinder load force difference index of each support point, analyze and obtain the hydraulic cylinder pressure difference evaluation index of each support point.

[0054] Collect the displacement of the piston rod of each hydraulic cylinder at each support point through a displacement sensor, measure the vertical force and horizontal force at each acquisition point of the piston rod position of the hydraulic cylinder through a force sensor. Combining the geometric dimensions of the load and the acting point of the force, the tipping moment can be calculated using the principle of moment balance, and then obtain the tipping moment of the piston rod position of each hydraulic cylinder at each support point. According to the analysis method of the pressure of each hydraulic cylinder at each support point, analyze the displacement and tipping moment of the piston rod position of each hydraulic cylinder at each support point to obtain the displacement difference evaluation index and tipping moment evaluation index of each support point.

[0055] In a specific embodiment, the analysis of the load balance data is as follows: Input the hydraulic cylinder load force difference index, pressure difference evaluation index, displacement difference evaluation index, and tipping moment evaluation index of each support point into the load balance index calculation formula to obtain the load balance index of each support point.

[0056] It should be noted that the load balance index calculation formula is: , wherein, is the load balance index of support point b, b is the number of each support point, and the value of b is a positive integer. , , and are respectively the hydraulic cylinder load force difference index, pressure difference evaluation index, displacement difference evaluation index, and tipping moment evaluation index of support point b. , , and are respectively the preset standard hydraulic cylinder load force difference index, standard pressure difference evaluation index, standard displacement difference evaluation index, and standard tipping moment evaluation index. , , and are respectively the weight factors of the preset hydraulic cylinder load force difference index, pressure difference evaluation index, displacement difference evaluation index, and tipping moment evaluation index. , , , , .

[0057] Standard parameters , , and are respectively the hydraulic cylinder load force difference threshold, pressure difference evaluation index threshold, displacement difference evaluation index threshold, and tipping moment evaluation index threshold of normal support points. When the hydraulic cylinder load force difference is greater than the threshold, it indicates that the pressure difference evaluation index threshold of the support point is large. When the pressure difference evaluation index is greater than the threshold, it indicates that the stress of the hydraulic system is large. When the displacement difference evaluation index is greater than the threshold, it indicates that the risk of structural deformation is large. When the tipping moment evaluation index is greater than the threshold, it indicates that the tipping risk is large. The specific values are set by the staff. For example, is 0.99, is 0.78, is 0.83, and is 79. The weight factors , , and are respectively set according to the safety importance of the load force difference index, pressure difference evaluation index, displacement difference evaluation index, and tipping moment evaluation index. The specific values are set by the staff. For example, is 0.25, is 0.32, is 0.28, and is 0.15.

[0058] In a specific embodiment, the setting of the support compensation scheme is as follows: Obtain the historical load balance indexes of the support points in the normal state from the database, and summarize to obtain the load balance index threshold of the normal support points. If the load balance index of a certain support point is greater than the load balance index threshold of the normal support points, it indicates that this support point is an abnormal support point.

[0059] It should be noted that the load balance index threshold of the normal support points is the maximum value of the historical load balance indexes. When the load balance index of a support point is greater than the load balance index threshold of the normal support points, it indicates that the corresponding support point has a risk of imbalance.

[0060] Collect the pressures and opening degrees of the hydraulic cylinders of the target abnormal support points, obtain the pressure correction coefficients and standard opening degree change amounts corresponding to each load balance index interval from the database, thereby obtaining the force correction coefficients and standard opening degree change amounts of the target abnormal support points. Multiply the pressures of the hydraulic cylinders of the target abnormal support points by the force correction coefficients to obtain the corrected pressures of the hydraulic cylinders of the target abnormal support points. Obtain the standard corrected pressure interval from the database. If the corrected pressure of a certain hydraulic cylinder of the target abnormal support point is less than the lower limit of the standard corrected pressure interval, increase the opening degree of the pressure control valve of this hydraulic cylinder, and the increase amount is the standard opening degree change amount. If the corrected pressure of a certain hydraulic cylinder of the target abnormal support point is greater than the lower limit of the standard corrected pressure interval, decrease the opening degree of the pressure control valve of this hydraulic cylinder, and the decrease amount is the standard opening degree change amount. In this way, the support compensation scheme of the target abnormal support points is obtained, and then the support compensation schemes of each target abnormal support point are obtained.

[0061] Step Three: Power system analysis. According to the hydraulic regulation scheme and the support compensation scheme, collect the hydraulic regulation data and support compensation data within a preset time period, analyze the hydraulic regulation data and support compensation data within the preset time period, and set the load dynamic compensation scheme.

[0062] In a specific embodiment, the collection of the hydraulic regulation data and support compensation data within a preset time period is as follows: The hydraulic regulation data within the preset time period includes the hydraulic regulation frequency and the hydraulic regulation trend index within the preset time period, and the support compensation data within the preset time period includes the support compensation frequency and the support compensation trend index within the preset time period.

[0063] Record after hydraulic regulation and support compensation are carried out, and obtain the number of hydraulic regulation times and support compensation times within a preset time period. Divide the number of hydraulic regulation times and support compensation times within the preset time period by the preset time period respectively to obtain the hydraulic regulation frequency and support compensation frequency within the preset time period. In this way, obtain the hydraulic regulation frequency and support compensation frequency of each analysis node. Obtain the current acquisition node hydraulic regulation frequency, maximum hydraulic regulation frequency, minimum hydraulic regulation frequency and average hydraulic regulation frequency from the hydraulic regulation frequencies of each analysis node. Divide the difference between the current acquisition node hydraulic regulation frequency and the average hydraulic regulation frequency by the difference between the maximum hydraulic regulation frequency and the minimum hydraulic regulation frequency to obtain the hydraulic regulation trend index, which is recorded as the hydraulic regulation trend index within the preset time period. Similarly, according to the analysis method of the hydraulic regulation trend index, analyze and obtain the support compensation trend index within the preset time period.

[0064] In a specific embodiment, the analysis of the hydraulic regulation data and support compensation data within a preset time period is as follows: Input the hydraulic regulation frequency, hydraulic regulation trend index, support compensation frequency and support compensation trend index within the preset time period into the balance stability evaluation index to obtain the balance stability evaluation index of the current crane.

[0065] It should be noted that the balance stability evaluation index is: , Wherein, is the balance stability evaluation index of the current crane, , , and are respectively the hydraulic regulation frequency, hydraulic regulation trend index, support compensation frequency and support compensation trend index within the preset time period, , , and are respectively the preset standard hydraulic regulation frequency, standard hydraulic regulation trend index, standard support compensation frequency and standard support compensation trend index, and are respectively the weight factors of the preset hydraulic regulation frequency and the weight factor of the support compensation frequency, , , .

[0066] Standard parameters , , and They are the hydraulic control frequency threshold, hydraulic control trend index threshold, support compensation frequency threshold, and support compensation trend index threshold of the normal balance system respectively. If the currently collected hydraulic control frequency and support compensation frequency are greater than the thresholds, it indicates that the current crane state has an imbalance risk. If the currently collected hydraulic control trend index and support compensation trend index are greater than the thresholds, it indicates that the current crane state tends to be unbalanced. The specific parameters are set by the staff. For example is 0.97, is 0.42, is 0.83 and is 0.77. The weight factors and The specific values are set by the staff. For example is 0.55 and is 0.45.

[0067] In a specific embodiment, the setting of the load dynamic compensation scheme is as follows: Obtain the maximum threshold and minimum threshold of the preset balance stability evaluation index from the database. If the balance stability evaluation index of the current crane is greater than the maximum threshold of the preset balance stability evaluation index, it indicates that the current crane state tends to be stable, and the preset standard flow change amount and standard opening change amount are relatively large. Reduce the standard flow change amount of the preset flow unit value and reduce the standard opening change amount of the preset opening unit value. If the balance stability evaluation index of the current crane is less than the minimum threshold of the preset balance stability evaluation index, it indicates that the current crane state tends to be unbalanced, and the preset standard flow change amount and standard opening change amount are relatively small. Increase the standard flow change amount of the preset flow unit value and increase the standard opening change amount of the preset opening unit value.

[0068] It should be noted that obtain each historical balance stability evaluation index when not unbalanced from the database, record the maximum value of each historical balance stability evaluation index when not unbalanced as the maximum threshold, and record the minimum value as the minimum threshold.

[0069] According to Figure 2 shown, the present invention provides a crane adaptive balance control device, including the following modules: a power model construction module, a balance system analysis module, a power system analysis module, and a database.

[0070] The balance system analysis module is respectively connected to the power model construction module and the power system analysis module, and the power model construction module, the balance system analysis module, and the power system analysis module are all connected to the database.

[0071] The dynamic model construction module is used to construct a crane dynamics model based on the historical balance data in the database, collect the crane dynamics data at the current time node, input the crane dynamics data at the current time node into the crane dynamics model, and obtain the predicted crane system state data at the next time node.

[0072] The balance system analysis module is used to analyze the predicted crane system state data at the next time node to obtain the system state. The system state is divided into: normal, dangerous, and unbalanced. When the system state is dangerous, collect the hydraulic system data, analyze the hydraulic system data, and set the hydraulic regulation plan. When the system is in an unbalanced state, collect the load balance data, analyze the load balance data, and set the support compensation plan.

[0073] The power system analysis module is used to collect the hydraulic regulation data and support compensation data within a preset time period according to the hydraulic regulation plan and the support compensation plan, analyze the hydraulic regulation data and support compensation data within the preset time period, and set the load dynamic compensation plan.

[0074] The database is used to store the historical balance data, the relationship function between each element of the crane observation vector and each element of the corresponding state vector, each historical normal change identical to the crane control input vector at the current time node, each historical dangerous change identical to the crane control input vector at the current time node, each historical unbalanced change identical to the crane control input vector at the current time node, the starting state displacement vector of the crane for each historical identical normal change, the ending state displacement vector of the starting state displacement vector of the crane for each historical identical normal change, the standard temperature, the historical hydraulic system health index of each boom hydraulic cylinder in the normal state, the historical load balance index of each support point in the normal state, the pressure correction coefficient corresponding to each load balance index interval, the standard opening change amount corresponding to each load balance index interval, the standard correction pressure interval, the maximum threshold of the balance stability evaluation index, and the minimum threshold of the balance stability evaluation index.

[0075] The above content is only an example and explanation of the concept of the present invention. Those skilled in the art of this technology can make various modifications or supplements to the described specific embodiments or use similar methods to replace them. As long as they do not deviate from the concept of the invention or exceed the scope defined by this specification, they should fall within the protection scope of the present invention.

Claims

1. A crane adaptive balance control method, characterized in that: The steps include: Step 1: Dynamic model construction: construct a crane dynamic model based on the historical balance data in the database, collect the crane dynamic data at the current time node, input the crane dynamic data at the current time node into the crane dynamic model, and obtain the crane system state data for the next predicted time node; Step 2: Balance system analysis: Analyze the crane system status data of the next predicted time node to obtain the system status. The system status is divided into: normal, dangerous and unbalanced. When the system status is dangerous, collect the hydraulic system data, analyze the hydraulic system data, and set the hydraulic control plan. When the system is in an unbalanced state, collect the load balance data, analyze the load balance data, and set the support compensation plan. Step 3: Power system analysis: According to the hydraulic control scheme and support compensation scheme, collect the hydraulic control data and support compensation data within a preset time period, analyze the hydraulic control data and support compensation data within the preset time period, and set the load dynamic compensation scheme.

2. A crane adaptive balance control method according to claim 1, characterized in that: The specific acquisition process of obtaining the crane system status data at the next time node is as follows: The historical balance data in the database include the crane status data when not in use, the crane initial status data when in normal use, the crane final status data when in normal use, the crane actual measurement data when in normal use and the crane input status data when in normal use; Vectorize the crane state data when not in use, the crane initial state data when in normal use, the crane terminal state data when in normal use, and the crane input state data when in normal use, to obtain the crane initial state vector when not in use, the crane initial state vector when in normal use, the crane terminal state vector when in normal use, and the crane control input vector when in normal use; The initial state vectors of the crane when not in use are averaged to obtain the initial state vector of the crane, and the initial state vector of the crane is subtracted from the initial state vector and the final state vector of the crane in normal use to obtain the initial state displacement vector and the final state displacement vector of the crane in normal use, and the initial state displacement vector and the final state displacement vector of the crane in normal use and the crane control substitution vector are converted into the state equation, and the function of the state equation is obtained by solving, that is, the state transfer matrix; The actual measurement data of each normal use of the crane is vectorized to obtain the observation vector of each normal use of the crane, and at the same time, the relationship function between each element of the crane observation vector and each element of the corresponding state vector is obtained from the database, and each relationship function is converted into a matrix to obtain the observation matrix; The crane initialization state vector, state transfer matrix and observation matrix are subjected to Kalman filter iteration to obtain the crane dynamics model: , is the crane state vector predicted at the next time node, k+1 is the number of the next time node predicted, k is the number of the current time node, and the value of k is a positive integer. , and are the crane state vector, control input vector and preset model error vector at the current time node, respectively. f is the dynamic function. When the function is a linear system function, , where F is the state transfer matrix and B is the control input matrix; The crane dynamics data of the current time node is input into the crane dynamics model to obtain the crane system state data of the next time node.

3. A crane adaptive balance control method according to claim 2, characterized in that: The specific acquisition process of obtaining the system status is as follows: An input signal of the current time node is obtained from the control panel, and a crane control input vector of the current time node is obtained after vector conversion, and each historical normal change, each historical dangerous change, and each historical imbalance change that are the same as the crane control input vector of the current time node in the database are recorded as each historical same normal change, each historical same dangerous change, and each historical same imbalance change, respectively; Obtain the initial state displacement vector and the final state displacement vector of each crane with the same normal change in history from the database, divide each element of the final state displacement vector of each crane with the same normal change in history by each element of the initial state displacement vector, obtain the displacement change rate of each element with the same normal change in history, summarize the displacement change rate of each element with the same normal change in history, and obtain the normal state displacement change rate interval of each element at the current time node; According to the method for obtaining the normal state displacement change rate interval of each element at the current time node, the dangerous state displacement change rate interval and the unbalanced state displacement change rate interval of each element at the current time node are obtained; According to the analysis process of the initial state vector and the terminal state vector of the crane with the same normal change in each history, the crane system state data of the predicted next time node and the crane system state data of the current time node are analyzed to obtain the displacement change rate of each element of the state vector of the current time node; If the displacement change rates of each element of the state vector at the current time node belong to the normal state displacement change rate interval of the corresponding element, it indicates that the system state is normal. If the displacement change rate of an element of the state vector at the current time node belongs to the dangerous state displacement change rate interval of the corresponding element, and the displacement change rates of other elements do not belong to the unbalanced state displacement change rate interval of the corresponding element, it indicates that the system state is dangerous. If the displacement change rate of an element of the state vector at the current time node belongs to the unbalanced state displacement change rate interval of the corresponding element, it indicates that the system state is unbalanced.

4. The method for controlling the crane's adaptive balance according to claim 1, characterized in that: The hydraulic system data is analyzed, and the specific analysis process is as follows: The hydraulic system data include the pressure change index, flow change index, temperature change index, displacement assessment index and leakage assessment index of each heavy arm hydraulic cylinder. The pressure change index, flow change index, temperature change index, displacement assessment index and leakage assessment index of each heavy arm hydraulic cylinder are substituted into the hydraulic system health index calculation formula to obtain the hydraulic system health index of each heavy arm hydraulic cylinder.

5. A crane adaptive balance control method according to claim 4, characterized in that: The specific setting process of setting the hydraulic control scheme is as follows: The historical hydraulic system health indexes of the heavy arm hydraulic cylinders in normal state are obtained from the database, and then the hydraulic system health index threshold of the normal heavy arm hydraulic cylinder is obtained. If the hydraulic system health index of a heavy arm hydraulic cylinder is greater than the hydraulic system health index threshold of the normal heavy arm hydraulic cylinder, the heavy arm hydraulic cylinder is recorded as an abnormal heavy arm hydraulic cylinder. In this way, the abnormal heavy arm hydraulic cylinders are obtained, and the hydraulic pump output flow of each abnormal heavy arm hydraulic cylinder is reduced by a proportional valve according to the preset standard flow change amount.

6. A crane adaptive balance control method according to claim 4, characterized in that: The load balancing data is analyzed, and the specific analysis process is as follows: The load balance data includes the hydraulic cylinder load force difference index, pressure difference evaluation index, displacement difference evaluation index and overturning moment evaluation index of each support point. The hydraulic cylinder load force difference index, pressure difference evaluation index, displacement difference evaluation index and overturning moment evaluation index of each support point are input into the load balance index calculation formula to obtain the load balance index of each support point.

7. A crane adaptive balance control method according to claim 6, characterized in that: The specific setting process of setting the support compensation scheme is as follows: Obtain each historical load balance index of the normal support point from the database, summarize and obtain the load balance index threshold of the normal support point, if the load balance index of a support point is greater than the load balance index threshold of the normal support point, it indicates that the support point is an abnormal support point; The pressure and opening of each hydraulic cylinder of the target abnormal support point are collected, and the pressure correction coefficient and standard opening change corresponding to each load balance index interval are obtained from the database to obtain the force correction coefficient and standard opening change of the target abnormal support point. The pressure of each hydraulic cylinder of the target abnormal support point is multiplied by the force correction coefficient to obtain the corrected pressure of each hydraulic cylinder of the target abnormal support point, and the standard corrected pressure interval is obtained from the database. If the corrected pressure of a hydraulic cylinder of the target abnormal support point is less than the lower limit of the standard corrected pressure interval, the opening of the hydraulic cylinder pressure control valve is increased by the standard opening change. If the corrected pressure of a hydraulic cylinder of the target abnormal support point is greater than the lower limit of the standard corrected pressure interval, the opening of the hydraulic cylinder pressure control valve is reduced by the standard opening change. In this way, the support compensation scheme of the target abnormal support point is obtained, and then the support compensation scheme of each target abnormal support point is obtained.

8. The method for controlling the crane's adaptive balance according to claim 6, characterized in that: The hydraulic control data and support compensation data within the preset time are analyzed, and the specific analysis process is as follows: The hydraulic control data within the preset time length includes the hydraulic control frequency and the hydraulic control trend index within the preset time length, and the support compensation data within the preset time length includes the support compensation frequency and the support compensation trend index within the preset time length. The hydraulic control frequency, the hydraulic control trend index, the support compensation frequency and the support compensation trend index within the preset time length are input into the balance stability evaluation index to obtain the balance stability evaluation index of the current crane.

9. The method for controlling the crane's adaptive balance according to claim 1, characterized in that: The specific setting process of setting the load dynamic compensation scheme is as follows: The preset maximum and minimum thresholds of the balance stability evaluation index are obtained from the database. If the balance stability evaluation index of the current crane is greater than the preset maximum threshold of the balance stability evaluation index, it indicates that the current crane state tends to be stable, and the preset standard flow change amount and standard opening change amount are large. Reduce the standard flow change amount of the preset flow unit value, and reduce the standard opening change amount of the preset opening unit value. If the balance stability evaluation index of the current crane is less than the preset minimum threshold of the balance stability evaluation index, it indicates that the current crane state tends to be unbalanced, and the preset standard flow change amount and standard opening change amount are small. Increase the standard flow change amount of the preset flow unit value, and increase the standard opening change amount of the preset opening unit value.

10. An adaptive balance control device using the crane adaptive balance control method according to any one of claims 1 to 9, characterized in that: Includes the following modules: A dynamic model building module is used to build a crane dynamic model based on historical balance data in a database, collect crane dynamic data at a current time node, input the crane dynamic data at the current time node into the crane dynamic model, and obtain crane system state data for predicting the next time node; The balance system analysis module is used to analyze the crane system status data of the next predicted time node and obtain the system status. The system status is divided into: normal, dangerous and unbalanced. When the system status is dangerous, the hydraulic system data is collected, analyzed and the hydraulic control scheme is set. When the system is in an unbalanced state, the load balance data is collected, analyzed and the support compensation scheme is set. The power system analysis module is used to collect hydraulic control data and support compensation data within a preset time period according to the hydraulic control plan and support compensation plan, analyze the hydraulic control data and support compensation data within the preset time period, and set a load dynamic compensation plan.

Images