Control method and device for balancing double drums of crane

Abstract

The present disclosure provides a control method for the balance of a double drum of a crane, belonging to the technical field of cranes. The control method includes: determining the actual rope turns difference, determining the turns difference fuzzy set, determining the speed ratio fuzzy set, the speed ratio fuzzy set including a plurality of speed ratios, and based on the actual rope turns difference, selecting a preset rope turns difference in the turns difference fuzzy set; based on the selected preset rope turns difference, selecting a speed ratio in the speed ratio fuzzy set; and adjusting the speeds of the first drum and the second drum according to the selected speed ratio. By this method, the present disclosure can ensure in real time that the hook of the crane remains horizontal during movement.

Description

Technical Field

[0001] The present disclosure belongs to the technical field of cranes, and particularly relates to a control method and device for balancing dual drums of a crane. Background Art

[0002] A crane refers to a multi-action hoisting machine that vertically lifts and horizontally transports heavy objects within a certain range, and is widely used in factory workshops, freight terminals, etc. A crane includes a hoisting bridge body and a hoisting component that are movably connected together, and the hoisting bridge body is used to support the hoisting component. The hoisting component includes components such as a first drum, a second drum, a hoisting hook, and a rope. Among them, the first drum and the second drum are used to wind and unwind the rope, and the rope is connected to the hoisting hook to drive the hoisting hook to lift and lower.

[0003] In the related art, due to the continuous increase in the tonnage of the crane load, in order to avoid excessive bearing capacity of a single drum, dual drums are often used to wind and unwind the rope to drive the hoisting hook to lift and lower.

[0004] However, when using dual drums to wind and unwind the rope, due to differences in winding between the drums, the forces on the first drum and the second drum are unbalanced, so the hoisting hook will be deflected during the process of the drums winding and unwinding the rope, and then the force on one side of the rope will increase significantly. In severe cases, it will cause the problem that the rope rubs against the hoisting hook and damages the rope. Summary of the Invention

[0005] An embodiment of the present disclosure provides a control method for balancing dual drums of a crane, which can automatically control the speeds of the first drum and the second drum according to the actual rotations of the first drum and the second drum of the crane, so that the forces on both sides of the rope are balanced. The technical solution is as follows:

[0006] An embodiment of the present disclosure provides a control method for balancing dual drums of a crane, and the control method includes:

[0007] Determine the actual rope turns difference, where the actual rope turns difference is the difference in the number of turns of the rope wound by the actual first drum and the second drum; determine the turns difference fuzzy set, where the turns difference fuzzy set includes multiple preset rope turns differences, and the preset rope turns difference is the preset difference in the number of turns of the rope wound by the first drum and the second drum; determine the speed ratio fuzzy set, where the speed ratio fuzzy set includes multiple speed ratios, and the speed ratio is the ratio of the speeds of the first drum and the second drum; based on the actual rope turns difference, select a preset rope turns difference from the turns difference fuzzy set; based on the selected preset rope turns difference, select a speed ratio from the speed ratio fuzzy set; adjust the speeds of the first drum and the second drum according to the selected speed ratio.

[0008] In yet another implementation of the present disclosure, the selecting a preset rope lap number difference from the lap number difference fuzzy set based on the actual rope lap number difference includes: selecting a preset rope lap number difference with the smallest difference from the actual rope lap number difference from the lap number difference fuzzy set.

[0009] In yet another implementation of the present disclosure, the selecting a speed ratio from the speed ratio fuzzy set based on the selected preset rope lap number difference includes: the speed ratios in the speed ratio fuzzy set correspond one-to-one with the preset rope lap number differences in the lap number difference fuzzy set, and in the speed ratio fuzzy set, selecting a speed ratio corresponding to the selected preset rope lap number difference.

[0010] In yet another implementation of the present disclosure, after adjusting the rotational speeds of the first reel and the second reel according to the selected speed ratio, the control method further includes: determining an actual tension difference acceleration, where the actual tension difference acceleration is the acceleration value corresponding to the tension difference of the ropes wound by the actual first reel and the second reel; judging whether to readjust the rotational speeds of the first reel and the second reel according to the actual tension difference acceleration and the actual rope lap number difference; if the actual rope lap number difference is positive and the actual tension difference acceleration is positive, or if the actual rope lap number difference is negative and the actual tension difference acceleration is negative, then readjust the rotational speeds of the first reel and the second reel; if the actual rope lap number difference is negative and the actual tension difference acceleration is positive, or if the actual rope lap number difference is positive and the actual tension difference acceleration is negative, then do not readjust the rotational speeds of the first reel and the second reel.

[0011] In yet another implementation of the present disclosure, the readjusting the rotational speeds of the first reel and the second reel includes: determining an acceleration fuzzy set, where the acceleration fuzzy set includes a plurality of preset tension difference accelerations, and the preset tension difference acceleration is the acceleration of the tension difference of the ropes corresponding to the preset first reel and the second reel; determining a correction ratio fuzzy set, where the correction ratio fuzzy set includes a plurality of correction ratio values; selecting a preset tension difference acceleration from the acceleration fuzzy set based on the actual tension difference acceleration; selecting a correction ratio value from the correction ratio fuzzy set based on the selected preset tension difference acceleration; and readjusting the rotational speeds of the first reel and the second reel according to the selected correction ratio value and the selected speed ratio.

[0012] In yet another implementation of the present disclosure, the selecting a preset tension difference acceleration from the acceleration fuzzy set based on the actual tension difference acceleration includes: selecting a preset tension difference acceleration with the smallest difference from the actual tension difference acceleration from the acceleration difference fuzzy set.

[0013] In yet another implementation manner of the present disclosure, selecting one of the correction ratio values from the correction ratio fuzzy set based on the selected preset tension difference acceleration includes: the correction ratio values in the correction ratio fuzzy set correspond one-to-one with the preset tension difference acceleration in the acceleration difference fuzzy set, and in the correction ratio fuzzy set, selecting one of the correction ratio values corresponding to the selected preset tension difference acceleration.

[0014] In yet another implementation manner of the present disclosure, there is also provided a control device for balancing a double drum of a crane. The control device is based on the above control method. The control device includes: an actual rope turns difference determination module for determining an actual rope turns difference, where the actual rope turns difference is the difference in the number of turns of the rope wound around the actual first drum and the second drum; a turns difference fuzzy set determination module for determining a turns difference fuzzy set, where the turns difference fuzzy set includes a plurality of preset rope turns differences, and the preset rope turns difference is the difference in the number of turns of the rope wound around the preset first drum and the second drum; a speed ratio fuzzy set determination module for determining a speed ratio fuzzy set, where the speed ratio fuzzy set includes a plurality of speed ratios, and the speed ratio is the ratio of the rotational speeds of the first drum and the second drum; a preset rope turns difference selection module for selecting one of the preset rope turns differences from the turns difference fuzzy set based on the actual rope turns difference; a speed ratio selection module for selecting one of the speed ratios from the speed ratio fuzzy set based on the selected preset rope turns difference; and a speed adjustment module for adjusting the rotational speeds of the first drum and the second drum according to the selected speed ratio.

[0015] In yet another implementation manner of the present disclosure, there is also provided a computer device, which includes a processor and a memory configured to store instructions executable by the processor; the processor is configured to execute the above control method for balancing a double drum of a crane.

[0016] In yet another implementation manner of the present disclosure, there is also provided a computer storage medium, on which computer instructions are stored, and when the computer instructions are executed by a processor, the above control method for balancing a double drum of a crane is implemented.

[0017] The beneficial effects brought by the technical solutions provided in the embodiments of the present disclosure are:

[0018] When controlling the first drum and the second drum of a crane using the control method for double-drum balance of a crane provided in the embodiments of the present disclosure, since this control method first determines the actual difference in the number of rope turns of the first drum and the second drum, and pre-determines the difference-in-turns fuzzy set and the speed-ratio fuzzy set, and then, according to the actual difference in the number of rope turns, selects a preset difference in the number of turns from the difference-in-turns fuzzy set, and according to the selected preset difference in the number of turns, selects a speed ratio from the speed-ratio fuzzy set, and finally adjusts the speeds of the first drum and the second drum according to the selected speed ratio, it can thus ensure in real time that the hook of the crane can be automatically adjusted according to the actual number of turns of the ropes wound around the first drum and the second drum during movement to maintain horizontal. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 is a schematic structural diagram of a double drum of a crane provided by an embodiment of the present disclosure;

[0021] Figure 2 is a flowchart of a control method for double-drum balance of a crane provided by an embodiment of the present disclosure;

[0022] Figure 3 is a flowchart of another control method for double-drum balance of a crane provided by an embodiment of the present disclosure;

[0023] Figure 4 is a control device for double-drum balance of a crane provided by an embodiment of the present disclosure;

[0024] Figure 5 is a schematic structural diagram of a computer device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] To make the objectives, technical solutions, and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail in conjunction with the drawings.

[0026] To facilitate the understanding of the embodiments of the present disclosure, the following will first briefly describe the relevant structures of the first drum and the second drum of the crane.

[0027] Figure 1 is a schematic structural diagram of a double drum of a crane provided by an embodiment of the present disclosure, in combination with Figure 1, the crane includes a first drum 1, a second drum 2, a connecting component 3 and a lifting hook 4. The connecting component 3 includes a rope 31 and a pulley block 32. The first drum 1 and the second drum 2 are symmetrically distributed on both sides of the lifting hook 4, and the first drum 1 and the second drum 2 are rotatably connected to other components of the crane. The first end of one of the ropes 31 is movably wound around the first drum 1, and the second end of one of the ropes 31 passes through the pulley block 32 and is fixed to other components of the crane. The first end of the other rope 31 is movably wound around the second drum 2, and the second end of the other rope 31 passes through the pulley block 32 and is fixed to other components of the crane. Each pulley block 32 is fixed to other components of the crane, and the lifting hook 4 is connected to the two pulley blocks 32.

[0028] An embodiment of the present disclosure provides a control method for balancing a double drum of a crane. As Figure 2 shown, the control method includes:

[0029] S201: Determine the actual rope winding difference. The actual rope winding difference is the difference in the number of turns of the ropes wound around the actual first drum and the second drum.

[0030] In this embodiment, the rope winding difference refers to the number of turns of the rope wound around the first drum minus the number of turns of the rope wound around the second drum.

[0031] Correspondingly, the actual rope winding difference refers to the number of turns of the rope actually wound around the first drum minus the number of turns of the rope actually wound around the second drum.

[0032] S202: Determine the winding difference fuzzy set. The winding difference fuzzy set includes multiple preset rope winding differences. The preset rope winding difference is the preset difference in the number of turns of the ropes wound around the first drum and the second drum.

[0033] In this embodiment, the winding difference fuzzy set is set artificially in advance. Of course, when determining, it should be combined with the actual working conditions in the past.

[0034] S203: Determine the speed ratio fuzzy set. The speed ratio fuzzy set includes multiple speed ratios. The speed ratio is the ratio of the rotational speeds of the first drum and the second drum.

[0035] In this embodiment, the speed ratio fuzzy set is also set artificially in advance. Of course, when determining, it should be combined with the actual working conditions in the past.

[0036] S204: Based on the actual rope winding difference, select a preset rope winding difference from the winding difference fuzzy set.

[0037] S205: Based on the selected preset rope winding difference, select a speed ratio from the speed ratio fuzzy set.

[0038] S206: Adjust the rotational speeds of the first and second drums according to the selected speed ratio.

[0039] When controlling the first and second drums of a crane using the control method for double-drum balance of a crane provided by an embodiment of the present disclosure, since this control method first determines the actual difference in the number of rope turns between the first and second drums, and pre-determines the fuzzy set of the difference in the number of turns and the fuzzy set of the speed ratio, then according to the actual difference in the number of rope turns, a preset difference in the number of rope turns is selected from the fuzzy set of the difference in the number of turns, and according to the selected preset difference in the number of rope turns, a speed ratio is selected from the fuzzy set of the speed ratio, and finally, according to the selected speed ratio, the rotational speeds of the first and second drums are adjusted. In this way, it can be ensured in real time that the hook of the crane can be automatically adjusted according to the actual number of rope turns of the ropes wound around the first and second drums during movement to maintain horizontal.

[0040] Figure 3 is a flowchart of another control method for double-drum balance of a crane provided by an embodiment of the present disclosure. In combination with Figure 3 , the control method includes:

[0041] S301: Determine the actual difference in the number of rope turns, where the actual difference in the number of rope turns is the difference in the number of turns of the ropes wound around the actual first and second drums.

[0042] Step S301 includes:

[0043] 3011: Monitor the actual number of rope turns of the first and second drums respectively through encoders.

[0044] In this embodiment, an absolute encoder is installed on each drum, so that the number of turns of the ropes on each drum can be detected by the absolute encoder, that is, the number of rope turns corresponding to each drum.

[0045] 3012: Calculate the actual difference in the number of rope turns according to the actual number of rope turns of the first and second drums.

[0046] Subtract the number of rope turns corresponding to the second drum from the number of rope turns corresponding to the first drum to obtain the actual difference in the number of rope turns.

[0047] In this embodiment, the encoder uses PROFINET communication and is electrically connected to the encoder through a controller, so that the values detected by the encoder in real time can be calculated through an automatic programming program (PLC) to obtain the actual difference in the number of rope turns.

[0048] S302: Determine the fuzzy set of the difference in the number of turns. The fuzzy set of the difference in the number of turns includes multiple preset differences in the number of rope turns, and the preset difference in the number of rope turns is the preset difference in the number of turns of the ropes wound around the first and second drums.

[0049] In this embodiment, the number-of-turns difference fuzzy set includes zero and at least four pairs of opposite numbers.

[0050] For example, the number-of-turns difference fuzzy set originally set in the controller of the present application includes 9 values, that is, these 9 values can be set according to the actual situation. The 9 values are defined in size as {positive maximum, positive large, positive middle, positive small, 0, negative small, negative middle, negative large, negative maximum}.

[0051] S303: Determine the speed ratio fuzzy set, which includes multiple speed ratios. The speed ratio is the speed ratio of the first reel to the second reel.

[0052] The speed ratios in the speed ratio fuzzy set correspond one-to-one to the preset rope number-of-turns differences in the number-of-turns difference fuzzy set.

[0053] Define the given speed of the first reel as the reference speed V0, and the calculated value of the given speed of the second reel is nV0, where n is the speed ratio corresponding one-to-one to the number-of-turns difference in the number-of-turns difference fuzzy set, and multiple n form the speed ratio fuzzy set.

[0054] It can be understood that the setting of each speed ratio in the speed ratio fuzzy set can be obtained by testing according to the previous actual working conditions.

[0055] S304: Based on the actual rope number-of-turns difference, select a preset rope number-of-turns difference in the number-of-turns difference fuzzy set.

[0056] In this embodiment, step S304 is obtained in the following manner:

[0057] Select a preset rope number-of-turns difference in the number-of-turns difference fuzzy set that has the smallest difference from the actual rope number-of-turns difference.

[0058] That is to say, the preset rope number-of-turns difference selected in the number-of-turns difference fuzzy set is the value closest to the actual rope number-of-turns difference.

[0059] For example, if the detected actual rope number-of-turns difference is 0.9, and the number-of-turns difference fuzzy set is {2, 1.5, 1.00, 0.5, 0, -0.5, -1.00, -1.5, -2}, then the selected preset rope number-of-turns difference is 1.

[0060] S305: Based on the selected preset rope number-of-turns difference, select a speed ratio in the speed ratio fuzzy set.

[0061] Step S305 is obtained in the following manner:

[0062] In the speed ratio fuzzy set, select a speed ratio corresponding to the selected preset rope number-of-turns difference.

[0063] That is to say, the speed ratio selected from the speed ratio fuzzy set is a value corresponding to the selected preset rope loop number difference.

[0064] For example, the detected actual rope loop number difference is 0.9, and the loop number difference fuzzy set is {2, 1.5, 1.00, 0.5, 0, -0.5, -1.00, -1.5, -2}. Correspondingly, the speed ratio fuzzy set is {9 / 10, 7 / 10, 5 / 10, 3 / 10, 1, 10 / 3, 10 / 5, 10 / 7, 10 / 9}. Then the selected speed ratio is 5 / 10 corresponding to 1, that is, the rotation speed ratio of the first drum and the second drum is 5:10.

[0065] S306: Adjust the rotation speeds of the first drum and the second drum according to the selected speed ratio.

[0066] According to the selected speed ratio, control the rotation speeds of the first drum and the second drum according to the speed ratio value of the first drum and the second drum, so that the actual rotation speed ratio of the first drum and the second drum is the selected speed ratio.

[0067] S307: Determine the actual tension difference acceleration, where the actual tension difference acceleration is the acceleration value corresponding to the tension difference of the ropes wound by the actual first drum and the second drum.

[0068] In this embodiment, the tension difference acceleration is the acceleration value corresponding to the tension difference obtained by subtracting the tension of the rope corresponding to the second drum from the tension of the rope corresponding to the first drum.

[0069] Step S307 includes:

[0070] 3071: Monitor the tensions of the ropes corresponding to the first drum and the second drum respectively through tension sensors.

[0071] Install a plate-type weight sensor at the fixed end of the corresponding rope on each drum. Detect the tension of each rope through the plate-type weight sensor.

[0072] Although the same number of rope loops are preset to be released during control, due to the diameter errors of each drum, the actual lengths of the released ropes will be inconsistent, which will also cause the corresponding rope tensions to be different.

[0073] 3072: Calculate the actual tension difference acceleration according to the tensions of the ropes corresponding to the first drum and the second drum.

[0074] Subtract the tension of the rope corresponding to the second drum from the tension of the rope corresponding to the first drum to obtain the actual tension difference. Then, according to the actual tension difference, the actual tension difference acceleration can be correspondingly obtained.

[0075] Further judge the influence on the balance of the hook caused by the rope length error, manufacturing error of each reel, etc. through the actual pulling force difference acceleration.

[0076] The pull plate type weight sensor adopts a 4-20mA signal.

[0077] The controller is electrically connected to the pull plate type weight sensor, so that the values detected in real time in the pull plate type weight sensor can be calculated through an automatic editing program (PLC) to obtain the actual pulling force difference acceleration.

[0078] S308: Judge whether to readjust the rotation speeds of the first reel and the second reel according to the actual pulling force difference acceleration and the actual rope turn difference.

[0079] If during the control process, the change in the pulling force difference of the rope does not have the opposite direction to the actual rope turn difference, it indicates that it is affected by the error of the reel or the rope. At this time, under the action of the pulling force difference, it is necessary to increase the correction coefficient of the rope deviation rate to further correct the given speed of the non-reference reel.

[0080] S309: If the actual rope turn difference is positive and the actual pulling force difference acceleration is positive, or the actual rope turn difference is negative and the actual pulling force difference acceleration is negative, readjust the rotation speeds of the first reel and the second reel.

[0081] Step S309 includes:

[0082] 3091: Determine the acceleration fuzzy set, which includes multiple preset pulling force difference accelerations. The preset pulling force difference acceleration is the pulling force difference acceleration of the ropes corresponding to the preset first reel and second reel.

[0083] In this embodiment, the acceleration difference fuzzy set includes zero and at least four pairs of opposite numbers.

[0084] For example, the acceleration difference fuzzy set originally set in the controller in this application includes 9 values, that is, these 9 values can be set according to the actual situation. The 9 values are defined in size as {positive maximum, positive large, positive medium, positive small, 0, negative small, negative medium, negative large, negative maximum}.

[0085] Exemplarily, the determination method of the acceleration difference fuzzy set is similar to that of the turn difference fuzzy set.

[0086] 3092: Determine the correction ratio fuzzy set, which includes multiple correction ratio values.

[0087] Define the given speed of the first reel as the reference speed V0, and the calculated value of the given speed of the second reel is pV0, where p is the correction ratio value corresponding one by one in the correction ratio fuzzy set, and multiple p form the correction ratio fuzzy set.

[0088] It can be understood that the setting of each correction ratio in the correction ratio fuzzy set can be obtained by testing according to the previous actual working conditions.

[0089] 3093: Based on the actual tensile force difference acceleration, select a preset tensile force difference acceleration in the acceleration fuzzy set.

[0090] In this embodiment, step 3093 is obtained in the following manner:

[0091] In the acceleration difference fuzzy set, select a preset tensile force difference acceleration with the smallest difference from the actual tensile force difference acceleration.

[0092] That is to say, the preset tensile force difference acceleration selected in the acceleration difference fuzzy set is a value closest to the actual tensile force difference acceleration.

[0093] For example, if the detected actual tensile force difference acceleration is 0.9, and the acceleration difference fuzzy set is {2, 1.5, 1.00, 0.5, 0, -0.5, -1.00, -1.5, -2}, then the selected preset tensile force difference acceleration is 1.

[0094] 3094: Based on the selected preset tensile force difference acceleration, select a correction ratio in the correction ratio fuzzy set.

[0095] Step 3094 is obtained in the following manner:

[0096] The correction ratios in the correction ratio fuzzy set correspond one-to-one with the preset tensile force difference accelerations in the acceleration difference fuzzy set. In the correction ratio fuzzy set, select a correction ratio corresponding to the selected preset tensile force difference acceleration.

[0097] That is to say, the correction value selected in the correction ratio fuzzy set is a value corresponding to the selected preset tensile force difference acceleration.

[0098] 3095: According to the selected correction ratio and the selected speed ratio, readjust the speeds of the first reel and the second reel.

[0099] Step 3095 includes:

[0100] (1) Multiply the selected correction value and the selected speed ratio correspondingly to obtain a corrected speed ratio.

[0101] That is to say, multiply the selected speed ratio n by the selected correction value p to obtain a corrected speed ratio.

[0102] (2) According to the corrected speed ratio, adjust the speeds of the first reel and the second reel.

[0103] In this embodiment, the given speed of the first reel is defined as the reference speed V0. Then, the calculated value of the given speed of the second reel is nPV0.

[0104] Where n is taken from the value of the speed ratio fuzzy set that corresponds one-to-one with the coil number difference fuzzy set, and p is taken from the value of the correction ratio fuzzy set that corresponds one-to-one with the acceleration fuzzy set.

[0105] That is to say, by monitoring the difference in the number of rope coils on the first reel and the second reel, the non-reference reel is controlled to accelerate or decelerate relative to the reference reel. That is, by setting the speed of the non-reference reel to nipj (i, j ∈ (1, 9)), the balance of the reels is finally achieved, and ultimately the hook can be kept balanced.

[0106] S310: If the actual difference in the number of rope coils is negative and the actual acceleration of the tension difference is positive, or if the actual difference in the number of rope coils is positive and the actual acceleration of the tension difference is negative, then the rotation speeds of the first reel and the second reel are not reset.

[0107] That is to say, when the actual acceleration of the tension difference and the actual difference in the number of rope coils are in opposite directions, the speed ratio of the first reel and the second reel is still controlled according to the selected speed ratio.

[0108] In this embodiment, a control device for balancing the double reels of a crane is also provided. Combining Figure 4 , the control device includes:

[0109] An actual rope coil number difference determination module 401 for determining the actual difference in the number of rope coils, where the actual difference in the number of rope coils is the difference in the number of coils of the ropes wound on the actual first reel and the second reel;

[0110] A coil number difference fuzzy set determination module 402 for determining the coil number difference fuzzy set, where the coil number difference fuzzy set includes multiple preset rope coil number differences, and the preset rope coil number difference is the difference in the number of coils of the ropes wound on the preset first reel and the second reel;

[0111] A speed ratio fuzzy set determination module 403 for determining the speed ratio fuzzy set, where the speed ratio fuzzy set includes multiple speed ratios, and the speed ratio is the ratio of the rotation speeds of the first reel and the second reel;

[0112] A preset rope coil number difference selection module 404 for selecting a preset rope coil number difference from the coil number difference fuzzy set based on the actual difference in the number of rope coils;

[0113] A speed ratio selection module 405 for selecting a speed ratio from the speed ratio fuzzy set based on the selected preset rope coil number difference;

[0114] A speed adjustment module 406 for adjusting the rotation speeds of the first reel and the second reel according to the selected speed ratio.

[0115] The above control device has Figure 2 all the beneficial effects of the method shown, which will not be elaborated here.

[0116] Optionally, the preset rope turn difference selection module 404 is further configured to select a preset rope turn difference with the smallest difference from the actual rope turn difference in the turn difference fuzzy set.

[0117] Optionally, the speed ratio selection module 405 is further configured to: the speed ratios in the speed ratio fuzzy set correspond one-to-one with the preset rope turn differences in the turn difference fuzzy set, and select a speed ratio corresponding to the selected preset rope turn difference in the speed ratio fuzzy set.

[0118] Optionally, the control device further includes a correction module 407, configured to determine the actual tension difference acceleration, where the actual tension difference acceleration is the acceleration value corresponding to the actual tension difference between the ropes wound on the first drum and the second drum; determine the actual tension difference acceleration, where the actual tension difference acceleration is the acceleration value corresponding to the actual tension difference between the ropes wound on the first drum and the second drum; determine whether to readjust the speeds of the first drum and the second drum according to the actual tension difference acceleration and the actual rope turn difference; if the actual rope turn difference is positive and the actual tension difference acceleration is positive, or if the actual rope turn difference is negative and the actual tension difference acceleration is negative, then readjust the speeds of the first drum and the second drum; if the actual rope turn difference is negative and the actual tension difference acceleration is positive, or if the actual rope turn difference is positive and the actual tension difference acceleration is negative, then do not readjust the speeds of the first drum and the second drum.

[0119] Optionally, the correction module 407 is further configured to: determine the acceleration fuzzy set, where the acceleration fuzzy set includes multiple preset tension difference accelerations, and the preset tension difference acceleration is the acceleration of the tension difference between the ropes corresponding to the preset first drum and the second drum; determine the correction ratio fuzzy set, where the correction ratio fuzzy set includes multiple correction ratios; select a preset tension difference acceleration in the acceleration fuzzy set based on the actual tension difference acceleration; select a correction ratio in the correction ratio fuzzy set based on the selected preset tension difference acceleration; and readjust the speeds of the first drum and the second drum according to the selected correction ratio and the selected speed ratio.

[0120] Optionally, the correction module 407 is further configured to select a preset tension difference acceleration with the smallest difference from the actual tension difference acceleration in the acceleration difference fuzzy set.

[0121] Optionally, the correction module 407 is further configured to: the correction ratios in the correction ratio fuzzy set correspond one-to-one with the preset tension difference accelerations in the acceleration difference fuzzy set, and select a correction ratio corresponding to the selected preset tension difference acceleration in the correction ratio fuzzy set.

[0122] Figure 5 It is a schematic structural diagram of a computer device provided by an embodiment of the present disclosure. In combination with Figure 5 , the computer device 500 may include one or more of the following components: a processor 501, a memory 502, a communication interface 503, and a bus 504.

[0123] The processor 501 includes one or more processing cores. The processor 501 executes various functional applications and information processing by running software programs and modules. The memory 502 and the communication interface 503 are connected to the processor 501 through the bus 504. The memory 502 can be used to store at least one instruction, and the processor 501 is used to execute the at least one instruction to implement each step in the above method.

[0124] In addition, the memory 502 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. The volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, programmable read-only memory (PROM).

[0125] An embodiment of the present disclosure also provides a computer storage medium. When the computer instructions are executed by a processor, the above control method for the balance of the double drums of the crane is implemented.

[0126] The above are only optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A control method for the balance of a double drum of a crane, characterized in that, The control method includes: Determine the actual rope turn difference, where the actual rope turn difference is the difference in the number of turns of the rope wound around the actual first drum and the second drum; Determine the turn difference fuzzy set, where the turn difference fuzzy set includes a plurality of preset rope turn differences, the preset rope turn differences are the differences in the number of turns of the rope wound around the preset first drum and the second drum, the turn difference fuzzy set includes zero and at least four pairs of opposite numbers, and the positive numbers in each pair of opposite numbers are arranged from largest to smallest as positive maximum, positive large, positive medium, and positive small; Determine the speed ratio fuzzy set, where the speed ratio fuzzy set includes a plurality of speed ratios, the speed ratio is the ratio of the rotational speeds of the first drum and the second drum, and the plurality of speed ratios correspond one-to-one to the plurality of preset rope turn differences; Select a preset rope turn difference in the turn difference fuzzy set that has the smallest difference from the actual rope turn difference; Select a speed ratio in the speed ratio fuzzy set that corresponds to the selected preset rope turn difference; Adjust the rotational speeds of the first drum and the second drum according to the selected speed ratio; Determine the actual tension difference acceleration, where the actual tension difference acceleration is the acceleration value corresponding to the tension difference of the rope wound around the actual first drum and the second drum; If the actual rope turn difference is positive and the actual tension difference acceleration is positive, or if the actual rope turn difference is negative and the actual tension difference acceleration is negative, then correct the selected speed ratio and adjust the first drum and the second drum according to the corrected speed ratio; If the actual rope turn difference is negative and the actual tension difference acceleration is positive, or if the actual rope turn difference is positive and the actual tension difference acceleration is negative, then adjust the rotational speeds of the first drum and the second drum according to the selected speed ratio.

2. The control method according to claim 1, characterized in that, Correct the selected speed ratio and adjust the first drum and the second drum according to the corrected speed ratio, including: Determine the acceleration fuzzy set, where the acceleration fuzzy set includes a plurality of preset tension difference accelerations, and the preset tension difference accelerations are the tension difference accelerations of the ropes corresponding to the preset first drum and the second drum; Determine the correction ratio fuzzy set, where the correction ratio fuzzy set includes a plurality of correction ratios; Based on the actual tension difference acceleration, select a preset tension difference acceleration in the acceleration fuzzy set; Based on the selected preset tension difference acceleration, select a correction ratio in the correction ratio fuzzy set; Correct the selected speed ratio according to the selected correction ratio and adjust the rotational speeds of the first drum and the second drum according to the corrected speed ratio.

3. The control method according to claim 2, characterized in that, The step of selecting a preset tension difference acceleration in the acceleration fuzzy set based on the actual tension difference acceleration includes: In the acceleration difference fuzzy set, select a preset tension difference acceleration that has the smallest difference from the actual tension difference acceleration.

4. The control method according to claim 2, characterized in that, Selecting a correction ratio value from the correction ratio fuzzy set based on the selected preset tension difference acceleration, including: The correction ratio values in the correction ratio fuzzy set correspond one-to-one with the preset tension difference accelerations in the acceleration difference fuzzy set. In the correction ratio fuzzy set, select a correction ratio value corresponding to the selected preset tension difference acceleration.

5. A control device for the balance of a double drum of a crane, the control device being based on the control method according to any one of claims 1 to 4, the control device comprising: An actual rope turn difference determination module, configured to determine an actual rope turn difference, where the actual rope turn difference is the difference in the number of turns of the rope wound around the actual first drum and the second drum; A turn difference fuzzy set determination module, configured to determine a turn difference fuzzy set, where the turn difference fuzzy set includes multiple preset rope turn differences, and the preset rope turn difference is the difference in the number of turns of the rope wound around the preset first drum and the second drum. The turn difference fuzzy set includes zero and at least four pairs of opposite numbers, and the positive numbers in each pair of opposite numbers are arranged from largest to smallest as positive maximum, positive large, positive medium, and positive small; A speed ratio fuzzy set determination module, configured to determine a speed ratio fuzzy set, where the speed ratio fuzzy set includes multiple speed ratios, and the speed ratio is the ratio of the rotational speeds of the first drum and the second drum. The multiple speed ratios correspond one-to-one with the multiple preset rope turn differences; A preset rope turn difference selection module, configured to select a preset rope turn difference with the smallest difference from the actual rope turn difference in the turn difference fuzzy set; A speed ratio selection module, configured to select a speed ratio corresponding to the selected preset rope turn difference from the speed ratio fuzzy set; A speed adjustment module, configured to adjust the rotational speeds of the first drum and the second drum according to the selected speed ratio; A determination module is configured to determine an actual tension difference acceleration, where the actual tension difference acceleration is the acceleration value corresponding to the actual tension difference of the rope wound around the first drum and the second drum; A correction module is configured to correct the selected speed ratio if the actual rope turn difference is positive and the actual tension difference acceleration is positive, or if the actual rope turn difference is negative and the actual tension difference acceleration is negative, and adjust the first drum and the second drum according to the corrected speed ratio. If the actual rope turn difference is negative and the actual tension difference acceleration is positive, or if the actual rope turn difference is positive and the actual tension difference acceleration is negative, adjust the rotational speeds of the first drum and the second drum according to the selected speed ratio.

6. A computer device, characterized in that, The computer device includes a processor and a memory configured to store instructions executable by the processor; the processor is configured to execute the control method for crane double-drum balance according to any one of claims 1 to 4.

7. A computer storage medium, on which computer instructions are stored, characterized in that, When the computer instructions are executed by the processor, the control method for crane double-drum balance according to any one of claims 1 to 4 is implemented.

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