Tower crane rotation control method, device and computer readable storage medium

Abstract

The present invention discloses a tower crane rotation control method, device and computer-readable storage medium. The tower crane rotation control method comprises the following steps: obtaining tower crane equipment parameters, constructing a dynamic equation of the tower crane according to the equipment parameters; performing Laplace transformation on the dynamic equation, constructing a target transfer function between the tower crane boom speed and the motor speed; receiving the motor operating frequency, and reconstructing the motor operating frequency and outputting a target frequency curve using a time-delay shaper according to the target transfer function; controlling the motor to run according to the target frequency curve, and eliminating the tower crane rotation oscillation. The present invention reduces the cost of tower crane rotation control by time-delay shaping control.

Description

Technical Field

[0001] The present invention relates to the technical field of rotational inertia of a slewing mechanism, and in particular to a tower crane slewing control method, device and computer-readable storage medium. Background Art

[0002] As a key equipment in the infrastructure construction process, the working condition of the tower crane directly affects the safety and reliability of the construction products. The slewing mechanism of the tower crane includes a frequency converter to control the motor. When the gear transmission mechanism in the tower crane drives the boom to rotate, in fact, due to the deformation of the tower crane body, the speed of the tower crane boom and the speed of the frequency converter motor are not consistent. When the tower crane stops, there will be a certain degree of swing back, resulting in inaccurate positioning of the slewing mechanism and difficulty for the driver to use.

[0003] In the prior art, the traditional solution is to add an eddy current mechanism to suppress rebound. The principle of eddy current control is that the armature of the motor eddy current brake rotates with the shaft. When the excitation coil is connected to direct current, the air gap between the claw pole of the eddy current brake and the armature generates a magnetic field, and the points cut the magnetic lines of force to induce an electric potential, forming a current (i.e., eddy current). The magnetic field generated by the eddy current interacts with the claw pole magnetic field to form a braking torque. Within a certain speed range, the braking torque is approximately proportional to the excitation current and the armature speed. This control method cannot provide feedback. Once there is a problem with the eddy current coil, it will cause the boom of the tower crane to have a large setback, rebound, or even permanent damage to the boom during the rotation process. In addition, both the eddy current and the eddy current control circuit are hardware devices, which increase the system cost and maintenance cost. Summary of the invention

[0004] The main purpose of the present invention is to provide a tower crane slewing control method, device and computer-readable storage medium, aiming to solve the problem of high system cost and maintenance cost of hardware devices in the existing tower crane slewing control technology.

[0005] To achieve the above object, the present invention provides a tower crane rotation control method, the tower crane rotation control method comprising the steps of:

[0006] Acquiring equipment parameters of the tower crane, and constructing a dynamic equation of the tower crane according to the equipment parameters;

[0007] The dynamic equation is subjected to Laplace transformation to construct a target transfer function between the boom speed and the motor speed of the tower crane;

[0008] Receiving the motor operating frequency of the tower crane, and reconstructing the motor operating frequency by using a preset time-delay shaper according to the target transfer function and outputting a target frequency curve;

[0009] The motor is controlled to operate according to the target frequency curve to eliminate the rotation oscillation of the tower crane.

[0010] Optionally, the step of receiving the motor operating frequency of the tower crane, and reconstructing the motor operating frequency using a preset time delay shaper according to the target transfer function and outputting a target frequency curve includes:

[0011] Receiving the motor operating frequency of the tower crane, performing preset acceleration and deceleration processing on the motor operating frequency, and outputting a first operating frequency curve;

[0012] According to a preset time-delay shaper transfer function, calculating a pulse sequence expression corresponding to the time-delay shaper transfer function;

[0013] According to the pulse sequence expression and the target transfer function, the first operating frequency curve is subjected to time lag processing to generate a target frequency curve.

[0014] Optionally, the step of performing time lag processing on the first operating frequency curve according to the pulse sequence expression and the target transfer function to generate a target frequency curve comprises:

[0015] According to the target transfer function, the preset time lag time, the preset damping and the preset time lag times, obtaining the time lag amplification factor and the target time lag time corresponding to the preset time lag times;

[0016] Obtaining a pulse sequence according to the pulse sequence expression, the time-delay amplification factor, the target time-delay time and the preset time-delay number;

[0017] The first operating frequency is subjected to time lag processing according to the pulse sequence to generate a target frequency curve.

[0018] Optionally, the step of performing Laplace transformation on the dynamic equation to construct a target transfer function between the boom speed and the motor speed of the tower crane includes:

[0019] Performing Laplace transformation on the dynamic equation to obtain a first transfer function between the motor speed and the motor driving torque of the tower crane, and a second transfer function between the boom speed and the motor driving torque;

[0020] Calculating the first transfer function and the second transfer function to obtain a third transfer function between the upper arm speed and the motor speed;

[0021] A target transfer function corresponding to the third transfer function is obtained according to the device parameters.

[0022] Optionally, the equipment parameters include motor equipment parameters and first mechanical equipment parameters; the motor equipment parameters include motor speed and motor driving torque;

[0023] The step of obtaining a target transfer function corresponding to the third transfer function according to the device parameters comprises:

[0024] Calibrate the first mechanical equipment parameter with the motor speed and the motor driving torque to obtain the second mechanical equipment parameter corresponding to the range of the motor equipment parameter, wherein the first mechanical equipment parameter includes elastic torsion force, boom speed, boom friction and wind resistance, tower crane elastic torsion force coefficient and boom weight;

[0025] A target transfer function corresponding to the third transfer function is obtained according to the third transfer function, the second mechanical equipment parameter and the preset damping of the tower crane.

[0026] Optionally, the step of obtaining a target transfer function corresponding to the third transfer function according to the third transfer function and the second mechanical equipment parameter comprises:

[0027] According to the third transfer function and the second mechanical equipment parameter, a fourth transfer function corresponding to the third transfer function is obtained;

[0028] A target transfer function is obtained according to the fourth transfer function and the preset damping of the tower crane.

[0029] Optionally, the target transfer function includes:

[0030]

[0031] in, ω0 is the natural frequency, ω d is the boom speed after calibration, ω m is the motor speed after calibration, ζ is the tower crane system damping, K t ' is the elastic torsion coefficient after calibration, J' d is the inertia of the boom and suspension after calibration.

[0032] Optionally, the pulse sequence comprises:

[0033]

[0034] Where n is the number of time delays, M is the time delay coefficient, T X is the lag time, A i is the ith time-delay magnification factor, t i is the ith time delay, and s is the complex frequency.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a tower crane rotation control program is stored. When the tower crane rotation control program is executed by a processor, the steps of the tower crane rotation control method as described above are implemented.

[0036] The present invention proposes a tower crane rotation control method, device and computer-readable storage medium, the tower crane rotation control method comprising the steps of: obtaining tower crane equipment parameters, constructing the tower crane's dynamic equations according to the equipment parameters; performing Laplace transformation on the dynamic equations, constructing a target transfer function between the tower crane boom speed and the motor speed; receiving the motor operating frequency, and reconstructing the motor operating frequency and outputting a target frequency curve using a time-delay shaper according to the target transfer function; controlling the motor to operate according to the target frequency curve to eliminate the tower crane rotation oscillation. Through the above manner, the present invention can eliminate the backswing of the tower crane when it is stopped due to the inconsistency between the tower crane boom speed and the inverter motor speed during the working process at the software application level, thereby enhancing the control over the tower crane, improving the safety of the staff during operation, and avoiding the problems of high system cost and hardware maintenance cost caused by the use of hardware devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention;

[0038] Figure 2 It is a flow chart of the first embodiment of the tower crane rotation control method of the present invention;

[0039] Figure 3 This is a flow chart of step S30 in the first embodiment of the tower crane rotation control method of the present invention;

[0040] Figure 4 It is a system transfer function block diagram corresponding to the dynamic equation in the tower crane rotation control method of the present invention;

[0041] Figure 5 It is a time-delay shaping control block diagram in the tower crane rotation control method of the present invention;

[0042] Figure 6 It is an input and output waveform diagram of the tower crane system in the tower crane rotation control method of the present invention;

[0043] Figure 7 It is a structural schematic diagram of the tower crane system in the tower crane rotation control method of the present invention.

[0044] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0046] like Figure 1 As shown, Figure 1 It is a schematic diagram of the terminal structure of the hardware operating environment involved in the embodiment of the present invention.

[0047] The terminal in the embodiment of the present invention is a tower crane control device.

[0048] like Figure 1 As shown, the terminal may include: a processor 1001, such as a CPU (central processing unit), a communication bus 1002, a user interface 1003, a DVI interface 1004, a USB interface (Universal Serial Bus) 1005, and a memory 1006. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The DVI interface (Digital Visual Interface) 1004 may optionally include a standard wired interface, which is connected to other external devices through a DVI line. The USB interface 1005 may optionally include a standard wired interface, which is connected to other external devices through a USB connection line. The memory 1006 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1006 may also be a storage device independent of the aforementioned processor 1001.

[0049] Optionally, the terminal may also include an audio circuit, etc., which will not be described in detail here.

[0050] Those skilled in the art will understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation on the terminal, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0051] like Figure 1 As shown, the memory 1006 as a computer storage medium may include an operating system, a DVI interface module, a USB interface module, a user interface module, and a tower crane rotation control program.

[0052] exist Figure 1In the terminal shown, the DVI interface 1004 is mainly used to connect to external devices and perform data communication with the external devices; the USB interface 1005 is mainly used to connect to external devices and perform data communication with the external devices; the user interface 1003 is mainly used to connect to the client and perform data communication with the client; and the processor 1001 can be used to call the tower crane rotation control program stored in the memory 1005 and perform the following operations:

[0053] Acquiring equipment parameters of the tower crane, and constructing a dynamic equation of the tower crane according to the equipment parameters;

[0054] The dynamic equation is subjected to Laplace transformation to construct a target transfer function between the boom speed and the motor speed of the tower crane;

[0055] Receiving the motor operating frequency of the tower crane, and reconstructing the motor operating frequency by using a preset time-delay shaper according to the target transfer function and outputting a target frequency curve;

[0056] The motor is controlled to operate according to the target frequency curve to eliminate the rotation oscillation of the tower crane.

[0057] Further, the processor 1001 may call the tower crane rotation control program stored in the memory 1006, and further perform the following operations:

[0058] Receiving the motor operating frequency of the tower crane, performing preset acceleration and deceleration processing on the motor operating frequency, and outputting a first operating frequency curve;

[0059] According to a preset time-delay shaper transfer function, calculating a pulse sequence expression corresponding to the time-delay shaper transfer function;

[0060] According to the pulse sequence expression and the target transfer function, the first operating frequency curve is subjected to time lag processing to generate a target frequency curve.

[0061] Further, the processor 1001 may call the tower crane rotation control program stored in the memory 1006, and further perform the following operations:

[0062] According to the target transfer function, the preset time lag time, the preset damping and the preset time lag times, obtaining the time lag amplification factor and the target time lag time corresponding to the preset time lag times;

[0063] Obtaining a pulse sequence according to the pulse sequence expression, the time-delay amplification factor, the target time-delay time and the preset time-delay number;

[0064] The first operating frequency is subjected to time lag processing according to the pulse sequence to generate a target frequency curve.

[0065] Further, the processor 1001 may call the tower crane rotation control program stored in the memory 1006, and further perform the following operations:

[0066] Performing Laplace transformation on the dynamic equation to obtain a first transfer function between the motor speed and the motor driving torque of the tower crane, and a second transfer function between the boom speed and the motor driving torque;

[0067] Calculating the first transfer function and the second transfer function to obtain a third transfer function between the upper arm speed and the motor speed;

[0068] A target transfer function corresponding to the third transfer function is obtained according to the device parameters.

[0069] Further, the processor 1001 may call the tower crane rotation control program stored in the memory 1006, and further perform the following operations:

[0070] Calibrate the first mechanical equipment parameter with the motor speed and the motor driving torque to obtain the second mechanical equipment parameter corresponding to the range of the motor equipment parameter, wherein the first mechanical equipment parameter includes elastic torsion force, boom speed, boom friction and wind resistance, tower crane elastic torsion force coefficient and boom weight;

[0071] A target transfer function corresponding to the third transfer function is obtained according to the third transfer function, the second mechanical equipment parameter and the preset damping of the tower crane.

[0072] Further, the processor 1001 may call the tower crane rotation control program stored in the memory 1006, and further perform the following operations:

[0073] According to the third transfer function and the second mechanical equipment parameter, a fourth transfer function corresponding to the third transfer function is obtained;

[0074] A target transfer function is obtained according to the fourth transfer function and the preset damping of the tower crane.

[0075] Further, the processor 1001 may call the tower crane rotation control program stored in the memory 1006, and further perform the following operations:

[0076]

[0077] in, ω0 is the natural frequency, ω d is the boom speed after calibration, ω m is the motor speed after calibration, ζ is the tower crane system damping, K t ' is the elastic torsion coefficient after calibration, J' dis the inertia of the boom and suspension after calibration.

[0078] Further, the processor 1001 may call the tower crane rotation control program stored in the memory 1006, and further perform the following operations:

[0079]

[0080] Where n is the number of time delays, M is the time delay coefficient, T X is the lag time, A i is the ith time-delay magnification factor, t i is the ith time delay, and s is the complex frequency.

[0081] The specific embodiments of the tower crane control device of the present invention are basically the same as the embodiments of the tower crane rotation control method described below, and will not be described in detail herein.

[0082] See also Figure 2 The present invention provides a tower crane rotation control method. In a first embodiment of the tower crane rotation control method of a tower crane control device, the tower crane rotation control method comprises the following steps:

[0083] Step S10, obtaining equipment parameters of the tower crane, and constructing a dynamic equation of the tower crane according to the equipment parameters;

[0084] In this embodiment, it should be noted that, please refer to Figure 7 , Figure 7 The structure diagram of the tower crane in the present invention is shown in FIG. The tower crane includes an upper turntable and a lower turntable. The upper turntable is equipped with a motor, a reducer, a tower crane boom and a pinion. The lower turntable is connected to the tower body and the rotating large gear turntable. Therefore, the equipment parameters include: the small gear radius r1, the large gear radius r2, the reducer reduction ratio k1, the motor inertia J m , Inertia of boom and suspension J d , Elastic torsion coefficient K t , Motor drive torque T m , elastic torsional force T t , friction force of the upper arm and wind resistance T l , motor speed W m and boom speed W d , where parameters K1, r1, r2 can be provided by the tower crane manufacturer. Parameter J m , J d , K t It is determined by the motor used by the tower crane, the model of the tower crane and the height of the tower crane. d It will change slightly with the load hoisted by the rotating boom. d Unmeasurable, T t Unmeasurable, perturbation T L Unmeasurable, W mIt can be observed by speed sensorless control;

[0085] The kinetic equation is expressed by the following formula:

[0086]

[0087]

[0088]

[0089] Wherein, t is time, and other algebraic meanings are as described above and will not be elaborated here.

[0090] Step S20, performing Laplace transformation on the dynamic equation to construct a target transfer function between the tower crane boom speed and the motor speed;

[0091] In this embodiment, step S20 further includes:

[0092] Step A21, performing Laplace transformation on the dynamic equation to obtain a first transfer function between the motor speed and the motor driving torque of the tower crane, and a second transfer function between the boom speed and the motor driving torque;

[0093] In this example, see Figure 4 , Figure 4 It is a system transfer function block diagram corresponding to the dynamic equation; according to the system transfer function block diagram, a first transfer function between the motor speed and the motor driving torque of the tower crane, and a second transfer function between the boom speed and the motor driving torque can be obtained. The specific method is the existing technology and the present invention will not be described in detail here.

[0094] In this embodiment, the first transfer function is expressed as the ratio between the motor speed and the motor driving torque, that is, the ratio between the output and the input in the tower crane system, which is specifically expressed as:

[0095]

[0096] Among them, S is the complex parameter variable in Laplace transform, called complex frequency, Wm is the motor speed, Tm is the motor driving torque, J m is the motor inertia, r1 is the radius of the small gear, r2 is the radius of the large gear, k1 is the reduction ratio of the reducer, K t is the elastic torsion coefficient, J d is the inertia of the boom and the suspended object.

[0097] The second transfer function is expressed as the output-input relationship between the arm speed and the motor drive torque, which is specifically expressed as:

[0098]

[0099] The meanings of the algebraic expressions in the formula are as described above and will not be elaborated here.

[0100] Step A22, calculating the first transfer function and the second transfer function to obtain a third transfer function between the upper arm speed and the motor speed;

[0101] Specifically, equation (2) and equation (1) can be divided to obtain the transfer function between the arm speed and the motor speed, which can be specifically expressed as:

[0102]

[0103] The meanings of the algebraic expressions in the formula are as described above and will not be elaborated here.

[0104] Step A23: obtaining a target transfer function corresponding to the third transfer function according to the device parameters.

[0105] In this embodiment, since the tower crane system includes a motor structure and a mechanical structure, it is necessary to calibrate the parameters in the mechanical structure using the equipment parameters in the motor structure as a standard, that is, to unify the range of the parameters of the motor structure and the parameters of the mechanical structure, so as to facilitate subsequent calculations. For example, when the motor rotates 5 times, it can drive the boom to rotate 1 time. Therefore, for the convenience of calculation, the boom speed and the motor speed need to be unified, that is, when the motor rotates 1 time, the boom also rotates 1 time. After calculating and obtaining the calibrated equipment parameters, substitute the calibrated equipment parameters into the dynamic equations in the above embodiment to obtain the target transfer function. Specifically, the target transfer function can be expressed by the following formula:

[0106]

[0107] in, ω0 is the natural frequency, ω d is the boom speed after calibration, ω m is the motor speed after calibration, ζ is the tower crane system damping, K t ' is the elastic torsion coefficient after calibration, J' d is the inertia of the boom and suspension after calibration.

[0108] See also Figure 3 and Figure 5 , Figure 5 For the time delay shaping control block diagram, after step A24, step S30 is executed.

[0109] Step S30, receiving the motor operating frequency of the tower crane, and reconstructing the motor operating frequency using a preset time delay shaper according to the target transfer function and outputting a target frequency curve;

[0110] In this embodiment, the step S30 further includes:

[0111] Step S31, receiving the motor operating frequency of the tower crane, performing preset acceleration and deceleration processing on the motor operating frequency, and outputting a first operating frequency curve;

[0112] The motor operating frequency can be input by the operator. Since each gear position of the tower crane corresponds to a motor operating frequency, the gear position input by the operator can be directly received. Then, the frequency converter in the tower crane system gradually changes the frequency from 0 to the rated motor operating frequency, that is, the received motor operating frequency, according to the received motor operating frequency. This will generate a frequency change curve, that is, the first operating frequency curve. Please refer to Figure 6 The first curve from top to bottom is the first operating frequency curve.

[0113] Step S32, according to a preset delay shaper transfer function, calculating a pulse sequence expression corresponding to the delay shaper transfer function;

[0114] In this embodiment, the preset delay shaper function is specifically expressed by the following formula:

[0115]

[0116] Where n is the number of time delays, A i is the ith time-delay magnification factor, t i is the ith time delay, s is the complex frequency, and T is the time delay.

[0117] Through mathematical operations, the delay shaper transfer function can be converted into a pulse train expression. Specifically, the pulse train expression is expressed by the following formula:

[0118]

[0119] When n is 3, the parameter values ​​are as follows:

[0120]

[0121] (7) represents the values ​​of each parameter in A0-t3, that is, t0 is 0, t2 is T X , and so on, that is, A0 is 1 / M, which will not be elaborated here.

[0122] in,

[0123] M is the time lag coefficient, T X is the lag time, and its specific value range is

[0124] When T X The longer the value, the stronger the parameter adaptability, but the final frequency acceleration and deceleration time will also be longer. The actual value should be reasonably selected according to the on-site conditions. For example, when the boom needs to stop quickly, a smaller value can be selected, and when the boom needs to stop slowly, a larger value can be selected. The meanings of other parameters are as described above and will not be repeated here.

[0125] In addition, when the time-delay shaping is performed, if the time-delay time is half an oscillation cycle, it is ZV shaping, and if the time-delay time is one oscillation cycle, it is ZVD shaping. The shaping time of this method can be changed, which can be faster than ZV shaping or slower than ZVD shaping, but the parameter adaptability is better. The present invention selects different time-delay times and can be compatible with ZV shaping and ZVD shaping.

[0126] Step S33: performing time lag processing on the first operating frequency curve according to the pulse sequence expression and the target transfer function to generate a target frequency curve.

[0127] In this embodiment, the step S33 further includes:

[0128] Step A331, according to the target transfer function, the preset time lag time, the preset damping and the preset time lag times, obtaining the time lag amplification factor and the target time lag time corresponding to the preset time lag times;

[0129] In this embodiment, the time lag amplification coefficients are A0, A1, and A2, which can be calculated according to the corresponding expressions in formula (7), and the target time lag times are t1, t2, and t3, which can be calculated according to the corresponding expressions in formula (7).

[0130] Step A332, obtaining a pulse sequence according to the pulse sequence expression, the time delay amplification factor, the target time delay time and the preset time delay number;

[0131] In this embodiment, after the time-delay amplification factor and the target time-delay time are calculated, the pulse sequence can be calculated according to the following formula:

[0132]

[0133] The meanings of the parameters are as described above and will not be repeated here. u(t) represents the pulse sequence at time t during the ith time delay.

[0134] Step A333: performing time lag processing on the first operating frequency according to the pulse sequence to generate a target frequency curve.

[0135] In this embodiment, the frequency corresponding to each moment in the target frequency curve can be calculated by the following formula:

[0136] f(t) 目标 =u(t)*f(t);

[0137] Among them, f(t) 目标 is the target operating frequency at time t, u(t) is the pulse sequence at time t, and f(t) is the first operating frequency at time t. That is, the target operating frequency at time t is the product of the pulse sequence at time t and the first operating frequency at time t, which is the input frequency of the motor in the tower crane. The motor runs according to the target frequency to eliminate the vibration during rotation.

[0138] Referring to formula (7) and formula (8) in the above embodiment, when the number of lags is 3, it should be noted that the target lag time corresponds to the lag amplification factor, that is, t1 corresponds to A1, t2 corresponds to A2, and t3 corresponds to A3. The amplification factor represents the degree of amplification of the waveform. The target lag time represents the delay time of the waveform. For details, please refer to Figure 6 , Figure 6 The input and output waveform of the tower crane system is shown in Figure 6 In the figure, the horizontal axis is the working time and the vertical axis is the working frequency. Figure 6 The first waveform from top to bottom is the first operating frequency of the motor after acceleration and deceleration, which means the operating frequency of the motor from the beginning to the end of operation when the time delay shaping is not performed; Figure 6 The second waveform from top to bottom in the figure is the motor output waveform after time-delay shaping, which represents the working frequency of the motor from the beginning to the end of working when the time-delay shaping is performed; Figure 6 The third waveform from top to bottom is the final frequency of the boom. It can be seen that the boom is always in a uniform speed operation state from the beginning to the end of the work, which means that there is no oscillation in the boom during the work process. Figure 6 The second curve from top to bottom in the figure represents three time lag processes of the first working frequency curve, which shift the waveform to the right for a period of time respectively, so that the final output arm frequency curve is stable without oscillation.

[0139] After step A332, step S34 is performed:

[0140] Step S40, controlling the motor to operate according to the target frequency curve to eliminate the rotation oscillation of the tower crane.

[0141] The present invention proposes a tower crane rotation control method, which includes the following steps: obtaining tower crane equipment parameters, constructing a tower crane dynamics equation according to the equipment parameters; performing Laplace transformation on the dynamics equation to construct a target transfer function between the tower crane boom speed and the motor speed; receiving the motor operating frequency, and reconstructing the motor operating frequency and outputting a target frequency curve using a time-delay shaper according to the target transfer function; and controlling the motor to operate according to the target frequency curve to eliminate the tower crane rotation oscillation. In the above manner, the present invention can eliminate the backswing of the tower crane when it is stopped due to the inconsistency between the tower crane boom speed and the inverter motor speed during the working process at the software application level, thereby enhancing the control over the tower crane, improving the safety of the staff during operation, and avoiding the problems of high system cost and hardware maintenance cost caused by the use of hardware devices.

[0142] Further, the second embodiment of the tower crane rotation control method of the present invention provides a tower crane rotation control method, based on the above embodiment, the equipment parameters include motor equipment parameters and first mechanical equipment parameters; the motor equipment parameters include motor speed and motor driving torque;

[0143] The step of obtaining a target transfer function corresponding to the third transfer function according to the device parameters comprises:

[0144] Step A241, calibrating the first mechanical equipment parameter with the motor speed and the motor driving torque, and obtaining the second mechanical equipment parameter corresponding to the range of the motor equipment parameter, wherein the first mechanical equipment parameter includes elastic torsion force, boom speed, boom friction and wind resistance, tower crane elastic torsion force coefficient and boom weight;

[0145] In this embodiment, since the tower crane system includes a motor structure and a mechanical structure, it is necessary to calibrate the parameters in the mechanical structure using the equipment parameters in the motor structure as a standard, that is, to unify the range of the parameters of the mechanical structure into the range of the parameters of the motor structure, so as to facilitate subsequent calculations. The first mechanical equipment parameter is an uncalibrated parameter, and the second mechanical equipment parameter is a calibrated parameter, and the calibration process is specifically expressed as follows:

[0146]

[0147]

[0148]

[0149]

[0150]

[0151] Among them, T t' is the elastic torsional force after calibration; W d ' is the boom speed after calibration; K t ' is the elastic torsion coefficient after calibration; T L ' is the friction and wind resistance of the upper arm after calibration; J' d is the weight of the boom and suspension after calibration; r1 is the radius of the small gear; r2 is the radius of the large gear; k1 is the reduction ratio of the reducer.

[0152] Step A242: Obtain a target transfer function corresponding to the third transfer function according to the third transfer function, the second mechanical equipment parameter and the preset damping of the tower crane.

[0153] In this embodiment, the step A242 further includes:

[0154] Step A2421, obtaining a fourth transfer function corresponding to the third transfer function according to the third transfer function and the second mechanical equipment parameter;

[0155] Step A2422: Obtain a target transfer function according to the fourth transfer function and the preset damping of the tower crane.

[0156] In this embodiment, the fourth transfer function is an expression of the relationship between the arm speed and the motor speed after parameter calibration, specifically:

[0157]

[0158] However, considering the damping of the tower crane system, the target transfer function is obtained according to formula (14):

[0159]

[0160] in, ω0 is the natural frequency, ω d is the boom speed after calibration, ω m is the motor speed after calibration, ζ is the tower crane system damping, K t ' is the elastic torsion coefficient after calibration, J' d is the inertia of the boom and suspension after calibration.

[0161] After step S242, step A243 is executed.

[0162] Step A243: determining the natural frequency according to the target transfer function and the fourth transfer function.

[0163] The natural frequency is In subsequent calculations, time-delay shaping control is required according to the natural frequency.

[0164] In the present invention, by calibrating the motor equipment parameters and mechanical structure equipment parameters in the tower crane system, the consistency of the parameter range in the time-delay shaping process is guaranteed, the accuracy in the control process is ensured, and the boom speed can be kept at a constant speed or stopped without any swing, thereby enhancing the accuracy of the control process.

[0165] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a tower crane rotation control program is stored. When the tower crane rotation control program is executed by a processor, the following operations are implemented:

[0166] Acquiring equipment parameters of the tower crane, and constructing a dynamic equation of the tower crane according to the equipment parameters;

[0167] The dynamic equation is subjected to Laplace transformation to construct a target transfer function between the boom speed and the motor speed of the tower crane;

[0168] Receiving the motor operating frequency of the tower crane, and reconstructing the motor operating frequency by using a preset time-delay shaper according to the target transfer function and outputting a target frequency curve;

[0169] The motor is controlled to operate according to the target frequency curve to eliminate the rotation oscillation of the tower crane.

[0170] Furthermore, when the tower crane rotation control program is executed by the processor, the following operations are also implemented:

[0171] The step of receiving the motor operating frequency of the tower crane, and reconstructing the motor operating frequency by using a preset time delay shaper according to the target transfer function and outputting a target frequency curve comprises:

[0172] Receiving the motor operating frequency of the tower crane, performing preset acceleration and deceleration processing on the motor operating frequency, and outputting a first operating frequency curve;

[0173] According to a preset time-delay shaper transfer function, calculating a pulse sequence expression corresponding to the time-delay shaper transfer function;

[0174] According to the pulse sequence expression and the target transfer function, the first operating frequency curve is subjected to time lag processing to generate a target frequency curve.

[0175] Furthermore, when the tower crane rotation control program is executed by the processor, the following operations are also implemented:

[0176] The step of performing time lag processing on the first operating frequency curve according to the pulse sequence expression and the target transfer function to generate a target frequency curve comprises:

[0177] According to the target transfer function, the preset time lag time, the preset damping and the preset time lag times, obtaining the time lag amplification factor and the target time lag time corresponding to the preset time lag times;

[0178] Obtaining a pulse sequence according to the pulse sequence expression, the time-delay amplification factor, the target time-delay time and the preset time-delay number;

[0179] The first operating frequency is subjected to time lag processing according to the pulse sequence to generate a target frequency curve.

[0180] Furthermore, when the tower crane rotation control program is executed by the processor, the following operations are also implemented:

[0181] The step of performing Laplace transformation on the dynamic equation to construct a target transfer function between the boom speed and the motor speed of the tower crane comprises:

[0182] Performing Laplace transformation on the dynamic equation to obtain a first transfer function between the motor speed and the motor driving torque of the tower crane, and a second transfer function between the boom speed and the motor driving torque;

[0183] Calculating the first transfer function and the second transfer function to obtain a third transfer function between the upper arm speed and the motor speed;

[0184] A target transfer function corresponding to the third transfer function is obtained according to the device parameters.

[0185] Furthermore, when the tower crane rotation control program is executed by the processor, the following operations are also implemented:

[0186] The equipment parameters include motor equipment parameters and first mechanical equipment parameters; the motor equipment parameters include motor speed and motor driving torque;

[0187] The step of obtaining a target transfer function corresponding to the third transfer function according to the device parameters comprises:

[0188] Calibrate the first mechanical equipment parameter with the motor speed and the motor driving torque to obtain the second mechanical equipment parameter corresponding to the range of the motor equipment parameter, wherein the first mechanical equipment parameter includes elastic torsion force, boom speed, boom friction and wind resistance, tower crane elastic torsion force coefficient and boom weight;

[0189] A target transfer function corresponding to the third transfer function is obtained according to the third transfer function, the second mechanical equipment parameter and the preset damping of the tower crane.

[0190] Furthermore, when the tower crane rotation control program is executed by the processor, the following operations are also implemented:

[0191] The step of obtaining a target transfer function corresponding to the third transfer function according to the third transfer function and the second mechanical equipment parameter comprises:

[0192] According to the third transfer function and the second mechanical equipment parameter, a fourth transfer function corresponding to the third transfer function is obtained;

[0193] A target transfer function is obtained according to the fourth transfer function and the preset damping of the tower crane.

[0194] Furthermore, when the tower crane rotation control program is executed by the processor, the following operations are also implemented:

[0195] The target transfer function includes:

[0196]

[0197] in, ω0 is the natural frequency, ω d is the boom speed after calibration, ω m is the motor speed after calibration, ζ is the tower crane system damping, K t ' is the elastic torsion coefficient after calibration, J' d is the inertia of the boom and suspension after calibration.

[0198] Furthermore, when the tower crane rotation control program is executed by the processor, the following operations are also implemented:

[0199] The pulse sequence comprises:

[0200]

[0201] Where n is the number of time delays, M is the time delay coefficient, T X is the lag time, A i is the ith time-delay magnification factor, t i is the ith time delay, and s is the complex frequency.

[0202] The specific embodiments of the computer-readable storage medium of the present invention are substantially the same as the embodiments of the tower crane rotation control method described above, and are not described in detail herein.

[0203] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0204] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0205] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0206] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A tower crane rotation control method, characterized in that: The tower crane rotation control method comprises the steps of: Acquiring equipment parameters of the tower crane, and constructing a dynamic equation of the tower crane according to the equipment parameters; The dynamic equation is subjected to Laplace transformation to construct a target transfer function between the boom speed and the motor speed of the tower crane; Receiving the motor operating frequency of the tower crane, and reconstructing the motor operating frequency by using a preset time-delay shaper according to the target transfer function and outputting a target frequency curve; Controlling the motor to operate according to the target frequency curve to eliminate the rotation oscillation of the tower crane; The step of receiving the motor operating frequency of the tower crane, and reconstructing the motor operating frequency using a preset time-delay shaper according to the target transfer function and outputting a target frequency curve comprises: Receiving the motor operating frequency of the tower crane, performing preset acceleration and deceleration processing on the motor operating frequency, and outputting a first operating frequency curve; According to a preset time-delay shaper transfer function, calculating a pulse sequence expression corresponding to the time-delay shaper transfer function; According to the pulse sequence expression and the target transfer function, the first operating frequency curve is subjected to time lag processing to generate a target frequency curve.

2. The tower crane rotation control method according to claim 1, characterized in that: The step of performing time lag processing on the first operating frequency curve according to the pulse sequence expression and the target transfer function to generate a target frequency curve comprises: According to the target transfer function, the preset time lag time, the preset damping and the preset time lag times, obtaining the time lag amplification factor and the target time lag time corresponding to the preset time lag times; Obtaining a pulse sequence according to the pulse sequence expression, the time-delay amplification factor, the target time-delay time and the preset time-delay number; The first operating frequency is subjected to time lag processing according to the pulse sequence to generate a target frequency curve.

3. The tower crane rotation control method according to claim 1, characterized in that: The step of performing Laplace transformation on the dynamic equation to construct a target transfer function between the boom speed and the motor speed of the tower crane comprises: Performing Laplace transformation on the dynamic equation to obtain a first transfer function between the motor speed and the motor driving torque of the tower crane, and a second transfer function between the boom speed and the motor driving torque; Calculating the first transfer function and the second transfer function to obtain a third transfer function between the upper arm speed and the motor speed; A target transfer function corresponding to the third transfer function is obtained according to the device parameters.

4. The tower crane rotation control method according to claim 3, characterized in that: The equipment parameters include motor equipment parameters and first mechanical equipment parameters; the motor equipment parameters include motor speed and motor driving torque; The step of obtaining a target transfer function corresponding to the third transfer function according to the device parameters comprises: Calibrate the first mechanical equipment parameter with the motor speed and the motor driving torque to obtain the second mechanical equipment parameter corresponding to the range of the motor equipment parameter, wherein the first mechanical equipment parameter includes elastic torsion force, boom speed, boom friction and wind resistance, tower crane elastic torsion force coefficient and boom weight; A target transfer function corresponding to the third transfer function is obtained according to the third transfer function, the second mechanical equipment parameter and the preset damping of the tower crane.

5. The tower crane rotation control method according to claim 4, characterized in that: The step of obtaining a target transfer function corresponding to the third transfer function according to the third transfer function and the second mechanical equipment parameter comprises: According to the third transfer function and the second mechanical equipment parameter, a fourth transfer function corresponding to the third transfer function is obtained; A target transfer function is obtained according to the fourth transfer function and the preset damping of the tower crane.

6. The tower crane rotation control method according to any one of claims 1 to 5, characterized in that: The target transfer function includes: in, ω0 is the natural frequency, ω d is the boom speed after calibration, ω m is the motor speed after calibration, ζ is the tower crane system damping, K t ' is the elastic torsion coefficient after calibration, J' d is the inertia of the boom and suspension after calibration.

7. The tower crane rotation control method according to any one of claims 1 to 5, characterized in that: The pulse sequence comprises: Where n is the number of time delays, M is the time delay coefficient, T X is the lag time, A i is the ith time-delay magnification factor, t i is the ith time delay, and s is the complex frequency.

8. A tower crane control device, characterized in that: The tower crane control device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the tower crane rotation control method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a tower crane rotation control program, and when the tower crane rotation control program is executed by the processor, the steps of the tower crane rotation control method according to any one of claims 1 to 7 are implemented.

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