Anti-swing automatic control system for tower crane

Abstract

The application discloses a tower crane anti-swing automatic control system and relates to the technical field of motor control. The tower crane anti-swing automatic control system comprises a power rectification protection frequency conversion module, a function control module, a swing detection module, an intelligent control module, a sampling holding comparison module and a pulse control module. The power rectification protection frequency conversion module is used for rectification, protection and inverter frequency conversion control. The function control module is used for outputting control instructions through a touch screen circuit. The swing detection module is used for detecting the swing degree of a hoisted object. The intelligent control module is used for receiving signals and controlling the work of the module. The sampling holding comparison module is used for holding swing signals and performing threshold value comparison. The pulse control module is used for generating and adjusting pulse signals. The motor control module is used for adjusting the speed of a motor. The tower crane anti-swing automatic control system provides control instructions for the intelligent control module in the mode of the touch screen circuit of the function control module, so as to control up, down, left and right, simultaneously, to monitor and compare in real time the swing degree of the hoisted object, to determine the conduction degree of the motor control module according to the swing force, and to control the working speed of the motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, and particularly relates to a tower crane anti-swing automatic control system. BACKGROUND

[0002] In recent years, urban construction develops rapidly, high-rise buildings become the main development direction, and tower cranes are very important hoisting machinery in building construction and are indispensable in building construction. Tower cranes can be divided into fixed and mobile types according to different specific erection sites. The traditional tower crane has defects in the reliability of the control circuit in specific application when the traditional tower crane is running, which affects the actual work effect and the service life of the crane. In addition, the traditional tower crane needs more control buttons to control the crane, the control circuit is relatively complex, and when the tower crane is working, the hoisted object may swing due to the influence of external factors and the influence of the hoisted object quality, which has great safety hazards. Therefore, there is room for improvement. SUMMARY

[0003] The embodiment of the present application provides a tower crane anti-swing automatic control system to solve the problems in the background art.

[0004] According to the embodiment of the present application, a tower crane anti-swing automatic control system is provided, which comprises: a power rectification protection frequency conversion module, a motor module, a function control module, a swing detection module, an intelligent control module, a sampling and holding comparison module, a pulse control module, and a motor control module.

[0005] The power rectification protection frequency conversion module is used for three-phase rectification processing of input electric energy, consumption of feedback energy generated when the motor module works, and inverse variable frequency control and output of the rectified electric energy.

[0006] The motor module is connected with the power rectification protection frequency conversion module and is used for receiving the electric energy output by the power rectification protection frequency conversion module and controlling the work of the crane motor.

[0007] The function control module is connected with the intelligent control module and is used for outputting up, down, left and right movement function control instructions through a touch screen circuit.

[0008] The swing detection module is connected with the intelligent control module and is used for real-time detection of the swing degree of the hoisted object in the movement process and output of a swing signal.

[0009] The intelligent control module is used for receiving signals output by the function control module and the swing detection module, for controlling output of corresponding first pulse signals through input function control instructions, for controlling work of the power rectification protection variable frequency module and the pulse control module, and for outputting control signals and controlling work of the sampling protection comparison module.

[0010] The sampling protection comparison module is connected with the intelligent control module and the swing detection module, is used for receiving the control signals and performing sampling and holding processing on the swing signals, and is used for comparing the held signals with the swing signals detected in real time.

[0011] The pulse control module is connected with the swing detection module and the sampling protection comparison module, is used for generating second pulse signals, and is used for receiving the swing signals and adjusting a duty cycle of the second pulse signals.

[0012] The motor control module is connected with the intelligent control module, the pulse control module and the motor module, is used for adjusting three-phase electric energy input to the motor module through a power tube circuit, and is used for adjusting a working speed of the motor module.

[0013] Compared with the prior art, the beneficial effects of the tower crane anti-swing automatic control system are as follows: the function control module provides control instructions for the intelligent control module in the form of a touch screen circuit, so as to control up, down, left and right movements of the tower crane by the touch screen circuit; the swing detection module detects a swing degree of a hoisted object; the sampling protection comparison module holds an initial swing force and compares the held swing force with a changed swing force, so as to monitor a state of the hoisted object in real time and determine a conduction degree of the motor control module according to the swing force, so as to reduce the working speed of the motor module and achieve rapid protection, and the control system is relatively simple and easy to implement without complex programs and calculations. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0015] Figure 1 A principle block diagram of a tower crane anti-swing automatic control system provided for the embodiments of the present application.

[0016] Figure 2 A circuit diagram of a tower crane anti-swing automatic control system provided for the embodiments of the present application.

[0017] Figure 3 The connection circuit diagram of the swing detection module, the sample-hold comparison module and the pulse control module provided for the examples of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0019] Embodiment 1, please refer to Figure 1 A tower crane anti-swing automatic control system comprises a power rectification protection variable frequency module 1, a motor module 2, a function control module 3, a swing detection module 4, an intelligent control module 5, a sample-hold comparison module 6, a pulse control module 7 and a motor control module 8.

[0020] Specifically, the power rectification protection variable frequency module 1 is configured to perform three-phase rectification processing on input electric energy, consume feedback energy generated during operation of the motor module 2, and perform inverter variable frequency control on the rectified electric energy and output the rectified electric energy.

[0021] The motor module 2 is connected with the power rectification protection variable frequency module 1 and configured to receive the electric energy output by the power rectification protection variable frequency module 1 and control operation of a crane motor.

[0022] The function control module 3 is connected with the intelligent control module 5 and configured to output function control instructions for up, down, left and right movement through a touch screen circuit.

[0023] The swing detection module 4 is connected with the intelligent control module 5 and configured to detect a swing degree in real time during movement of a hoisted object and output a swing signal.

[0024] The intelligent control module 5 is configured to receive signals output by the function control module 3 and the swing detection module 4, control output of corresponding first pulse signals through input function control instructions, control operation of the power rectification protection variable frequency module 1 and the pulse control module 7, output control signals and control operation of the sample-hold comparison module.

[0025] The sample-hold comparison module 6 is connected with the intelligent control module 5 and the swing detection module 4 and configured to receive the control signals and perform sample-hold processing on the swing signals, and compare the held signals with the swing signals detected in real time.

[0026] The pulse control module 7 is connected with the swing detection module 4 and the sample and hold comparison module 6, and is used for generating a second pulse signal for receiving the swing signal and adjusting the duty cycle of the second pulse signal.

[0027] The motor control module 8 is connected with the intelligent control module 5, the pulse control module 7 and the motor module 2, and is used for adjusting the three-phase power input to the motor module 2 through the power tube circuit, so as to adjust the working speed of the motor module 2.

[0028] In specific embodiments, the intelligent control module 5 can adopt a micro control circuit and a driving circuit. The micro control circuit is used for receiving signals and outputting pulse signals and control signals, and the driving circuit is used for improving the driving capability of the pulse signal. The micro control circuit can adopt, but is not limited to, a single-chip microcomputer, a DSP microcontroller and the like. The driving circuit can adopt a special IGBT driver, and details are not described herein. The motor control module 8 can be used as a walking motor, a rotating motor, an amplitude changing motor and a main hook motor, and is controlled by the power rectification protection variable frequency module 1 and the intelligent control module 5, and details are not described herein.

[0029] Further, the power rectification protection variable frequency module 1 includes a power port, a three-phase rectifier T1, a first power tube Q1, a first resistor R1, a first capacitor C1, a second resistor R2, a second power tube Q2, a second capacitor C2 and a frequency converter G1.

[0030] Specifically, the output end of the power port is connected with the input end of the three-phase rectifier T1. The first output end of the three-phase rectifier T1, the collector of the first power tube Q1, one end of the second capacitor C2 and the first input end of the frequency converter G1 are connected. The emitter of the second power tube Q2 is connected with one end of the first resistor R1 and one end of the first capacitor C1. The other end of the first capacitor C1 is connected with the second output end of the three-phase rectifier T1, the emitter of the second power tube Q2 and the other end of the second capacitor C2. The other end of the second resistor R2 is connected with the collector of the second power switch. The gate of the first power tube Q1, the gate of the second power tube Q2 and the control end of the frequency converter G1 are connected with the intelligent control module 5. The first output end, the second output end and the third output end of the frequency converter G1 are connected with the motor module 2.

[0031] In specific embodiments, the first power tube Q1 and the second power tube Q2 can be IGBT chips. The second capacitor C2 is a small-capacity non-inductive capacitor, which is used for absorbing the peak voltage generated when the frequency converter G1 is switched. The first power tube Q1, the first resistor R1, the second resistor R2, the second power tube Q2 and the second capacitor C2 form a switched capacitor branch, which is used for absorbing the feedback energy generated when the motor module 2 works.

[0032] Further, the function control module 3 comprises a control terminal interface, a first power supply VCC1 and a converter U1;

[0033] Specifically, the output terminals of the control terminal interface are connected with the second terminal, the third terminal, the fourth terminal and the fifth terminal of the converter U1 respectively, the first terminal, the ninth terminal and the tenth terminal of the converter U1 are connected with the first power supply VCC1, the sixth terminal of the converter U1 is grounded, and the twelfth terminal, the fourteenth terminal, the fifteenth terminal and the sixteenth terminal of the converter U1 are connected with the intelligent control module 5 respectively.

[0034] In specific embodiments, the control terminal interface is used for connecting a touch screen circuit, and the output of the control command is completed through the touch screen circuit; and the converter U1 can be selected as an ADS7843 chip.

[0035] Further, the motor control module 8 comprises a sixth power tube Q6, a third power tube Q3, a fourth power tube Q4, a third resistor R3, a fourth resistor R4 and a fifth resistor R5.

[0036] Specifically, the gate of the sixth power tube Q6, the gate of the third power tube Q3 and the gate of the fourth power tube Q4 are connected with the intelligent control module 5 and the pulse control module 7, the collector of the sixth power tube Q6, the collector of the third power tube Q3 and the collector of the fourth power tube Q4 are connected with the first terminal, the second terminal and the third terminal of the frequency converter G1 respectively, the emitter of the sixth power tube Q6 is grounded through the third resistor R3, the emitter of the third power tube Q3 is grounded through the fourth resistor R4, and the emitter of the fourth power tube Q4 is grounded through the fifth resistor R5.

[0037] In specific embodiments, the sixth power tube Q6, the third power tube Q3 and the fourth power tube Q4 can be selected as IGBT components; and the third resistor R3, the fourth resistor R4 and the fifth resistor R5 are used for consuming input electric energy.

[0038] Further, the swing detection module 4 comprises a swing sensor U2, a sixth resistor R6, a seventh resistor R7, a first operational amplifier OP1, an eighth resistor R8, a ninth resistor R9 and a tenth resistor R10.

[0039] Specifically, the first output terminal of the swing sensor U2 is connected with the inverting terminal of the first operational amplifier OP1 and one end of the eighth resistor R8 through the sixth resistor R6, the second output terminal of the swing sensor U2 is connected with the non-inverting terminal of the first operational amplifier OP1 and one end of the ninth resistor R9 through the seventh resistor R7, the other end of the ninth resistor R9 is grounded, the other end of the eighth resistor R8 is connected with the output terminal of the first operational amplifier OP1 and the first end of the tenth resistor R10, and the second end of the tenth resistor R10 is connected with the sample and hold comparison module 6.

[0040] In specific embodiments, the first operational amplifier OP1 can be an OP07 operational amplifier for differential amplification.

[0041] Further, the sampling and holding comparison module 6 comprises a second operational amplifier OP2, a fifth power tube Q5, an eleventh resistor R11, a third capacitor C3, a thirteenth resistor R13, a third operational amplifier OP3.

[0042] Specifically, the non-inverting terminal of the second operational amplifier OP2 is connected to the second end of the tenth resistor R10, the inverting terminal of the second operational amplifier OP2 is connected to the inverting terminal of the third operational amplifier OP3 and the output terminal of the third operational amplifier OP3 through the eleventh resistor R11, the non-inverting terminal of the third operational amplifier OP3 is connected to the drain of the fifth power tube Q5 and one end of the thirteenth resistor R13 through the third capacitor C3, the other end of the thirteenth resistor R13 is grounded, the gate of the fifth power tube Q5 is connected to the intelligent control module 5, and the source of the fifth power tube Q5 is connected to the output terminal of the second operational amplifier OP2.

[0043] In specific embodiments, the second operational amplifier OP2 and the third operational amplifier OP3 can be OP07 operational amplifiers, the fifth power tube Q5 can be an N-channel junction field effect tube, and the third capacitor C3 and the thirteenth resistor R13 are used to hold the sampling data.

[0044] Further, the sampling and holding comparison module 6 further comprises a first comparator A1, a sixteenth resistor R16, a second power supply VCC2 and an analog switch U4.

[0045] Specifically, the non-inverting terminal of the first comparator A1 is connected to the second end of the tenth resistor R10, the inverting terminal of the first comparator A1 is connected to the output terminal of the third operational amplifier OP3, the output terminal of the first comparator A1 is connected to the fifth terminal of the analog switch U4 and the second power supply VCC2 through the sixteenth resistor R16, the fourth terminal of the analog switch U4 is connected to the gate of the sixth power tube Q6, and the third terminal of the analog switch U4 is connected to the pulse control module 7.

[0046] In specific embodiments, the first comparator A1 can be an LM393 comparator, and the analog switch U4 can be a CD4066 chip.

[0047] Further, the pulse control module 7 comprises a first diode D1, a first potentiometer RP1, a fourteenth resistor R14, a fourth capacitor C4, a pulse generator U3, a fifth capacitor C5, a fifteenth resistor R15, a third power supply VCC3, a twelfth resistor R12.

[0048] Specifically, the third power supply VCC3 connects the fourth end and the eighth end of the pulse generator U3 and connects one end of the first potentiometer RP1 through the fifteenth resistor R15, the wiper end of the first potentiometer RP1 connects the cathode of the first diode D1 and connects the second end of the tenth resistor R10 through the twelfth resistor R12, the anode of the first diode D1 connects the seventh end of the pulse generator U3, the other end of the first potentiometer RP1 connects the fourth capacitor C4, the second end and the sixth end of the pulse generator U3 through the fourteenth resistor R14, the fifth end of the pulse generator U3 connects the first end of the pulse generator U3, the other end of the fourth capacitor C4 and the ground end through the fifth capacitor C5, and the third end of the pulse generator U3 connects the third end of the analog switch U4.

[0049] In a specific embodiment, the pulse generator U3 can be selected as an NE555 chip.

[0050] The power port is connected with a power supply in the tower crane anti-swing automatic control system, three-phase power is provided, and the three-phase rectifier T1 is used for rectification processing. The frequency converter G1 is adjusted and controlled by the intelligent control module 5, so that the working speed of the motor module 2 is adjusted, the moving speed of the hoisted object is controlled, the function control module 3 adopts a touch screen circuit to provide a control instruction for the intelligent control module 5, the working of the walking motor, the rotating motor, the amplitude changing motor and the main hook motor is controlled by the intelligent control module 5, the swing sensor U2 detects the swing degree of the hoisted object, the first operational amplifier OP1 differentially amplifies the swing signal, the swing signal is maintained by the second operational amplifier OP2 and the third operational amplifier OP3, the initial swing degree of the hoisted object is obtained, the maintained swing signal is compared with the real-time swing signal, when a deviation occurs, the first comparator A1 outputs a high level to control the conduction of the analog switch U4, and the voltage value of the swing signal output is added to the seventh end of the pulse generator U3, so that the duty cycle of the pulse signal output by the pulse generator U3 is adjusted, the conduction degree of the power tube in the motor control module 8 is controlled, the power input to the motor module 2 is reduced, the working speed of the motor module 2 is reduced, and the swing degree is reduced, and the conduction degree of the power tube in the motor control module 8 can also be artificially controlled by the intelligent control module 5 to control the working of the motor module 2.

[0051] The tower crane anti-swing automatic control system is provided with a function control module 3, a touch screen circuit is used to provide control instructions for an intelligent control module 5, so as to control the up-down and left-right movements of the tower crane by the touch screen circuit, meanwhile, the swing detection module 4 detects the swing degree of the hoisted object, cooperates with the sampling protection comparison module to keep the initial swing force and compare it with the changed swing force, monitors the state of the hoisted object in real time, and determines the conduction degree of the motor control module 8 according to the swing force, so as to reduce the working speed of the motor module 2, and realize the quick protection work, without complex program and calculation, so that the control system is simple and easy to operate.

[0052] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. The presently disclosed embodiments are therefore considered in all respects to be illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalents of the claims are therefore intended to be embraced therein. No feature of the application is to be construed as limiting the scope of the claims to its exact counterpart.

[0053] Furthermore, it should be understood that although the present specification is described in terms of embodiments, not every embodiment according to the present specification need necessarily include every technological feature or combination of technological features. Such descriptions and representations are used by the applicant(s) for purposes of clarity in identifying various embodiments, but the intent is to convey that the present specification can claim a wide array of embodiments including or excluding various combinations of features.

Claims

1. A tower crane anti-swing automatic control system, characterized in that, The tower crane anti-swing automatic control system comprises a power rectification protection frequency conversion module, a motor module, a function control module, a swing detection module, an intelligent control module, a sampling and holding comparison module, a pulse control module, and a motor control module. The power rectification protection frequency conversion module is configured to perform three-phase rectification processing on input electrical energy, consume feedback energy generated during operation of the motor module, perform inverter frequency conversion control on the rectified electrical energy, and output the rectified electrical energy. The motor module is connected to the power rectification protection frequency conversion module and is configured to receive electrical energy output by the power rectification protection frequency conversion module and control operation of a tower crane motor. The function control module is connected to the intelligent control module and is configured to output function control instructions for up, down, left, and right movement through a touch screen circuit. The swing detection module is connected to the intelligent control module and is configured to detect a swing degree in a movement of a hoisted object in real time and output a swing signal. The intelligent control module is configured to receive signals output by the function control module and the swing detection module, control output of a corresponding first pulse signal through an input function control instruction, control operation of the power rectification protection frequency conversion module through the first pulse signal, output a control signal, and control operation of the sampling and holding comparison module. The sampling and holding comparison module is connected to the intelligent control module and the swing detection module and is configured to receive the control signal, perform sampling and holding processing on the swing signal, and compare the held signal with the swing signal detected in real time. The pulse control module is connected to the swing detection module and the sampling and holding comparison module and is configured to generate a second pulse signal, control a conduction degree of a power tube in the motor control module, receive the swing signal, and adjust a duty cycle of the second pulse signal. The motor control module is connected to the intelligent control module, the pulse control module, and the motor module and is configured to adjust three-phase electrical energy input to the motor module through a power tube circuit and adjust a working speed of the motor module.

2. The anti-swing automatic control system of a tower crane according to claim 1, characterized in that, The power rectification protection frequency conversion module comprises a power port, a three-phase rectifier, a first power tube, a first resistor, a first capacitor, a second resistor, a second power tube, a second capacitor, and a frequency converter. An output end of the power port is connected to an input end of the three-phase rectifier, a first output end of the three-phase rectifier is connected to a collector of the first power tube, one end of the second capacitor, and a first input end of the frequency converter, an emitter of the first power tube is connected to one end of the second resistor and one end of the first capacitor through the first resistor, the other end of the first capacitor is connected to a second output end of the three-phase rectifier, an emitter of the second power tube, and the other end of the second capacitor, the other end of the second resistor is connected to a collector of the second power tube, a gate of the first power tube, a gate of the second power tube, and a control end of the frequency converter are connected to the intelligent control module, and first, second, and third output ends of the frequency converter are connected to the motor module.

3. The anti-swing automatic control system of a tower crane according to claim 1, characterized in that, The function control module comprises a control end interface, a first power supply, and a converter. The output end of the control terminal interface is connected with the second end, the third end, the fourth end and the fifth end of the converter respectively, the first end, the ninth end and the tenth end of the converter are connected with the first power supply, the sixth end of the converter is grounded, and the twelfth end, the fourteenth end, the fifteenth end and the sixteenth end of the converter are connected with the intelligent control module respectively.

4. The anti-swing automatic control system of a tower crane according to claim 2, characterized in that, The motor control module comprises a sixth power tube, a third power tube, a fourth power tube, a third resistor, a fourth resistor and a fifth resistor. The gate of the sixth power tube, the gate of the third power tube and the gate of the fourth power tube are connected with the intelligent control module and the pulse control module, the collector of the sixth power tube, the collector of the third power tube and the collector of the fourth power tube are connected with the first end, the second end and the third end of the frequency converter respectively, the emitter of the sixth power tube is grounded through the third resistor, the emitter of the third power tube is grounded through the fourth resistor, and the emitter of the fourth power tube is grounded through the fifth resistor.

5. The anti-swing automatic control system of a tower crane according to claim 4, characterized in that, The swing detection module comprises a swing sensor, a sixth resistor, a seventh resistor, a first operational amplifier, an eighth resistor, a ninth resistor and a tenth resistor. The first output end of the swing sensor is connected with the inverting terminal of the first operational amplifier and one end of the eighth resistor through the sixth resistor, the second output end of the swing sensor is connected with the non-inverting terminal of the first operational amplifier and one end of the ninth resistor through the seventh resistor, the other end of the ninth resistor is grounded, the other end of the eighth resistor is connected with the output terminal of the first operational amplifier and the first end of the tenth resistor, the second end of the tenth resistor is connected with the sample-hold comparison module, and the first operational amplifier adopts an OP07 operational amplifier and performs differential amplification processing.

6. The anti-swing automatic control system of a tower crane according to claim 5, characterized in that, The sample-hold comparison module comprises a second operational amplifier, a fifth power tube, an eleventh resistor, a third capacitor, a thirteenth resistor and a third operational amplifier. The non-inverting terminal of the second operational amplifier is connected with the second end of the tenth resistor, the inverting terminal of the second operational amplifier is connected with the inverting terminal of the third operational amplifier and the output terminal of the third operational amplifier through the eleventh resistor, the non-inverting terminal of the third operational amplifier is connected with the drain of the fifth power tube and one end of the thirteenth resistor through the third capacitor, the other end of the thirteenth resistor is grounded, the gate of the fifth power tube is connected with the intelligent control module, and the source of the fifth power tube is connected with the output terminal of the second operational amplifier.

7. The anti-swing automatic control system of a tower crane according to claim 6, characterized in that, The sample-hold comparison module further comprises a first comparator, a sixteenth resistor, a second power supply and an analog switch. The non-inverting terminal of the first comparator is connected with the second end of the tenth resistor, the inverting terminal of the first comparator is connected with the output terminal of the third operational amplifier, the output terminal of the first comparator is connected with the fifth end of the analog switch and the second power supply through the sixteenth resistor, the fourth end of the analog switch is connected with the gate of the sixth power tube, and the third end of the analog switch is connected with the pulse control module.

8. The anti-swing automatic control system of a tower crane according to claim 7, characterized in that, The pulse control module comprises a first diode, a first potentiometer, a fourteenth resistor, a fourth capacitor, a pulse generator, a fifth capacitor, a fifteenth resistor, a third power supply and a twelfth resistor. The third power supply connects the fourth end and the eighth end of the pulse generator and connects one end of the first potentiometer through the fifteenth resistance, the wiper end of the first potentiometer connects the cathode of the first diode and connects the second end of the tenth resistance through the twelfth resistance, the anode of the first diode connects the seventh end of the pulse generator, the other end of the first potentiometer connects the second end and the sixth end of the pulse generator through the fourteenth resistance, the fifth end of the pulse generator connects the first end of the pulse generator, the other end of the fourth capacitor and the ground end through the fifth capacitor, and the third end of the pulse generator connects the third end of the analog switch.

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