A method and system for anti-swing control of luffing movement of a tower crane

Abstract

The application provides a tower crane luffing motion anti-swing control method and system, comprising: when the tower crane is running, real-time acquisition of output torque extreme value data in a frequency converter; the output torque extreme value data is sequentially subjected to an outlier removal and extreme value processing to detect whether the output torque extreme value exceeds an output torque extreme value corresponding to a set angle threshold; if yes, the rope length and the hoisting weight of the tower crane at the moment are acquired through a tower crane height sensor and a weight sensor, the maximum frequency of the tower crane operation is calculated in combination with the output torque extreme value corresponding to the set angle threshold, and the control system limits the operation frequency to be not more than the maximum frequency. The method solves the problem that the swing angle of the tower crane cannot be specifically measured, does not need to install a swing angle sensor, and reduces the cost and complexity of the tower crane; the swing angle can be avoided to be too large during the luffing process of the tower crane in a complex working environment, so that the working efficiency and safety of the work are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical motion control, and in particular to an anti-sway control method and system for luffing motion of a tower crane. Background Art

[0002] With the development of the construction industry, tower cranes have become an essential lifting and hoisting equipment, enjoying widespread application. The main operating components of a tower crane are the translation of the trolley along the boom, the vertical raising and lowering of the hook, and the slewing mechanism, which drives the boom and other components of the tower crane. Because the trolley and load are connected by a flexible steel wire rope, the load can easily swing during the trolley's luffing operation. Excessive swing angles can reduce the crane's lifting efficiency and create safety issues.

[0003] Currently, most methods for dealing with sway during lifting involve manually reversing the load to reduce its swing, and then combining this with the work of the dismantling technicians below to eliminate the load swing. While this method of load sway prevention offers the advantages of stability and reliability, and can reduce load swing to a certain extent, it also brings other problems, such as significant mechanical wear and tear, low work efficiency, and potential safety hazards. This method significantly increases mechanical wear and tear, increases the workload of the dismantling technicians, causes fatigue to them, and also poses certain safety risks. Summary of the Invention

[0004] Purpose of the invention: The technical problem to be solved by the present invention is to address the deficiencies of the prior art and provide a method for controlling the anti-sway of the luffing motion of a tower crane, which can effectively control the load swing within a certain angle range and achieve anti-sway of the load; the method comprises the following steps:

[0005] Step 1: Preprocessing data for anti-sway control of tower crane luffing motion;

[0006] Step 2, obtaining real-time data of the luffing output torque of the tower crane during operation from the frequency converter;

[0007] Step 3: Perform outlier removal and extreme value processing on the real-time data of the variable-luff output torque in sequence to obtain the maximum extreme value of the variable-luff output torque of the tower crane at each stage;

[0008] Step 4: Using the output torque extreme value corresponding to the swing angle threshold (generally 2.5°) as a reference, detect whether the maximum extreme value of the tower crane's variable amplitude output torque exceeds the output torque extreme value corresponding to the swing angle threshold;

[0009] If yes, the control system acquires the hoisting load (including the hook weight) and the rope length (the length between the trolley and the hook) of the tower crane, combines the output torque extreme value corresponding to the swing angle threshold, and calculates the maximum operating frequency value corresponding to the swing angle threshold; the control system corresponds the maximum operating frequency value with the gear position, and the control system limits the operating frequency value corresponding to the luffing gear position to not exceed the maximum operating frequency value; the tower crane continues to operate according to the luffing gear position controlled by the tower operator;

[0010] Otherwise, the control system does not limit the luffing gear position of the tower crane, and the tower crane continues to operate according to the luffing gear position controlled by the tower operator.

[0011] Step 1 includes:

[0012] Step 1-1, real-time acquisition of output torque data, frequency and time during the operation of the tower crane is realized by using the program written by labviwe, and the rope length and hoisting load are acquired through the height sensor and weight sensor attached to the tower crane, the maximum output torque extreme value of the tower crane hoisting load during the first luffing movement is obtained by analyzing and calculating the output torque data; during the operation of the tower crane, the swinging condition of the hook is synchronously shot, and the video shot is processed according to each frame to extract the maximum swing angle of the tower crane hook;

[0013] Step 1-2, through data analysis, it is found that the swing angle of the tower crane and the output torque have a corresponding functional relationship;

[0014] Step 1-3, through data analysis, the influencing factors of the maximum output torque extreme value are found, including the hoisting load, the rope length and the luffing operating frequency; the hoisting load, the rope length, the luffing operating frequency and the output torque extreme value data are analyzed and fitted to obtain the functional relationship between the output torque extreme value and the hoisting load, the rope length and the luffing operating frequency; the functional relationship between the output torque extreme value and the maximum swing angle is obtained by analyzing and fitting the output torque extreme value and the maximum swing angle; the fitting degree test and significance analysis are performed on the above two analysis and fitting.

[0015] In step 1-3, the collected output torque data is image processed to obtain the maximum output torque extreme value T (maxtime-n) , the hoisting load G, the rope length l and the luffing operating frequency f collected during the same luffing movement are data fitted to obtain the following functional relationship formula:

[0016] T (maxtime-n) = AG+BF+Cl+D

[0017] Wherein, A, B, C, D are parameters, the maximum output torque extreme value, the hoisting load G, the rope length l and the luffing operating frequency f functional relationship formula parameter values are obtained by calculating and analyzing the data.

[0018] In steps 1-3, the photographed tower crane luffing operation video is processed according to the method of each frame, the maximum swing angle of the tower crane is obtained, and the corresponding maximum output torque is combined to obtain the maximum output torque extreme value T (maxtime-n) Data fitting is performed with the swing angle θ to obtain the maximum output torque extreme value T (maxtime-n) The maximum output torque extreme value T and the swing angle θ have the following function relationship:

[0019] θ = XT (maxtime-n) -Y

[0020] Wherein, X and Y are parameters, and the parameters are obtained by calculating and analyzing the data and fitting the function relationship between the maximum output torque extreme value and the swing angle θ.

[0021] According to the function relationship between the swing angle and the maximum output torque extreme value, the maximum output torque extreme value corresponding to the swing angle threshold value is obtained in combination with the set swing angle threshold value 2.5°.

[0022] Step 3 includes:

[0023] According to the Grubbs method, it is determined whether there is an abnormal value in the luffing output torque real-time data, the abnormal value is removed from the output torque extreme value data, and does not participate in the extreme value calculation;

[0024] In the set 3s time period, all output torque extreme values in the set 3s are calculated according to the definition of the extreme value, the output torque extreme value is processed by absolute value, then the output torque extreme values are compared in size, and the maximum output torque extreme value is obtained.

[0025] The application also provides a tower crane luffing movement anti-swing control system, comprising:

[0026] A preprocessing unit is configured to perform data preprocessing for the anti-swing control of the tower crane luffing movement.

[0027] A first obtaining unit is configured to obtain luffing output torque real-time data of the tower crane in operation from a frequency converter.

[0028] A processing unit is configured to sequentially perform outlier removal and extreme value processing on the luffing output torque real-time data to obtain a maximum extreme value of the luffing output torque of the tower crane.

[0029] A second obtaining unit is configured to obtain a hoisted load and a rope length of the tower crane from a weight sensor and a height sensor.

[0030] A first calculating unit is configured to calculate a maximum output torque extreme value corresponding to a swing angle threshold value.

[0031] A detection unit is configured to detect whether the maximum extreme value of the luffing output torque of the tower crane exceeds the output torque extreme value corresponding to the swing angle threshold value.

[0032] The second calculation unit is used to calculate the maximum operating frequency value corresponding to the swing angle threshold;

[0033] Control unit used to limit the luffing gears of tower cranes.

[0034] The processing unit includes:

[0035] The first processing subunit is configured to determine whether there are abnormal values ​​in the real-time data of the variable amplitude output torque according to the Grubbs method, and to remove the abnormal values ​​from the output torque extreme value data so that the abnormal values ​​do not participate in the extreme value calculation;

[0036] The second processing subunit is used to calculate all output torque extreme values ​​within the set time period according to the definition of extreme values, perform absolute value processing on the output torque extreme values, and then compare the output torque extreme values ​​to obtain the maximum output torque extreme value.

[0037] The system further comprises:

[0038] An acquisition module is used to obtain the amplitude frequency value of the tower crane during operation;

[0039] The calculation module is used to calculate the difference between the maximum operating frequency value and the amplitude variation frequency value when the tower crane is in operation; the control module is used to control the amplitude variation frequency.

[0040] The present invention also provides a storage medium storing a computer program or instruction. When the computer program or instruction is executed, the anti-sway control method for luffing motion of a tower crane is implemented.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] In the present invention, real-time data of the variable amplitude output torque of the tower crane during the operation phase is obtained from the frequency converter; outlier removal and extreme value processing are performed on the real-time variable amplitude output torque data in sequence to obtain the maximum extreme value of the variable amplitude output torque of the tower crane at each stage; the output torque extreme value corresponding to the swing angle threshold is used as a reference to detect whether the maximum extreme value of the variable amplitude output torque of the tower crane at each stage exceeds the output torque extreme value corresponding to the swing angle threshold; if so, the control system obtains the hoisting weight (including the hook weight) and the rope length (the length between the trolley and the hook) of the tower crane, and calculates the maximum operating frequency value corresponding to the swing angle threshold in combination with the output torque extreme value corresponding to the swing angle threshold; the control system associates the maximum operating frequency value with the gear position, and the control system limits the operating frequency value corresponding to the variable amplitude gear position to not exceed the maximum operating frequency value; the tower crane continues to operate according to the variable amplitude gear position controlled by the tower crane; if not, the control system does not limit the variable amplitude gear position of the tower crane, and the tower crane continues to operate according to the variable amplitude gear position controlled by the tower crane. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, and the above and / or other advantages of the present invention will become more apparent.

[0044] Figure 1 The present invention discloses a flow chart of a method for controlling anti-swaying during luffing operation of a tower crane.

[0045] Figure 2 The present invention is a flowchart of another method for controlling anti-sway during luffing operation of a tower crane disclosed in an embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram of the control system structure disclosed in an embodiment of the present invention.

[0047] Figure 4 It is a structural diagram of another control system disclosed in an embodiment of the present invention.

[0048] Figure 5 It is the output torque and power waveform.

[0049] Figure 6a 、 Figure 6b 、 Figure 6c 、 Figure 6d and Figure 6e This is a diagram of the extreme values ​​of the output torque when lifting cargoes of different weights at the same gear position and rope length.

[0050] Figure 7a 、 Figure 7b It is the output torque extreme value diagram when using different gears to lift the same weight of goods with the same rope length.

[0051] Figure 8a, Figure 8b is the output torque extreme value figure of hoisting the same weight cargo with different rope length in the same gear.

[0052] Figure 9 is the data analysis figure of the function relationship between the swing angle and the output torque extreme value.

[0053] Figure 10 is the fitting degree test and significance analysis result figure of the function relationship between the swing angle and the output torque extreme value.

[0054] Figure 11 is the data analysis figure of the function relationship between the output torque extreme value and the variable amplitude operation frequency, the tower crane hoisting weight and the rope length.

[0055] Figure 12 is the fitting degree test and significance analysis result figure of the function relationship between the output torque extreme value and the variable amplitude operation frequency, the tower crane hoisting weight and the rope length.

[0056] Figure 13 is the structure diagram of another control system disclosed by the embodiment of the present application. DETAILED DESCRIPTION

[0057] Embodiment 1

[0058] Please refer to Figure 1 , Figure 1 is the flowchart of the anti-swing control method in the variable amplitude operation of the tower crane disclosed by the embodiment of the present application. As shown in the figure, Figure 1 the anti-swing control method in the variable amplitude operation of the tower crane comprises the following steps.

[0059] 101. The control system acquires the variable amplitude output torque real-time data of the tower crane operation stage from the frequency converter.

[0060] As an optional implementation manner, since the operation parameters (including the output torque, the operation frequency and the output frequency and some other parameters) of the tower crane are set by the manufacturer, each operation parameter has its own data address, and the output torque extreme value data can be acquired according to the frequency converter instruction manual.

[0061] As an optional implementation manner, in the present application example, the control system collects the output torque information through the program established by Labviwe, and can also acquire the real-time data through other ways, and no limitation is applied.

[0062] 102. The control system sequentially performs the abnormal value removal and the extreme value processing on the variable amplitude output torque real-time data, so as to acquire the maximum extreme value of the variable amplitude output torque stage of the tower crane.

[0063] As an optional implementation, in the embodiment of the present application, the control system performs rapid processing on the amplitude output torque real-time data, mainly including outlier removal and extreme value processing. The method adopted in the outlier processing is the Grubbs method, which mainly removes some output torque values with excessively large or small fluctuations. After removing these output torque values with excessively large or small fluctuations, a specified period of detection time is set, for example, 10 seconds for one detection, that is, the data in the period of 10 seconds is processed, and the output torque extreme value in this period is obtained, and then the maximum extreme value is found according to the absolute value of the extreme value.

[0064] As an optional implementation, in the embodiment of the present application, the maximum output torque extreme value of the present application is obtained after processing the output torque extreme value data, and the processing method of the data is not limited in the present application.

[0065] 103. The control system detects whether the maximum extreme value of the amplitude output torque of the tower crane exceeds the output torque extreme value corresponding to the swing angle threshold value, taking the output torque extreme value corresponding to the swing angle threshold value as a reference. If yes, steps 105-106 are executed, and if no, step 107 is executed.

[0066] In the embodiment of the present application, the relationship between the swing angle threshold value and the output torque extreme value is derived from data analysis and fitting. Figure 4

[0067] As an optional implementation, in the embodiment of the present application, the swing angle threshold value can be set according to the operation of the tower crane, or it can be the default of the system, and the present application is not limited in this regard.

[0068] In the embodiment of the present application, after the swing angle threshold value is determined, the output torque extreme value corresponding to the swing angle threshold value is obtained in combination with the relationship between the swing angle threshold value and the output torque extreme value.

[0069] As an optional implementation, in the embodiment of the present application, the present application can automatically detect whether the maximum output torque extreme value of the tower crane during amplitude operation exceeds the output torque extreme value corresponding to the swing angle threshold value.

[0070] 104. The control system obtains the hoisting weight (including the hook weight) and the rope length (the length between the trolley and the hook) of the tower crane, and calculates the maximum operating frequency value corresponding to the swing angle threshold value in combination with the output torque extreme value corresponding to the swing angle threshold value.

[0071] As an optional implementation, in the embodiment of the present application, the hoisting weight of the tower crane can be obtained by a weight sensor, and the rope length of the tower crane can be obtained by a height sensor, and the present application is not limited in this regard. ​

[0072] As an optional implementation, in an embodiment of the present invention, the tower crane lifting weight and rope length data are transmitted to a second computing unit in the control system.

[0073] In the present invention, the relationship between the output torque extreme value and the variable amplitude operation frequency, the tower crane lifting weight and the rope length is derived from Figure 5 Data analysis and fitting.

[0074] 105. The control system associates the maximum operating frequency value with a gear position, and the control system limits the operating frequency value corresponding to the amplitude variation gear position to not exceed the maximum operating frequency value.

[0075] 106. The control system re-detects within a certain time period whether the maximum value of the tower crane's luffing output torque exceeds the output torque value corresponding to the swing angle threshold. If not, the tower crane continues to operate according to the luffing gear controlled by the tower crane. If so, steps 104 and 105 are executed.

[0076] 107. The control system does not limit the luffing gear position of the tower crane, and the tower crane continues to operate according to the luffing gear position controlled by the tower crane.

[0077] As an optional implementation, in an embodiment of the present invention, after the anti-sway task of the relevant equipment (such as the gear limit of the control system) is completed, the present application can repeatedly execute steps 101 to 104 until it is detected that the maximum stage-by-stage extreme value of the tower crane's variable amplitude output torque does not exceed the output torque extreme value corresponding to the swing angle threshold.

[0078] As an optional implementation, in an embodiment of the present invention, the present application does not need to measure the swing angle of the hook in real time during the operation of the tower crane. Based on the analysis of the output torque extreme value and the swing angle data, it only uses the output torque extreme value data information to detect whether the swing angle exceeds the threshold, thereby improving the detection accuracy while ensuring the detection speed.

[0079] As an optional implementation, in an embodiment of the present invention, the present application can be independent of the manual anti-shake of the loading and unloading master, reduce the physical energy consumption of the loading and unloading master, and ensure the safety of the loading and unloading master to a certain extent. It can be applied to other forms of cranes, including gantry cranes, etc., and can improve work efficiency and increase safety.

[0080] exist Figure 1 In the load anti-sway control method shown in FIG, the control system is used as an example for description. It should be noted that Figure 1 The execution subject of the load anti-sway control method shown may also be an independent device associated with the control system, which is not limited in the embodiment of the present invention.

[0081] It can be seen that the embodiment Figure 1 The described tower crane variable amplitude operation in the control method of anti-swing can effectively control the load deflection angle.

[0082] In addition, the embodiment Figure 1 The described tower crane variable amplitude operation in the control method of anti-swing can effectively improve work efficiency and increase safety.

[0083] Embodiment 2

[0084] Please refer to Figure 2 , Figure 2 is another flowchart of the tower crane variable amplitude operation in the control method of anti-swing disclosed by the embodiment of the application. As Figure 2 The tower crane variable amplitude operation in the control method of anti-swing can include the following steps:

[0085] 201, the control system obtains the variable amplitude output torque real-time data of the tower crane operation stage from the frequency converter.

[0086] 202, the control system sequentially performs the outlier removal and extreme value processing on the variable amplitude output torque real-time data to obtain the maximum extreme value of the tower crane variable amplitude output torque stage.

[0087] 303, the control system takes the output torque extreme value corresponding to the swing angle threshold as a reference to detect whether the maximum extreme value of the tower crane variable amplitude output torque stage exceeds the output torque extreme value corresponding to the swing angle threshold, if yes, steps 205-206 are executed, otherwise step 207 is executed.

[0088] 204, the control system obtains the hoisting weight (including the hook weight) and the rope length (the length between the trolley and the hook) of the tower crane, combines the output torque extreme value corresponding to the swing angle threshold, subtracts the maximum operation frequency value from the real-time variable amplitude operation frequency to obtain the frequency value.

[0089] 205, the control system controls the operation frequency value to be the frequency value.

[0090] 206, the control system detects again whether the maximum extreme value of the tower crane variable amplitude output torque stage exceeds the output torque extreme value corresponding to the swing angle threshold within a certain period of time. If not, the tower crane continues to operate according to the variable amplitude gear controlled by the tower crane, if yes, steps 204-205 are executed.

[0091] As an optional implementation, in the embodiment of the application, if the output torque value still exceeds the output torque value corresponding to the swing angle threshold, the system can determine that the target object is still in an excessive swing state, at which time the system can again perform frequency value rollback and control the operation frequency by the control system.

[0092] 207. The control system does not limit the luffing gear position of the tower crane, and the tower crane continues to operate according to the luffing gear position controlled by the tower crane.

[0093] It can be seen that implementation Figure 2 Another anti-sway control method for a tower crane during luffing operation is described, which can effectively and accurately control the load swing.

[0094] In addition, implementation Figure 2 Another anti-sway control method for a tower crane during luffing operation can improve work efficiency.

[0095] Example 3

[0096] See also Figure 3 , Figure 3 This is a schematic diagram of the structure of a control system disclosed in an embodiment of the present invention. Figure 3 As shown, the control system 3 includes a pre-processing unit 300, a first acquisition unit 301, a processing unit 302, a first calculation unit 303, a detection unit 304, a second acquisition unit 305, a second calculation unit 306 and a control unit 307, wherein:

[0097] A pre-processing unit 300 is used for data pre-processing of anti-sway control for luffing motion of a tower crane;

[0098] The first acquisition unit 301 is used to acquire the real-time data of the luffing output torque of the tower crane during the operation phase from the frequency converter;

[0099] The processing unit 302 is used to perform outlier removal and extreme value processing on the real-time data of the luffing output torque in sequence to obtain the maximum extreme value of the tower crane's luffing output torque at each stage;

[0100] The first calculation unit 303 is used to calculate the maximum output torque extreme value corresponding to the swing angle threshold.

[0101] The detection unit 304 is used to detect whether the maximum extreme value of the tower crane's variable-luffing output torque exceeds the output torque extreme value corresponding to the swing angle threshold;

[0102] The second acquiring unit 305 is used to acquire the lifting weight and rope length of the tower crane from the weight sensor and the height sensor;

[0103] The second calculation unit 306 is used to calculate the maximum operating frequency value corresponding to the swing angle threshold;

[0104] The control unit 307 is used to limit the luffing gear of the tower crane.

[0105] As an optional implementation, in the embodiment of the present application, since the operating parameters of the tower crane, including the output torque, the operating frequency and the output frequency, etc., are set by the manufacturer, each operating parameter has its own data address, and the first acquisition unit 301 can acquire the output torque extreme value data according to the frequency converter manual.

[0106] As an optional implementation, in the embodiment of the present application, the control system collects the output torque information through the program established by Labviwe, and can also acquire the information in real time through other ways, without any limitation.

[0107] As an optional implementation, in the embodiment of the present application, the processing unit 302 performs rapid processing on the real-time output torque data of the luffing, mainly including the outlier removal and the extreme value processing. The method adopted in the outlier removal is the Grubbs method, which mainly removes some output torque values with excessively large or small fluctuations. After removing the output torque values with excessively large or small fluctuations, the output torque extreme value in a specified detection time, for example, 10 seconds, is calculated, and the maximum extreme value is found according to the absolute value of the extreme value.

[0108] As an optional implementation, in the embodiment of the present application, the maximum output torque extreme value of the present application is obtained after processing the output torque extreme value data, and the processing method of the data is not limited in the present application.

[0109] As an optional implementation, in the embodiment of the present application, the swing angle threshold value can be set according to the operation of the tower crane, or can be the default of the system, without any limitation.

[0110] In the embodiment of the present application, after the swing angle threshold value is determined, the first calculation unit 303 obtains the output torque extreme value corresponding to the swing angle threshold value in combination with the relationship between the swing angle threshold value and the output torque extreme value.

[0111] As an optional implementation, in the embodiment of the present application, the detection unit 304 can automatically detect whether the maximum extreme value of the output torque during the luffing operation of the tower crane exceeds the output torque extreme value corresponding to the swing angle threshold value.

[0112] As an optional implementation, in the embodiment of the present application, after the anti-swing task of the related equipment (such as the control system) is completed, the first acquisition unit 301, the processing unit 302, the first calculation unit 303 and the detection unit 304 can repeatedly perform the detection work until the maximum extreme value of the luffing output torque of the tower crane does not exceed the output torque extreme value corresponding to the swing angle threshold value.

[0113] As an optional implementation, in the embodiment of the present application, the angle of the hook swing does not need to be measured in real time during the operation of the tower crane, and based on the output torque extreme value and swing angle data analysis, only the output torque extreme value data information is used to detect whether the swing angle exceeds the threshold value, thereby improving the detection accuracy while ensuring the detection speed.

[0114] As an optional implementation, in the embodiment of the present application, the manual anti-swing of the loading and unloading master can be separated, the physical consumption of the loading and unloading master is reduced, the safety of the loading and unloading master is ensured to a certain extent, the application can be applied to other forms of cranes including gantry cranes, the working efficiency is improved, and the safety is increased.

[0115] Embodiment 4

[0116] Referring to Figure 4 , Figure 4 is another control system structure diagram disclosed by the embodiment of the present application. The control system shown in Figure 4 is obtained by optimizing the control system shown in Figure 3 Compared with the control system shown in Figure 3 , the control system shown in Figure 4 further comprises:

[0117] The acquisition module 305 is configured to acquire the luffing frequency value at the running moment of the tower crane.

[0118] The calculation module 306 is configured to calculate the difference between the maximum running frequency value and the luffing frequency value at the running moment of the tower crane.

[0119] As an optional implementation, in the embodiment of the present application, the acquisition module 305 acquires the luffing frequency value at the running moment of the tower crane and transmits it to the calculation module 306 in real time, so as to calculate the difference between the maximum running frequency value and the luffing frequency value at the running moment of the tower crane.

[0120] As an optional implementation, in the embodiment of the present application, the control unit 307 performs a function different from the control unit in Figure 3 In this example, the main function of the control unit 307 is to control the luffing frequency value based on the difference between the maximum running frequency value and the luffing frequency value at the running moment of the tower crane.

[0121] As an optional implementation, in the embodiment of the present application, if the detection unit 304 detects that the output torque extreme value still exceeds the output torque extreme value corresponding to the swing angle threshold value, the system can determine that the target object is still in the swing state, and the first acquisition unit 301, the processing unit 302, the first calculation unit 303, the detection unit 304 can repeatedly perform the detection work until the detection tower crane luffing output torque phase maximum extreme value does not exceed the output torque extreme value corresponding to the swing angle threshold value.

[0122] Referring to Figure 5 , Figure 5 is an output torque and power waveform diagram, wherein:

[0123] Since the tower crane swing mode is reciprocating swing, and the motor needs to adjust the output torque in real time in order to resist the impact of swing and achieve stable operation, the output torque waveform is a sine wave. Taking the outward luffing of the trolley as an example, when the goods loaded on the tower crane swing to the maximum angle, in order to resist the maximum resistance, the luffing motor output torque reaches the maximum value, corresponding to the upper peak value in the sine wave; when the goods loaded on the tower crane swing to the maximum swing angle, the goods loaded on the tower crane have a tendency to drag the trolley forward, at this time the resistance to the luffing motor is the smallest, at this time the luffing motor output torque reaches the minimum value, corresponding to the lower peak value in the sine wave. Sometimes the forward traction force of the goods loaded on the trolley even exceeds the traction force required for the trolley to move at a constant speed, and the luffing motor has to output a reverse torque to avoid the trolley from stalling, at this time the output torque of the luffing motor also reaches the minimum value, corresponding to the lower peak value in the sine wave.

[0124] By Figure 5 Analysis shows that when the goods loaded on the tower crane swing to the maximum angle, i.e. the swing angle is the maximum value, and the output torque also corresponds to a peak value, the maximum extreme value of the output torque in a swing cycle is calculated, which proves that the swing angle and the output torque extreme value have a corresponding functional relationship.

[0125] Referring to Figure 6a , Figure 6b , Figure 6c , Figure 6d and Figure 6e , Figure 6a , Figure 6b , Figure 6c , Figure 6d and Figure 6e is the output torque extreme value diagram of hoisting different weight goods under the same gear and the same rope length.

[0126] Figure 6a is the output torque extreme value comparison diagram obtained by running the tower crane at 0-1 gear, controlling the rope length at 14m height, and hoisting three different weights of objects respectively.

[0127] Figure 6b is the tower crane with 0 to 2 gears running, while controlling the rope length at 14m height, respectively hoisting three different weights of objects, the output torque extreme value comparison chart.

[0128] Figure 6c is the tower crane with 0 to 3 gears running, while controlling the rope length at 14m height, respectively hoisting three different weights of objects, the output torque extreme value comparison chart.

[0129] Figure 6d is the tower crane with 0 to 4 gears running, while controlling the rope length at 14m height, respectively hoisting three different weights of objects, the output torque extreme value comparison chart.

[0130] Figure 6e The first graph is the tower crane with 0 to 5 gears running, while controlling the rope length at 14m height, respectively hoisting three different weights of objects, the output torque extreme value comparison chart.

[0131] Obviously, the output torque extreme value obtained by hoisting different weights of goods at the same gear and the same height has obvious difference, so the hoisting weight is an output torque extreme value dependent variable.

[0132] Referring to Figure 7a and Figure 7b , Figure 7a and Figure 7b is the output torque extreme value chart of hoisting the same weight of goods using different gears at the same rope length.

[0133] Figure 7a is the output torque extreme value chart of the tower crane using 0 to 1 gear (0-80Hz), 0 to 2 gear (0-150Hz), 0 to 3 gear (0-250Hz), 0 to 4 gear (0-350Hz) and 0 to 5 gear (0-500Hz) to hoist 250kg goods at 7m rope length.

[0134] Figure 7b is the output torque extreme value chart of the tower crane using 0 to 1 gear (0-80Hz), 0 to 2 gear (0-150Hz), 0 to 3 gear (0-250Hz), 0 to 4 gear (0-350Hz) and 0 to 5 gear (0-500Hz) to hoist 200kg goods at 14m rope length.

[0135] Obviously, the output torque extreme value obtained by hoisting the same weight of goods using different gears at the same rope length has obvious difference, so the gear is an output torque extreme value dependent variable. Since the gears set for each tower crane are different, in order to ensure the use of consistent factors, the gear is converted into frequency, that is, the frequency is an output torque extreme value dependent variable.

[0136] Referring toFigure 8a and Figure 8b , Figure 8a and Figure 8b It is the output torque extreme value diagram when lifting the same weight of goods with different rope lengths at the same gear.

[0137] Figure 8a This is the output torque extreme value diagram obtained when the tower crane is running in gears 0 to 2 and hoisting 250kg with rope lengths of 7m and 14m respectively.

[0138] Figure 8b This is the output torque extreme value diagram obtained when the tower crane is running in gears 0 to 4 and hoisting 200kg with rope lengths of 7m and 14m respectively.

[0139] Obviously, it can be found that under the same lifting weight and the same gear, when lifting the same weight of goods with different rope lengths, the output torque extreme values ​​obtained are significantly different, so the gear position is a dependent variable of the output torque extreme value.

[0140] See Figure 9 as well as Figure 10 , Figure 9 This is a data diagram of the analysis of the functional relationship between the swing angle and the output torque extreme value. Figure 10 This is the result of the fitting test and significance analysis of the extreme value functional relationship between the swing angle and the output torque.

[0141] based on Figure 9 The data set is used to fit the swing angle and the output torque extreme value, and the output torque extreme value T is obtained. (maxtime-n) Functional relationship with the swing angle θ:

[0142] θ=0.019T (maxtime-n) -1.591

[0143] R represents goodness of fit, which is used to measure the degree of fit of the multiple linear regression model. 2 The meaning of represents the coefficient of determination, which indicates the percentage of the variance of the dependent variable that the independent variable can reflect. Therefore, the higher the independent variable is, the better it can reflect the dependent variable.

[0144] based on Figure 10 The results of the fitting test and significance analysis of the relationship between the swing angle and the output torque extreme value function can be obtained from the R fitting of the relationship between the swing angle and the output torque extreme value function. 2 The linear regression model obtained by the present invention has a high degree of fit. The F test value is 1351.076, and the corresponding significance value is 0.000, which meets the requirement of less than 0.005. Therefore, the linear regression model shows significance, and the independent variable has a significant effect on the dependent variable.

[0145] See Figure 11 as well as Figure 12, Figure 11 This is a partial data graph analyzing the functional relationship between the output torque extreme value and the variable amplitude operating frequency, tower crane lifting weight, and rope length. Figure 12 This is a graph showing the results of the goodness of fit test and significance analysis of the functional relationship between the output torque extreme value and the variable amplitude operation frequency, tower crane lifting weight, and rope length.

[0146] based on Figure 11 The data set is used to fit the data of the load G, operating frequency f, rope length l and the output torque extreme value T_(maxtime-n), and the functional relationship between the output torque extreme value and the load G, operating frequency f and rope length l is obtained:

[0147] T (maxtime-n) =-0.068G+2.067F+1.314l+311.292

[0148] based on Figure 12 The fitting test and significance analysis results of the functional relationship between the output torque extreme value and the variable amplitude operation frequency, the tower crane lifting weight and the rope length are shown in the figure. The R value of the functional relationship between the output torque extreme value and the variable amplitude operation frequency, the tower crane lifting weight and the rope length can be obtained. 2 The value is 0.0.724, relatively close to 1, indicating that the linear regression model obtained in this paper has a high degree of fit. The F-test value is 9.536, and its corresponding significance value is 0.000, which meets the requirement of less than 0.005. Therefore, the linear regression model is significant, and the independent variable has a significant impact on the dependent variable.

[0149] See Figure 13 , Figure 13 It is a structural diagram of another control system disclosed in an embodiment of the present invention.

[0150] like Figure 13 As shown, the control system includes:

[0151] Can read and write executable program code integrated control module 701;

[0152] a processor 702 in combination with the integrated control module;

[0153] The processor calls the executable program code stored in the integrated control module to execute Figures 1-2 The steps in the anti-sway control method of luffing motion of a tower crane are shown.

[0154] The application provides a tower crane luffing motion anti-swing control method and system, and there are many methods and approaches to realize the technical scheme. The above description is only the preferred embodiment of the application, and it should be pointed out that, for ordinary skilled in the art, without departing from the principle of the application, some improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the application. The components not explicitly described in the embodiment can be realized by the prior art.

Claims

1. A tower crane luffing motion anti-sway control method, characterized in that: The following steps are involved: Step 1: Preprocessing data for anti-sway control of tower crane luffing motion; Step 2, obtaining real-time data of the luffing output torque of the tower crane during operation from the frequency converter; Step 3: Perform outlier removal and extreme value processing on the real-time data of the variable-luff output torque in sequence to obtain the maximum extreme value of the variable-luff output torque of the tower crane at each stage; Step 4: Using the output torque extreme value corresponding to the swing angle threshold as a reference, detecting whether the maximum extreme value of the tower crane's variable amplitude output torque exceeds the output torque extreme value corresponding to the swing angle threshold; If so, the control system obtains the hoisting weight and rope length of the tower crane, combines the output torque extreme value corresponding to the swing angle threshold, and calculates the maximum operating frequency value corresponding to the swing angle threshold; the control system matches the maximum operating frequency value with the gear position, and the control system limits the operating frequency value corresponding to the luffing gear position to not exceed the maximum operating frequency value; the tower crane continues to operate according to the luffing gear position controlled by the tower crane; Otherwise, the control system does not limit the luffing gear of the tower crane, and the tower crane continues to operate according to the luffing gear controlled by the tower crane; Step 1 includes: Step 1-1: Real-time data collection of the output torque, frequency, and time of the tower crane during operation. The rope length and load are acquired through the tower crane's attached height and weight sensors. The output torque data is analyzed and calculated to determine the maximum output torque for a single luffing motion of the tower crane lifting a load. During the operation phase of the tower crane, the hook's swing is captured simultaneously. The captured video is processed frame by frame to extract the maximum hook swing angle. Step 1-2: Through data analysis, it is found that the tower crane swing angle and output torque have a corresponding functional relationship; Steps 1-3: Identify the factors influencing the maximum output torque extreme value through data analysis, including the hoisting load, rope length, and variable amplitude operation frequency; analyze and fit the acquired data of the hoisting load, rope length, variable amplitude operation frequency, and output torque extreme value to obtain the functional relationship between the output torque extreme value and the hoisting load, rope length, and variable amplitude operation frequency; simultaneously, analyze and fit the output torque extreme value and the maximum swing angle to obtain the functional relationship between the output torque extreme value and the swing angle; perform a goodness of fit test and significance analysis on the above two analytical fits; In step 1-3, the collected output torque data is processed into images to obtain the maximum output torque extreme value T (maxtime-n) , and the data collected from the same amplitude variation movement, such as the lifting weight G, rope length l, and amplitude variation operation frequency f, are fitted to obtain the following functional relationship: T (maxtime-n) =AG+BF+Cl+D Among them, A, B, C, and D are parameters. The data is calculated, analyzed, and fitted to obtain the parameter values ​​in the functional relationship between the maximum output torque extreme value, the lifting load G, the rope length l, and the variable amplitude operation frequency f; In steps 1-3, the tower crane variable-luffing operation video is processed frame by frame to obtain the maximum swing angle of the tower crane, and the maximum output torque extreme value t is calculated based on the corresponding maximum output torque. (maxtime-n) The data is fitted with the swing angle θ to obtain the maximum output torque extreme value T (maxtime-n) The functional relationship with the swing angle θ is as follows: θ=XT (maxtime-n) -Y Among them, X and Y are parameters. The data is calculated, analyzed and fitted to obtain the parameter values ​​in the functional relationship between the maximum output torque extreme value and the swing angle θ; According to the functional relationship between the swing angle and the maximum output torque extreme value, the maximum output torque extreme value corresponding to the swing angle threshold value is obtained in combination with the set swing angle threshold value; Step 3 includes: According to the Grubbs method, the real-time data of the variable amplitude output torque is judged to see whether there are abnormal values. The abnormal values ​​are removed from the output torque extreme value data and are not included in the extreme value calculation. According to the definition of extreme values ​​within the set time period, all output torque extreme values ​​within the set time period are calculated, and the output torque extreme values ​​are processed in absolute value, and then the output torque extreme values ​​are compared in size to obtain the maximum output torque extreme value.

2. An anti-sway control system for luffing motion of a tower crane implemented based on the method according to claim 1, characterized in that: include: A preprocessing unit, used for data preprocessing of anti-sway control for luffing motion of tower crane; The first acquisition unit is used to obtain the real-time data of the luffing output torque of the tower crane during the operation phase from the frequency converter; The processing unit is used to sequentially perform outlier removal and extreme value processing on the real-time data of the luffing output torque to obtain the maximum extreme value of the tower crane's luffing output torque at each stage; The second acquisition unit is used to obtain the lifting weight and rope length of the tower crane from the weight sensor and the height sensor; A first calculation unit is used to calculate the maximum output torque extreme value corresponding to the swing angle threshold; A detection unit, used to detect whether the maximum extreme value of the tower crane's variable-luffing output torque exceeds the output torque extreme value corresponding to the swing angle threshold; The second calculation unit is used to calculate the maximum operating frequency value corresponding to the swing angle threshold; A control unit used to limit the luffing gear position of the tower crane; The processing unit includes: The first processing sub-unit is used to determine whether there are abnormal values ​​in the variable amplitude output torque real-time data according to the Grubbs method, and remove the abnormal values ​​from the output torque extreme value data so that they do not participate in the extreme value calculation; The second processing subunit is configured to calculate all output torque extreme values ​​within a set time period according to the definition of extreme values, perform absolute value processing on the output torque extreme values, and then compare the output torque extreme values ​​to obtain a maximum output torque extreme value; The system further comprises: An acquisition module is used to obtain the amplitude frequency value of the tower crane during operation; A calculation module, used for calculating the difference between the maximum operating frequency value and the amplitude variation frequency value of the tower crane during operation; The control module is used to control the amplitude variation frequency.

3. A storage medium, characterized in that: A computer program or instruction is stored, and when the computer program or instruction is executed, the method according to claim 1 is implemented.

Images