Method, controller and control system for constant amplitude hoisting control of a luffing tower crane

Abstract

The application discloses a method, a controller and a control system for constant-amplitude hoisting control of a luffing tower crane. The method comprises: obtaining a structural geometric model of the luffing tower crane; establishing a finite element model according to the structural geometric model of the luffing tower crane; determining a target relationship model of a hook amplitude deviation of the luffing tower crane according to the finite element model; during hoisting and loading of the luffing tower crane, calculating the hook amplitude deviation in real time according to the target relationship model; and controlling the luffing tower crane to perform a luffing action based on the hook amplitude deviation, so as to compensate for the hook amplitude deviation and ensure that the hook amplitude is constant during hoisting and loading of the luffing tower crane. The application compensates for the amplitude deviation caused by hoisting and loading deformation by controlling the luffing tower crane to perform a luffing action, avoids the occurrence of a diagonal pulling and hoisting phenomenon during hoisting and loading of the luffing tower crane, and prevents over-torque. Meanwhile, the compensation process based on the target relationship model is smooth, and over-compensation or under-compensation does not occur, thereby reducing the requirements on an operator.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, specifically to a method, controller and control system for fixed-amplitude lifting control of a luffing tower crane. Background Technology

[0002] During the lifting process of a luffing jib tower crane, the deformation of the jib tip increases the distance between the hook and the center of rotation, resulting in oblique pulling and lifting. This also increases the torque on the jib, potentially exceeding the torque limit, thus affecting lifting operations. These oblique pulling, lifting, and excessive torque phenomena are even more pronounced during heavy load lifting, posing a significant challenge for luffing jib tower cranes during operations.

[0003] In the existing technology, the lifting of luffing jib tower cranes relies entirely on the operator's experience, which places high demands on the driver and carries significant risks. Summary of the Invention

[0004] The purpose of this application is to provide a method, controller, and control system for fixed-amplitude lifting control of a luffing jib tower crane, in order to solve the problem that during the lifting process of a luffing jib tower crane, the deformation of the jib tip causes the distance between the hook and the center of rotation to increase, resulting in oblique lifting.

[0005] To achieve the above objectives, the first aspect of this application provides a method for controlling the constant-amplitude hoisting of a luffing jib tower crane, applied to a controller of a constant-amplitude hoisting system of a luffing jib tower crane, the method comprising:

[0006] Obtain the structural geometric model of the luffing jib tower crane;

[0007] A finite element model is established based on the structural geometric model of the luffing jib tower crane;

[0008] The target relationship model for the hook amplitude deviation of the luffing jib tower crane is determined based on the finite element model.

[0009] During the lifting and hoisting process of the luffing jib tower crane, the hook amplitude deviation is calculated in real time based on the target relationship model;

[0010] Based on the hook amplitude deviation, the luffing tower crane is controlled to perform luffing operations to compensate for the hook amplitude deviation, so as to ensure that the hook amplitude remains unchanged during the lifting and hoisting process.

[0011] In this embodiment of the application, the target relationship model for determining the hook amplitude deviation of the luffing jib tower crane based on the finite element model includes:

[0012] Finite element analysis was performed on the boom elevation angle, load, boom length and tower height to obtain the initial relationship model of hook amplitude deviation.

[0013] The parameters of the initial relationship model of hook amplitude deviation are corrected by pre-set experiments to obtain the target relationship model of hook amplitude deviation.

[0014] In this embodiment of the application, the preset experiment is a fixed-amplitude lifting experiment of a luffing tower crane under different combinations of boom elevation angle, hook load, boom length and tower height.

[0015] In this embodiment, the target relationship model of the hook amplitude deviation satisfies formula (1):

[0016] R = f(α, W, L, H); (1)

[0017] Where R is the hook amplitude deviation; α is the boom elevation angle; W is the hook load; L is the boom length; and H is the tower height.

[0018] In this embodiment of the application, during the lifting and hoisting process of the luffing jib tower crane, the hook amplitude deviation is calculated in real time according to the target relationship model, including:

[0019] During the lifting and hoisting process of the luffing tower crane, the boom elevation angle, hook load, boom length, and tower height are acquired in real time, and the hook amplitude deviation is calculated based on the target relationship model.

[0020] In this embodiment, based on the hook amplitude deviation, the luffing tower crane is controlled to perform luffing operations to compensate for the hook amplitude deviation, so as to ensure that the hook amplitude remains constant during the lifting and hoisting process. This includes:

[0021] Control the luffing motor to perform luffing operations at the luffing speed rLimitSpeed;

[0022] The variable speed rLimitSpeed ​​satisfies formula (2):

[0023]

[0024] Where rLimitSpeed_Horizontal is the maximum speed allowed in the horizontal direction of the luffing motor at its current position; R is the hook amplitude deviation; rStoptime is the time required for the luffing motor to decompose from its current speed to zero speed in the horizontal direction; rDelaytime is the communication delay time plus the program execution time; rLimitSpeed ​​is the luffing speed; and α is the boom elevation angle.

[0025] A second aspect of this application provides a controller, characterized in that it comprises:

[0026] The memory is configured to store instructions; and

[0027] The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for fixed-width hoisting control of the luffing tower crane as described above.

[0028] A third aspect of this application provides a control system for the fixed-amplitude hoisting of a luffing tower crane, comprising:

[0029] Based on the aforementioned controller; and

[0030] The weight sensor, which communicates with the controller, is configured to acquire the load on the hook.

[0031] The amplitude absolute encoder communicates with the controller and is configured to determine the operating position of the amplitude motor;

[0032] The tilt sensor, which communicates with the controller, is configured to acquire the boom elevation angle;

[0033] The variable amplitude inverter communicates with both the controller and the variable amplitude motor, and is configured to dynamically adjust the speed of the variable amplitude motor.

[0034] The fourth aspect of this application provides a luffing tower crane, including a control system for fixed-amplitude lifting of a luffing tower crane according to the above.

[0035] The fifth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method for controlling the constant-amplitude hoisting of a luffing tower crane.

[0036] The above technical solution first obtains the structural geometric model of the luffing jib tower crane, then establishes a finite element model based on this model, and finally determines the target relationship model for the hook amplitude deviation based on the finite element model. During the lifting and hoisting process of the luffing jib tower crane, the hook amplitude deviation is calculated in real time according to the target relationship model. Finally, based on the hook amplitude deviation, the luffing jib tower crane is controlled to perform luffing maneuvers to compensate for the hook amplitude deviation, ensuring that the hook amplitude remains constant during the lifting and hoisting process. This application compensates for the amplitude deviation caused by load deformation by controlling the luffing jib tower crane to perform luffing maneuvers, avoiding the occurrence of oblique pulling and lifting during the lifting process and preventing excessive torque. Simultaneously, the compensation process based on the target relationship model is smooth, avoiding over-compensation or under-compensation, thus reducing the requirements for the operator.

[0037] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0039] Figure 1 A flowchart illustrating a method for controlling the constant-amplitude hoisting of a luffing tower crane according to an embodiment of this application is shown schematically.

[0040] Figure 2 This schematic diagram illustrates a structural block diagram of a controller according to an embodiment of the present application;

[0041] Figure 3 The diagram schematically illustrates a structural block diagram of a control system for constant-amplitude lifting of a luffing tower crane according to an embodiment of this application.

[0042] Explanation of reference numerals in the attached figures

[0043] 301 Controller, 302 Amplitude Absolute Encoder

[0044] 303 Inclination Sensor, 304 Amplitude Inverter

[0045] 305 Lamp Motor, 306 Lifting Absolute Encoder

[0046] 307 Rotary Absolute Encoder; 308 Lifting Inverter

[0047] 309 frequency converter, 310 hoisting motor

[0048] 311 rotary motor Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0050] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0051] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0052] Figure 1 A flowchart illustrating a method for controlling the constant-amplitude hoisting of a luffing tower crane according to an embodiment of this application is shown schematically. Figure 1 As shown in the figure, this application provides a method for controlling the fixed-width hoisting of a luffing tower crane, which is applied to the controller of the fixed-width hoisting system of the luffing tower crane. The method may include the following steps.

[0053] Step 101: Obtain the structural geometric model of the luffing jib tower crane;

[0054] Step 102: Establish a finite element model based on the structural geometric model of the luffing jib tower crane;

[0055] Step 103: Determine the target relationship model for the hook amplitude deviation of the luffing jib tower crane based on the finite element model;

[0056] Step 104: During the lifting and hoisting process of the luffing jib tower crane, calculate the hook amplitude deviation in real time according to the target relationship model;

[0057] Step 105: Based on the hook amplitude deviation, control the luffing tower crane to perform luffing action to compensate for the hook amplitude deviation, so as to ensure that the hook amplitude remains unchanged during the lifting and hoisting process.

[0058] The luffing tower crane constant-amplitude lifting control method in this embodiment is applied to the controller of the luffing tower crane constant-amplitude lifting system. The controller interacts with the frequency converter, tilt sensor, and absolute encoder via CANOPEN communication and performs calculations based on the received data. The controller first acquires the structural geometric model of the luffing tower crane, then performs finite element analysis on the model to obtain a target relationship model between the hook amplitude deviation caused by the deformation of the jib tip during the lifting process and the jib elevation angle, load, jib length, and tower height. During the lifting and load-lifting process of the luffing tower crane, the controller acquires the jib elevation angle, hook load, jib length, and tower height in real time. Then, through the target relationship model, it calculates the hook amplitude deviation in real time. Based on the hook amplitude deviation, it controls the luffing tower crane to perform luffing actions (raising and lowering the jib) to counteract the deformation of the jib tip during the lifting process, ensuring that the horizontal position change of the hook is within the allowable error range, i.e., ensuring that the hook amplitude deviation is within the error range. In other words, compensation is made for the deviation of the hook amplitude to ensure that the hook amplitude remains unchanged during the lifting and hoisting process.

[0059] The above technical solution first obtains the structural geometric model of the luffing jib tower crane, then establishes a finite element model based on this model, and finally determines the target relationship model for the hook amplitude deviation based on the finite element model. During the lifting and hoisting process of the luffing jib tower crane, the hook amplitude deviation is calculated in real time according to the target relationship model. Finally, based on the hook amplitude deviation, the luffing jib tower crane is controlled to perform luffing maneuvers to compensate for the hook amplitude deviation, ensuring that the hook amplitude remains constant during the lifting and hoisting process. This application compensates for the amplitude deviation caused by load deformation by controlling the luffing jib tower crane to perform luffing maneuvers, avoiding the occurrence of oblique pulling and lifting during the lifting process and preventing excessive torque. Simultaneously, the compensation process based on the target relationship model is smooth, avoiding over-compensation or under-compensation, thus reducing the requirements for the operator.

[0060] In this embodiment of the application, the target relationship model for determining the hook amplitude deviation of a luffing jib tower crane based on the finite element model may include:

[0061] Finite element analysis was performed on the boom elevation angle, load, boom length and tower height to obtain the initial relationship model of hook amplitude deviation.

[0062] The parameters of the initial relationship model of hook amplitude deviation are corrected by pre-set experiments to obtain the target relationship model of hook amplitude deviation.

[0063] In this embodiment, the target relationship model of the hook amplitude deviation satisfies formula (1):

[0064] R = f(α, W, L, H); (1)

[0065] Where R is the hook amplitude deviation; α is the boom elevation angle; W is the hook load; L is the boom length; and H is the tower height.

[0066] In this embodiment, a finite element model can be established using a computer based on the structural geometric model of the luffing jib tower crane. Then, finite element analysis is performed for different jib elevation angles, different loads, different jib lengths, and different tower heights to obtain a target relationship model for the hook amplitude deviation caused by jib tip deformation. In other words, the target relationship model is obtained by modeling and analyzing the load deformation of the luffing jib tower crane. The hook amplitude deviation refers to the distance between the slewing center and the hook center after jib tip deformation minus the distance between the slewing center and the hook center before jib tip deformation.

[0067] In the embodiments of this application, the preset experiment can be a fixed-amplitude lifting experiment of a luffing tower crane under different combinations of boom elevation angle, hook load, boom length and tower height.

[0068] In this embodiment, after obtaining the initial relational model, to ensure its accuracy, the parameters of the initial relational model need to be corrected to obtain the final target relational model. Specifically, a series of field experiments, i.e., pre-set experiments, can be conducted to iterate the parameters of the initial model to obtain a target initial model that meets the accuracy requirements. These pre-set experiments refer to luffing tower crane fixed-amplitude lifting experiments under different combinations of boom elevation angles, hook loads, boom lengths, and tower heights.

[0069] In this embodiment of the application, during the lifting and hoisting process of the luffing jib tower crane, the hook amplitude deviation is calculated in real time according to the target relationship model, which may include:

[0070] During the lifting and hoisting process of the luffing tower crane, the boom elevation angle, hook load, boom length, and tower height are acquired in real time, and the hook amplitude deviation is calculated based on the target relationship model.

[0071] In this embodiment, during the lifting and hoisting process of the luffing tower crane, the controller can acquire the boom elevation angle, hook load, boom length, and tower height in real time. Then, it calculates the hook amplitude deviation through the target relationship model so that the boom tip deformation during the lifting and hoisting process can be offset by controlling the luffing tower crane's luffing and hoisting actions. This ensures that the horizontal position change of the hook is within the allowable error range, which means ensuring that the hook amplitude deviation is within the error range.

[0072] In this embodiment, based on the hook amplitude deviation, the luffing tower crane is controlled to perform luffing operations to compensate for the hook amplitude deviation, so as to ensure that the hook amplitude remains constant during the lifting and hoisting process. This may include:

[0073] Control the luffing motor to perform luffing operations at the luffing speed rLimitSpeed;

[0074] The variable speed rLimitSpeed ​​satisfies formula (2):

[0075]

[0076] Where rLimitSpeed_Horizontal is the maximum speed allowed in the horizontal direction of the luffing motor at its current position; R is the hook amplitude deviation; rStoptime is the time required for the luffing motor to decompose from its current speed to zero speed in the horizontal direction; rDelaytime is the communication delay time plus the program execution time; rLimitSpeed ​​is the luffing speed; and α is the boom elevation angle.

[0077] In this embodiment, the luffing and lowering actions of the tower crane can compensate for the deformation of the jib tip during the lifting process, thus compensating for hook amplitude deviation and ensuring that the horizontal position change of the hook remains within the allowable error range, i.e., the hook amplitude remains constant during lifting. The luffing speed can be dynamically adjusted during the luffing operation. When compensating for amplitude deviation caused by load deformation, the smaller the deviation, the smaller the compensation speed, until it becomes zero, thus preventing over-compensation or under-compensation. This reduces the requirements for the operator and improves work efficiency. Specifically, the controller receives signals from the tilt sensor and the luffing absolute encoder in real time, then determines the maximum allowable horizontal speed of the luffing motor at its current position based on these signals, and further determines the maximum allowable speed of the luffing motor at its current position based on the maximum allowable horizontal speed of the luffing motor at its current position. The maximum speed allowed at the current position of the luffing motor is sent to the luffing frequency converter. Finally, the speed of the luffing motor is dynamically adjusted by the luffing frequency converter based on the maximum speed allowed at the current position of the luffing motor.

[0078] Figure 2 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 2 As shown in the figure, this application provides a controller that may include:

[0079] Memory 210 is configured to store instructions; and

[0080] The processor 220 is configured to retrieve instructions from the memory 210 and, when executing the instructions, to implement the aforementioned method for constant-width hoisting control of the luffing tower crane.

[0081] Specifically, in this embodiment of the application, the processor 220 can be configured to:

[0082] Obtain the structural geometric model of the luffing jib tower crane;

[0083] A finite element model is established based on the structural geometric model of the luffing jib tower crane;

[0084] The target relationship model for the hook amplitude deviation of the luffing jib tower crane is determined based on the finite element model.

[0085] During the lifting and hoisting process of the luffing jib tower crane, the hook amplitude deviation is calculated in real time based on the target relationship model;

[0086] Based on the hook amplitude deviation, the luffing tower crane is controlled to perform luffing operations to compensate for the hook amplitude deviation, so as to ensure that the hook amplitude remains unchanged during the lifting and hoisting process.

[0087] Furthermore, the processor 220 can also be configured to:

[0088] Finite element analysis was performed on the boom elevation angle, load, boom length and tower height to obtain the initial relationship model of hook amplitude deviation.

[0089] The parameters of the initial relationship model of hook amplitude deviation are corrected by pre-set experiments to obtain the target relationship model of hook amplitude deviation.

[0090] In this embodiment of the application, the preset experiment is a fixed-amplitude lifting experiment of a luffing tower crane under different combinations of boom elevation angle, hook load, boom length and tower height.

[0091] In this embodiment, the target relationship model of the hook amplitude deviation satisfies formula (1):

[0092] R = f(α, W, L, H); (1)

[0093] Where R is the hook amplitude deviation; α is the boom elevation angle; W is the hook load; L is the boom length; and H is the tower height.

[0094] Furthermore, the processor 220 can also be configured to:

[0095] During the lifting and hoisting process of the luffing tower crane, the boom elevation angle, hook load, boom length, and tower height are acquired in real time, and the hook amplitude deviation is calculated based on the target relationship model.

[0096] Furthermore, the processor 220 can also be configured to:

[0097] Control the luffing motor to perform luffing operations at the luffing speed rLimitSpeed;

[0098] The variable speed rLimitSpeed ​​satisfies formula (1):

[0099]

[0100] Where rLimitSpeed_Horizontal is the maximum speed allowed in the horizontal direction of the luffing motor at its current position; R is the hook amplitude deviation; rStoptime is the time required for the luffing motor to decompose from its current speed to zero speed in the horizontal direction; rDelaytime is the communication delay time plus the program execution time; rLimitSpeed ​​is the luffing speed; and α is the boom elevation angle.

[0101] The above technical solution first obtains the structural geometric model of the luffing jib tower crane, then establishes a finite element model based on this model, and finally determines the target relationship model for the hook amplitude deviation based on the finite element model. During the lifting and hoisting process of the luffing jib tower crane, the hook amplitude deviation is calculated in real time according to the target relationship model. Finally, based on the hook amplitude deviation, the luffing jib tower crane is controlled to perform luffing maneuvers to compensate for the hook amplitude deviation, ensuring that the hook amplitude remains constant during the lifting and hoisting process. This application compensates for the amplitude deviation caused by load deformation by controlling the luffing jib tower crane to perform luffing maneuvers, avoiding the occurrence of oblique pulling and lifting during the lifting process and preventing excessive torque. Simultaneously, the compensation process based on the target relationship model is smooth, avoiding over-compensation or under-compensation, thus reducing the requirements for the operator.

[0102] Figure 3 A schematic block diagram illustrating a control system for constant-amplitude lifting of a luffing tower crane according to an embodiment of this application is shown. Figure 3 As shown in the embodiments of this application, a control system for the fixed-amplitude hoisting of a luffing jib tower crane is also provided, which may include:

[0103] According to the aforementioned controller 301; and

[0104] A weight sensor (not shown in the figure) communicates with controller 301 and is configured to acquire the load on the hook.

[0105] The amplitude absolute encoder 302 communicates with the controller 301 and is configured to determine the operating position of the amplitude motor 305;

[0106] The tilt sensor 303 communicates with the controller 301 and is configured to acquire the boom elevation angle;

[0107] The variable amplitude inverter 304 communicates with the controller 301 and the variable amplitude motor 305 respectively, and is configured to dynamically adjust the speed of the variable amplitude motor 305.

[0108] In this embodiment, the control system for the fixed-amplitude hoisting of the luffing jib tower crane includes a controller 301, a weight sensor (not shown in the figure), a luffing absolute encoder 302, a tilt sensor 303, and a luffing frequency converter 304. The controller interacts with the frequency converter, tilt sensor 303, and absolute encoder via CANOPEN communication, and then performs specific calculations based on the luffing motion characteristics of the luffing jib tower crane. The absolute encoders include a luffing absolute encoder 302, a slewing absolute encoder 307, and a hoisting absolute encoder 306; the frequency converters include a luffing frequency converter 304, a slewing frequency converter 309, and a hoisting frequency converter 308. The control system for the fixed-amplitude hoisting of the luffing jib tower crane also includes a luffing motor 305, a slewing motor 311, and a hoisting motor 310, which control the luffing jib tower crane to complete the fixed-amplitude hoisting action. The slewing absolute encoder 307 and slewing frequency converter 309 are used to control the operation of the slewing motor 311; the hoisting frequency converter 308 and hoisting motor 310 are used to control the operation of the hoisting motor 310. Specifically, the weight sensor is used to obtain the hook load; the luffing absolute encoder 302 is used to determine the operating position of the luffing motor 305; the luffing frequency converter 304 is used to dynamically adjust the speed of the luffing motor 305; and the tilt sensor 303 is used to obtain the boom elevation angle. It should be noted that the tilt sensor in this application can be other devices for measuring the boom elevation angle, and the absolute encoder can also be an incremental encoder.

[0109] This application also provides a luffing tower crane, including a luffing tower crane fixed-width lifting control system according to the above-described embodiment.

[0110] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described method for controlling the constant-amplitude lifting of a luffing tower crane.

[0111] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0112] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0113] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0114] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0115] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0116] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0117] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0118] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0119] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the constant-amplitude hoisting of a luffing jib tower crane, characterized in that, A controller applied to a luffing jib tower crane's fixed-amplitude hoisting system, the method comprising: Obtain the structural geometric model of the luffing jib tower crane; A finite element model is established based on the structural geometric model of the luffing jib tower crane. The target relationship model for the hook amplitude deviation of the luffing jib tower crane is determined based on the finite element model. The target relationship model represents the correspondence between the hook amplitude deviation and the jib elevation angle, hook load, jib length, and tower height. During the lifting and hoisting process of the luffing jib tower crane, the hook amplitude deviation is calculated in real time according to the target relationship model. Based on the hook amplitude deviation, the luffing tower crane is controlled to perform luffing operations to compensate for the hook amplitude deviation, so as to ensure that the hook amplitude remains unchanged during the lifting and hoisting process.

2. The method according to claim 1, characterized in that, The target relationship model for determining the hook amplitude deviation of the luffing tower crane based on the finite element model includes: Based on the finite element model, finite element analysis was performed on the boom elevation angle, load, boom length, and tower height to obtain the initial relationship model of hook amplitude deviation; The parameters of the initial relationship model of the hook amplitude deviation are corrected by a preset experiment to obtain the target relationship model of the hook amplitude deviation. The preset experiment is a fixed-amplitude lifting experiment of a luffing tower crane under different combinations of boom elevation angle, hook load, boom length and tower height.

3. The method according to claim 2, characterized in that, The target relationship model for the hook amplitude deviation satisfies formula (1): R=f(α,W,L,H) ；(1) in, R This refers to the deviation of the hook amplitude. α This refers to the boom elevation angle; W For the load-bearing capacity of the hook; L This refers to the length of the crane boom; H The height of the tower.

4. The method according to claim 3, characterized in that, During the lifting and hoisting process of the luffing tower crane, the hook amplitude deviation is calculated in real time according to the target relationship model, including: During the lifting and hoisting process of the luffing tower crane, the boom elevation angle, hook load, boom length, and tower height are acquired in real time, and the hook amplitude deviation is calculated based on the target relationship model.

5. The method according to claim 1, characterized in that, The step of controlling the luffing tower crane to perform luffing operations based on the hook amplitude deviation, compensating for the hook amplitude deviation to ensure that the hook amplitude remains constant during the lifting and hoisting process, includes: Control the luffing motor at luffing speed rLimitSpeed Perform amplitude variation maneuvers; The amplitude speed rLimitSpeed Satisfying formula (2): ；（2） in, The maximum speed allowed in the horizontal direction at the current position of the variable amplitude motor; R This refers to the deviation of the hook amplitude. rStoptime The time required for the current speed of the variable amplitude motor to decrease to 0 speed in the horizontal direction; rDelaytime Add the program execution time to the communication delay time; For variable amplitude speed; α This refers to the boom elevation angle.

6. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for fixed-width hoisting control of a luffing tower crane according to any one of claims 1 to 5.

7. A control system for fixed-amplitude hoisting of a luffing jib tower crane, characterized in that, include: The controller according to claim 6; as well as A weight sensor, communicating with the controller, is configured to acquire the load on the hook; An amplitude absolute encoder, communicating with the controller, is configured to determine the operating position of the amplitude motor; An inclination sensor, which communicates with the controller, is configured to acquire the boom elevation angle; The variable amplitude inverter communicates with both the controller and the variable amplitude motor, and is configured to dynamically adjust the speed of the variable amplitude motor.

8. A luffing jib tower crane, characterized in that, Including a control system for fixed-amplitude lifting of a luffing tower crane as described in claim 7.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the method of luffing jib tower crane constant-width hoisting control according to any one of claims 1 to 5.

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