Control system of tower crane and tower crane

Abstract

The embodiment of the application provides a control system of a tower crane and the tower crane. The control system comprises a frequency converter connected with a motor, which is used for collecting operation data of the motor and controlling the motor to work according to a control instruction; an actuator data collection component, which is used for collecting operation data of the actuator when the actuator is in action; a controller, which is used for receiving the operation data of the tower crane and generating the control instruction according to the operation data of the tower crane; a first Ethernet module connected with the controller, which is used for connecting the controller to Ethernet communication; a second Ethernet module connected with the frequency converter and the actuator data collection component respectively, which is used for connecting the frequency converter and the actuator data collection component to Ethernet communication; and an optical fiber transmission module connected between the first Ethernet module and the second Ethernet module, which is used for performing photoelectric conversion on the control instruction or the operation data of the tower crane and transmitting the control instruction or the operation data of the tower crane through an optical fiber, so that the communication efficiency between the controller and the frequency converter is improved, the response speed is accelerated, and the control precision is improved.

Description

Technical Field

[0001] This application relates to the field of tower crane control technology, specifically to a tower crane control system and a tower crane. Background Technology

[0002] Tower cranes are widely used material handling machinery on construction sites. They are multi-action lifting machines that vertically lift and horizontally move heavy objects within a certain range, and their applications are very broad. Existing tower crane control systems generally use CAN communication networks to communicate between the controller and the frequency converter. However, CAN communication is relatively slow, typically requiring tens of milliseconds to complete a single data exchange. This results in slow data transmission and low communication efficiency between the controller and the frequency converter, leading to slow response speed and imprecise control of the tower crane. This severely impacts the effectiveness of some safety protection functions that require rapid response from the tower crane. To achieve rapid response for protection functions, these functions are generally integrated into the frequency converter, directly generating protection signals to control the motor based on the motor data collected by the frequency converter, eliminating the impact of communication delays between the controller and the frequency converter. This system, which distributes protection functions between the controller and the frequency converter, tightly binds the frequency converter to the controller, requiring custom development of the tower crane frequency converter and making it impossible to change the model. Once the frequency converter is changed, all functions need to be redeveloped. Summary of the Invention

[0003] The purpose of this application is to provide a control system for a tower crane and a tower crane in general.

[0004] To achieve the above objectives, a first aspect of this application provides a control system for a tower crane. The tower crane includes an actuator and a motor that drives the actuator. The control system includes: The frequency converter, using a standard frequency converter, is connected to the motor to collect the motor's operating data and control the motor's operation according to control commands; The actuator data acquisition component is used to collect the operating data of the actuator when it is in motion; The controller is used to receive the tower crane's operating data and generate control commands based on the tower crane's operating data, which includes the operating data of the motors and / or the operating data of the actuators. The first Ethernet module is connected to the controller and is used to connect the controller to Ethernet communication. The second Ethernet module is connected to the inverter and the actuator data acquisition unit respectively, and is used to connect the inverter and the actuator data acquisition unit to Ethernet communication; The fiber optic transmission module, connected between the first Ethernet module and the second Ethernet module, is used to perform photoelectric conversion on control commands or tower crane operating data and transmit them through optical fiber.

[0005] In this embodiment of the application, the optical fiber transmission module includes a first optical fiber transceiver and a second optical fiber transceiver, wherein the first optical fiber transceiver is connected to a first Ethernet module, the second optical fiber transceiver is connected to a second Ethernet module, and the first optical fiber transceiver and the second optical fiber transceiver are connected to each other via optical fiber.

[0006] In this embodiment of the application, the frequency converter includes at least one of a hoisting frequency converter, a slewing frequency converter, and a variable amplitude frequency converter.

[0007] In this embodiment of the application, the actuator data acquisition component includes at least one of a lifting limiter, a slewing limiter, and a luffing limiter, wherein the lifting limiter, the slewing limiter, and the luffing limiter are all connected to the second Ethernet module through a digital input module.

[0008] In this embodiment, the actuator data acquisition component further includes at least one of a lifting encoder, a slewing encoder, and a luffing encoder, wherein the lifting encoder, the slewing encoder, and the luffing encoder are all connected to the second Ethernet module via a CAN communication module.

[0009] In this embodiment, the actuator data acquisition component further includes at least one of a hoisting mechanism temperature sensor, a slewing mechanism temperature sensor, and a luffing mechanism temperature sensor, wherein the hoisting mechanism temperature sensor, the slewing mechanism temperature sensor, and the luffing mechanism temperature sensor are all connected to the second Ethernet module through an analog input module.

[0010] In this embodiment of the application, the control system further includes at least one of a weight limiter and a torque limiter, wherein both the weight limiter and the torque limiter are connected to the first Ethernet module through a digital input module.

[0011] In this embodiment of the application, the control system further includes at least one of a weight sensor and a wind speed sensor, wherein both the weight sensor and the wind speed sensor are connected to the first Ethernet module through an analog input module.

[0012] In this embodiment of the application, the control system further includes: an operation module, which is communicatively connected to the first Ethernet module, wherein the operation module includes at least one of a control console and a CAN remote controller.

[0013] A second aspect of this application provides a tower crane, comprising: Executive agency; An electric motor, used to drive an actuator; and The control system of the aforementioned tower crane.

[0014] The above technical solution uses a standard frequency converter connected to the motor to collect the motor's operating data and control the motor's operation according to control commands, reducing the need for customized development of frequency converters, lowering dependence on suppliers, making the configuration more flexible and the cost lower. When the actuator moves, the actuator's operating data is collected through the actuator data acquisition component to ensure complete and timely data acquisition. The controller receives the tower crane's operating data and generates control commands based on the operating data, integrating the tower crane's control strategy into the controller, thus improving control efficiency. The controller is connected to Ethernet communication through a first Ethernet module connected to the controller, and the frequency converter and actuator data acquisition component are connected to Ethernet communication through second Ethernet modules connected to the frequency converter and actuator data acquisition component respectively, thus improving communication efficiency and speeding up response. The control commands or tower crane operating data are photoelectrically converted and transmitted through optical fiber by a fiber optic transmission module connected between the first and second Ethernet modules, thus improving transmission speed and control accuracy.

[0015] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0016] 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: Figure 1 A schematic block diagram of the control system of a tower crane according to an embodiment of this application is shown.

[0017] Figure Labels 1. Controller; 2. EtherCAT branch module; 3. Fiber optic transceiver; 4. EtherCAT coupler; 5. Digital input module; 6. CAN communication module; 7. Analog input module; 8. Weight and wind speed sensors; 9. CAN remote control; 10. Weight and torque limiters and control consoles; 11. Fiber optic transceivers; 12. EtherCAT coupler; 13. Lifting inverter; 14. Slewing inverter; 15. Amplitude inverter; 16. Digital input module; 17. CAN communication module; 18. Analog input module; 19. Hoisting, slewing, and luffing limit switches; 20. Lifting, slewing, and luffing encoders; 21. Temperature sensors for lifting, slewing, and luffing mechanisms; 22. Hoisting motor; 23. Slewing motor; 24. Lamp motor. Detailed Implementation

[0018] 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.

[0019] In one embodiment, a control system for a tower crane is provided. The tower crane includes an actuator and a motor that drives the actuator. The control system includes: The frequency converter, using a standard frequency converter, is connected to the motor to collect the motor's operating data and control the motor's operation according to control commands.

[0020] The actuator data acquisition component is used to collect the operating data of the actuator when it is in motion.

[0021] The controller is used to receive the tower crane's operating data and generate control commands based on the tower crane's operating data, which includes the operating data of the motors and / or the operating data of the actuators.

[0022] The first Ethernet module is connected to the controller and is used to connect the controller to Ethernet communication.

[0023] The second Ethernet module is connected to the inverter and the actuator data acquisition unit respectively, and is used to connect the inverter and the actuator data acquisition unit to Ethernet communication.

[0024] The fiber optic transmission module, connected between the first Ethernet module and the second Ethernet module, is used to perform photoelectric conversion on control commands or tower crane operating data and transmit them through optical fiber.

[0025] The frequency converter can be a standard frequency converter. A standard frequency converter refers to a standard product provided by the manufacturer, making equipment selection more flexible. The tower crane includes an actuator and a motor driving the actuator. The tower crane's control system includes a frequency converter, actuator data acquisition components, a controller, a first Ethernet module, a second Ethernet module, and a fiber optic transmission module. The first Ethernet module can be connected to the controller for Ethernet communication. The second Ethernet module can be connected to both the frequency converter and the actuator data acquisition components, enabling Ethernet communication between them. The fiber optic transmission module can be connected between the first and second Ethernet modules for photoelectric conversion between them and data transmission via fiber optic cable.

[0026] The frequency converter can connect to the motor and collect its operating data. After collecting the motor's operating data, the frequency converter can transmit the motor's operating data to the controller via Ethernet communication. The actuator data acquisition unit can collect the actuator's operating data when the actuator is in motion. After collecting the actuator's operating data, the actuator data acquisition unit can transmit the actuator's operating data to the controller via Ethernet communication. Both the motor's operating data and the actuator's operating data are tower crane operating data. Specifically, the tower crane's operating data can be photoelectrically converted via a fiber optic transmission module and transmitted via fiber optic cable between the first Ethernet module and the second Ethernet module.

[0027] The controller can receive motor operating data transmitted from the frequency converter and actuator operating data transmitted from the actuator data acquisition unit via Ethernet communication. In other words, the controller can receive tower crane operating data via Ethernet communication. After receiving the tower crane's operating data, the controller can generate control commands based on that data.

[0028] After generating control commands, the controller can transmit them to the frequency converter via Ethernet, enabling the frequency converter to control the motor operation according to the commands. Specifically, the control commands generated by the tower crane can be converted into photoelectric signals via a fiber optic transmission module and transmitted via fiber optic between the first and second Ethernet modules, allowing the frequency converter to receive the control commands and control the motor operation accordingly.

[0029] The above technical solution integrates the tower crane's control strategy into the controller, improving the controller's control capabilities and efficiency. Furthermore, the Ethernet and fiber optic transmission settings enable faster data transmission, enhancing the tower crane's control performance.

[0030] In one embodiment, the optical fiber transmission module includes a first optical fiber transceiver and a second optical fiber transceiver, wherein the first optical fiber transceiver is connected to a first Ethernet module, the second optical fiber transceiver is connected to a second Ethernet module, and the first optical fiber transceiver and the second optical fiber transceiver are connected to each other via optical fiber.

[0031] The fiber optic transmission module may include a first fiber optic transceiver and a second fiber optic transceiver. The first fiber optic transceiver can be connected to a first Ethernet module. The second fiber optic transceiver can be connected to a second Ethernet module. The first and second fiber optic transceivers are connected via fiber optic cable. The first fiber optic transceiver can perform photoelectric conversion on control commands transmitted from the controller and transmit them via fiber optic cable. The second fiber optic transceiver can perform photoelectric conversion on tower crane operating data and transmit it via fiber optic cable, thereby improving the data transmission efficiency between the controller and the data acquisition components of the frequency converter and actuators.

[0032] In one embodiment, the frequency converter includes at least one of a hoisting frequency converter, a slewing frequency converter, and a variable amplitude frequency converter.

[0033] Frequency converters can include hoisting frequency converters, slewing frequency converters, and luffing frequency converters. Tower crane motors can include hoisting motors, slewing motors, and luffing motors. The frequency converter can connect to the motor via cables and drive it. Specifically, a hoisting frequency converter can connect to the hoisting motor and collect its operating data. The hoisting frequency converter can also control the hoisting motor's operation according to control commands transmitted from the controller. A slewing frequency converter can connect to the slewing motor and collect its operating data. The slewing frequency converter can also control the slewing motor's operation according to control commands transmitted from the controller. A luffing frequency converter can connect to the luffing motor and collect its operating data. The luffing frequency converter can also control the luffing motor's operation according to control commands transmitted from the controller.

[0034] In one embodiment, the actuator data acquisition component includes at least one of a hoisting limiter, a slewing limiter, and a luffing limiter, wherein the hoisting limiter, slewing limiter, and luffing limiter are all connected to a second Ethernet module via a digital input module.

[0035] The actuator data acquisition component may include at least one of a hoisting limit switch, a slewing limit switch, and a luffing limit switch. All three switches can be connected to a second Ethernet module via a digital input module. Specifically, the hoisting limit switch can be connected to the second Ethernet module via a digital input module. Furthermore, the hoisting limit switch can collect the operating data of the hoisting mechanism when it is in operation and transmit this data to the controller via Ethernet communication. The slewing limit switch can be connected to the second Ethernet module via a digital input module. Similarly, the slewing limit switch can collect the operating data of the slewing mechanism when it is in operation and transmit this data to the controller via Ethernet communication. The luffing limit switch can be connected to the second Ethernet module via a digital input module. Furthermore, the luffing limit switch can collect the operating data of the luffing mechanism when it is in operation, and transmit the operating data of the luffing mechanism to the controller via Ethernet communication, so as to realize the real-time acquisition and uploading of the operating data of the actuator, improve the control accuracy, and avoid data loss.

[0036] In one embodiment, the actuator data acquisition component further includes at least one of a lifting encoder, a slewing encoder, and a luffing encoder, wherein the lifting encoder, the slewing encoder, and the luffing encoder are all connected to the second Ethernet module via a CAN communication module.

[0037] The actuator data acquisition component also includes at least one of a hoisting encoder, a slewing encoder, and a luffing encoder. All three encoders—the hoisting encoder, slewing encoder, and luffing encoder—are connected to a second Ethernet module via a CAN communication module. Specifically, the hoisting encoder can connect to the second Ethernet module via the CAN communication module. When the hoisting mechanism is in operation, the hoisting encoder can acquire the operating data of the hoisting mechanism and transmit it to the controller via Ethernet communication. The luffing encoder can connect to the second Ethernet module via the CAN communication module. When the luffing mechanism is in operation, the luffing encoder can acquire the operating data of the luffing mechanism and transmit it to the controller via Ethernet communication. The slewing encoder can connect to the second Ethernet module via the CAN communication module. When the slewing mechanism is in operation, the slewing encoder can acquire the operating data of the slewing mechanism and transmit it to the controller via Ethernet communication.

[0038] In one embodiment, the actuator data acquisition component further includes at least one of a hoisting mechanism temperature sensor, a slewing mechanism temperature sensor, and a luffing mechanism temperature sensor, wherein the hoisting mechanism temperature sensor, the slewing mechanism temperature sensor, and the luffing mechanism temperature sensor are all connected to the second Ethernet module via an analog input module.

[0039] The actuator data acquisition component also includes at least one of a hoisting mechanism temperature sensor, a slewing mechanism temperature sensor, and a luffing mechanism temperature sensor. All three temperature sensors are connected to a second Ethernet module via an analog input module. Specifically, the hoisting mechanism temperature sensor can be connected to the second Ethernet module via an analog input module. The hoisting mechanism temperature sensor can collect temperature data of the hoisting mechanism during operation and transmit the temperature data to the controller via Ethernet communication. The slewing mechanism temperature sensor can be connected to the second Ethernet module via an analog input module. The slewing mechanism temperature sensor can collect temperature data of the slewing mechanism during operation and transmit the temperature data to the controller via Ethernet communication. The luffing mechanism temperature sensor can be connected to the second Ethernet module via an analog input module. The luffing mechanism temperature sensor can collect temperature data of the luffing mechanism during operation and transmit the temperature data to the controller via Ethernet communication, thus transmitting the actuator temperature data to the controller in real time.

[0040] In one embodiment, the control system further includes at least one of a weight limiter and a torque limiter, wherein both the weight limiter and the torque limiter are connected to the first Ethernet module via a digital input module.

[0041] The control system may further include at least one of a weight limiter and a torque limiter. Both the weight limiter and the torque limiter are connected to the first Ethernet module via a digital input module.

[0042] In one embodiment, the control system further includes at least one of a weight sensor and a wind speed sensor, wherein both the weight sensor and the wind speed sensor are connected to the first Ethernet module via an analog input module.

[0043] The control system may also include at least one of a weight sensor and a wind speed sensor. Both the weight sensor and the wind speed sensor can be connected to the first Ethernet module via an analog input module.

[0044] In one embodiment, the control system further includes: an operation module, communicatively connected to the first Ethernet module, wherein the operation module includes at least one of a control console and a CAN remote controller.

[0045] The control system may further include an operation module, which can communicate with the first Ethernet module. The operation module may include at least one of a control console and a CAN remote controller.

[0046] In one embodiment, such as Figure 1As shown, the tower crane may include a crane operator's control box and an electrical control box. The electrical control box is equipped with a hoisting motor 22, a slewing motor 23, and a luffing motor 24.

[0047] The tower crane's control system includes a controller 1, an EtherCAT branch module 2, a fiber optic transceiver 3, an EtherCAT coupler 4, a digital input module 5, a CAN communication module 6, and an analog input module 7, all located on the operator's cab side. The EtherCAT branch module 2 and the EtherCAT coupler 4 constitute the first Ethernet module. The operator's cab side also includes weight and torque limit switches, a control panel 10, a CAN remote controller 9, and weight and wind speed sensors 8.

[0048] The electrical control box side is equipped with a fiber optic transceiver 11, an EtherCAT coupler 12, a hoisting frequency converter 13, a slewing frequency converter 14, a luffing frequency converter 15, a digital input module 16, a CAN communication module 17, and an analog input module 18. Fiber optic transceiver 3 and fiber optic transceiver 11 constitute the fiber optic transmission module. The electrical control box side also includes hoisting, slewing, and luffing limit switches 19, hoisting, slewing, and luffing encoders 20, and temperature sensors 21 for the hoisting, slewing, and luffing mechanisms.

[0049] On the driver's side, controller 1 is connected to EtherCAT coupler 4 via EtherCAT branch module 2 to achieve Ethernet communication. Weight and torque limit switches and actuator 10 are connected to EtherCAT coupler 4 via digital input module 5. CAN remote controller 9 is connected to EtherCAT coupler 4 via CAN communication module 6. Weight and wind speed sensors 8 are connected to EtherCAT coupler 4 via analog input module 7.

[0050] On the electrical control box side, the hoisting inverter 13, slewing inverter 14, and luffing inverter 15 are connected to the EtherCAT coupler 12 to achieve Ethernet communication. The hoisting inverter 13 is connected to the hoisting motor 22 via a cable. The slewing inverter 14 is connected to the slewing motor 23 via a cable. The luffing inverter 15 is connected to the luffing motor 24 via a cable. The hoisting, slewing, and luffing limit switches 19 are connected to the EtherCAT coupler 12 via a digital input module 16. The hoisting, slewing, and luffing encoders 20 are connected to the EtherCAT coupler 12 via a CAN communication module 17. The hoisting, slewing, and luffing mechanism temperature sensor 21 is connected to the EtherCAT coupler 12 via an analog input module 18.

[0051] Fiber optic transmission is performed between the fiber optic transceiver 3 on the driver's side and the fiber optic transceiver 11 on the electrical control box side.

[0052] The hoisting inverter 13, slewing inverter 14, and luffing inverter 15 can respectively collect the operating data of the hoisting motor 22, slewing motor 23, and luffing motor 24, and transmit the operating data to the fiber optic transceiver 11 via Ethernet communication. The hoisting, slewing, and luffing limit switches 19, the hoisting, slewing, and luffing encoders 20, and the hoisting, slewing, and luffing mechanism temperature sensor 21 can collect the operating data of the actuators when they operate, and transmit the operating data to the fiber optic transceiver 11 via Ethernet communication. The fiber optic transceiver 11 can perform photoelectric conversion on the operating data for fiber optic transmission between the operator's cab and the electrical control box. The controller 1 on the operator's cab side can receive the tower crane's operating data via Ethernet communication and generate control commands based on the operating data. These control commands can be transmitted to the fiber optic transceiver 3 via Ethernet communication. The fiber optic transceiver 3 can perform photoelectric conversion on the control commands for fiber optic transmission between the operator's cab and the electrical control box. The hoisting inverter 13, slewing inverter 14, and luffing inverter 15 can control the hoisting motor 22, slewing motor 23, and luffing motor 24 respectively according to control commands.

[0053] For example, the hoisting inverter 13, slewing inverter 14, and luffing inverter 15 can feed back the operating status of the hoisting motor 22, slewing motor 23, and luffing motor 24 to the controller 1 via Ethernet. The hoisting, slewing, and luffing encoders 20 can feed back the tower crane's operating data to the controller 1 via Ethernet. The controller 1 can generate corresponding control commands based on the operating status fed back by the inverters and the operating data fed back by the encoders, such as actuator hovering or starting commands for brake aging protection, and motor emergency stop commands for load change protection. The hoisting inverter 13, slewing inverter 14, and luffing inverter 15 can control the operation of the hoisting motor 22, slewing motor 23, and luffing motor 24 according to the control commands.

[0054] Through the above technical solutions, the use of Ethernet and fiber optic transmission enables faster data transmission speeds, allows the tower crane's control strategy to be integrated into the controller, improves the controller's control capabilities and efficiency, enhances the tower crane's control performance, and allows the use of standard frequency converters, reducing the need for customized frequency converter development and decreasing reliance on suppliers.

[0055] In one embodiment, a tower crane is provided, comprising: Executive agency; An electric motor, used to drive an actuator; and The control system of the aforementioned tower crane.

[0056] 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.

[0057] 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 control system for a tower crane, characterized in that, The tower crane includes an actuator and a motor that drives the actuator; the control system includes: The frequency converter, using a standard frequency converter, is connected to the motor to collect the motor's operating data and control the motor's operation according to control commands. The standard frequency converter refers to the standard product provided by the manufacturer, which makes the selection of equipment more flexible. An actuator data acquisition component is used to acquire the operating data of the actuator when the actuator is in motion. After acquiring the operating data, the actuator data acquisition component transmits the operating data to the controller via Ethernet communication. The controller is used to receive the tower crane's operating data and generate control commands based on the tower crane's operating data. The tower crane's operating data includes the operating data of the motor and / or the operating data of the actuator. The control strategy of the tower crane is integrated into the controller. The first Ethernet module is connected to the controller and is used to connect the controller to Ethernet communication. The second Ethernet module is connected to the inverter and the actuator data acquisition unit respectively, and is used to connect the inverter and the actuator data acquisition unit to Ethernet communication; The fiber optic transmission module, connected between the first Ethernet module and the second Ethernet module, is used to perform photoelectric conversion on control commands or tower crane operating data and transmit them through optical fiber. The actuator data acquisition component further includes at least one of a lifting encoder, a slewing encoder, and a luffing encoder, wherein the lifting encoder, the slewing encoder, and the luffing encoder are all connected to the second Ethernet module via a CAN communication module. The control system further includes at least one of a weight limiter and a torque limiter, wherein both the weight limiter and the torque limiter are connected to the first Ethernet module via a digital input module.

2. The control system of the tower crane according to claim 1, characterized in that, The optical fiber transmission module includes a first optical fiber transceiver and a second optical fiber transceiver, wherein the first optical fiber transceiver is connected to the first Ethernet module, the second optical fiber transceiver is connected to the second Ethernet module, and the first optical fiber transceiver and the second optical fiber transceiver are connected by optical fiber.

3. The control system of the tower crane according to claim 1, characterized in that, The frequency converter includes at least one of a hoisting frequency converter, a slewing frequency converter, and a variable amplitude frequency converter.

4. The control system of the tower crane according to claim 1, characterized in that, The actuator data acquisition component includes at least one of a lifting limiter, a slewing limiter, and a luffing limiter, wherein the lifting limiter, the slewing limiter, and the luffing limiter are all connected to the second Ethernet module via a digital input module.

5. The control system of the tower crane according to claim 1, characterized in that, The actuator data acquisition component further includes at least one of a hoisting mechanism temperature sensor, a slewing mechanism temperature sensor, and a luffing mechanism temperature sensor, wherein the hoisting mechanism temperature sensor, the slewing mechanism temperature sensor, and the luffing mechanism temperature sensor are all connected to the second Ethernet module through an analog input module.

6. The control system of the tower crane according to claim 1, characterized in that, The control system further includes at least one of a weight sensor and a wind speed sensor, wherein both the weight sensor and the wind speed sensor are connected to the first Ethernet module via an analog input module.

7. The control system of the tower crane according to claim 1, characterized in that, The control system further includes: The operation module is connected to the first Ethernet module for communication, wherein the operation module includes at least one of a control panel and a CAN remote controller.

8. A tower crane, characterized in that, include: Executive agency; An electric motor is used to drive the actuator; as well as The control system of the tower crane according to any one of claims 1 to 7.

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