Control method, device, system and storage medium for slewing mechanism of tower crane

Abstract

This application discloses a control method, device, system, and storage medium for a tower crane slewing mechanism, relating to the field of electrical control technology. The method includes: acquiring the real-time jib speed, slewing motor speed, real-time integral feedback of the real-time motor speed, and real-time integral calibration of the real-time motor speed in the tower crane slewing mechanism; adjusting the driving torque output by the slewing motor based on the real-time jib speed, real-time motor speed, real-time integral feedback, and real-time integral calibration to obtain the adjusted driving torque; and controlling the slewing motor to drive the tower crane slewing mechanism based on the adjusted driving torque. This application eliminates the need for a turbine mechanism when the tower crane stops, allowing the motor speed and jib speed to reach zero synchronously, preventing jib rebound. This solves the technical problem of high cost associated with suppressing jib rebound using eddy current mechanisms in existing tower crane slewing mechanisms, thus reducing the control cost of the tower crane slewing mechanism.

Description

Technical Field

[0001] This application relates to the field of electrical control technology, and in particular to a control method, equipment, system and storage medium for a tower crane slewing mechanism. Background Technology

[0002] In tower crane slewing systems, a frequency converter typically outputs a drive torque to control a motor, which in turn drives a gear transmission mechanism to rotate the tower crane jib, thus achieving slewing. However, due to deformation of the tower crane body, the jib speed and the motor speed are not synchronized. This causes the jib to rebound to a certain extent when the tower crane stops, resulting in inaccurate positioning of the slewing mechanism and making the tower crane difficult to operate.

[0003] In related technologies, an eddy current mechanism is usually added to suppress rebound based on the eddy current circuit. However, both the eddy current mechanism and the eddy current control circuit are hardware devices, which increases the control cost of the tower crane's slewing mechanism. Summary of the Invention

[0004] The main purpose of this application is to provide a control method, device, system and storage medium for tower crane slewing mechanism, which aims to solve the technical problem of high cost in the existing tower crane slewing mechanism that uses eddy current mechanism to suppress the rebound of tower crane boom.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] Firstly, this application provides a method for controlling the slewing mechanism of a tower crane, the method comprising:

[0007] The system acquires the real-time jib speed, slewing motor speed, real-time integral feedback of the slewing motor, and real-time integral calibration of the slewing motor in the tower crane slewing mechanism.

[0008] Based on the real-time boom speed, real-time motor speed, real-time speed integral feedback, and real-time speed integral calibration, the driving torque output by the rotary motor is adjusted to obtain the adjusted driving torque.

[0009] Based on the adjusted driving torque, the slewing motor is controlled to drive the tower crane's slewing mechanism.

[0010] Optionally, the step of adjusting the drive torque output by the slewing motor based on the real-time boom speed, real-time motor speed, real-time speed integral feedback, and real-time speed integral calibration to obtain the adjusted drive torque includes:

[0011] Obtain the state control equations for the tower crane's slewing mechanism;

[0012] Based on the state control equation and the preset system expectation equation, the boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient and integral calibration coefficient are obtained.

[0013] The driving torque is adjusted based on the real-time boom speed, real-time motor speed, real-time speed integral feedback, real-time speed integral calibration, boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient, and integral calibration coefficient to obtain the adjusted driving torque.

[0014] Optionally, the steps of obtaining the state control equations of the tower crane's slewing mechanism include:

[0015] Obtain the transfer function between the driving torque and the boom rotation speed of the tower crane boom;

[0016] Based on the transfer function, boom speed feedback, motor speed feedback, motor speed integral feedback, and motor speed integral calibration feedback, the state control equations of the tower crane slewing mechanism are constructed.

[0017] Optionally, the steps of obtaining the boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient, and integral calibration coefficient based on the state control equation and the preset system expectation equation include:

[0018] Based on the state control equations, the characteristic polynomial of the control system corresponding to the tower crane slewing mechanism is obtained.

[0019] Based on the preset system expectation formula, the characteristic polynomial is solved to obtain the boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient, and integral calibration coefficient.

[0020] Optionally, the step of controlling the operation of the slewing mechanism of the tower crane by the slewing motor according to the adjusted driving torque includes:

[0021] The predicted motor speed is obtained based on the adjusted drive torque, real-time speed integral feedback, and real-time inertia of the boom and suspended objects.

[0022] Based on the predicted motor speed, the slewing motor is controlled to drive the tower crane's slewing mechanism.

[0023] Optionally, after obtaining the predicted motor speed based on the adjusted drive torque, real-time speed integral feedback, and real-time boom and suspension inertia, the method further includes:

[0024] The predicted boom speed is obtained based on the predicted motor speed, the real-time boom speed, and the real-time boom friction and wind resistance. The real-time boom speed is then updated to the predicted boom speed to further adjust the adjusted drive torque.

[0025] Optionally, the step of obtaining the real-time speed integral calibration of the motor speed in the tower crane slewing mechanism includes:

[0026] Real-time speed integral calibration is obtained based on the set motor speed and the real-time motor speed.

[0027] Secondly, this application also provides a tower crane slewing mechanism control device, the device including: a memory, a processor, and a tower crane slewing mechanism control program stored in the memory and executable on the processor, the tower crane slewing mechanism control program being configured to implement the steps of any of the tower crane slewing mechanism control methods described above.

[0028] Thirdly, this application also provides a control system for a tower crane slewing mechanism, the system comprising:

[0029] Such as the tower crane slewing mechanism control equipment mentioned above;

[0030] Tower crane slewing mechanism, including slewing motor;

[0031] The tower crane's slewing mechanism control equipment is connected to the slewing motor.

[0032] Fourthly, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the tower crane slewing mechanism control method as described above.

[0033] This application provides a control method, device, system, and storage medium for a tower crane slewing mechanism. The method acquires the real-time jib speed, slewing motor speed, real-time integral feedback of the slewing motor speed, and real-time integral calibration of the slewing motor speed within the tower crane slewing mechanism. Based on these data, the driving torque output by the slewing motor is adjusted to obtain the adjusted driving torque. Finally, the adjusted driving torque is used to control the slewing motor to drive the tower crane slewing mechanism.

[0034] Therefore, this application adjusts the driving torque of the slewing motor based on real-time boom speed, real-time motor speed, real-time speed integral feedback, and real-time speed integral calibration to control the slewing motor. It considers the influence of motor speed, motor speed integral feedback, and boom speed on the driving torque of the slewing motor, and calibrates the real-time speed integral feedback based on the real-time speed integral calibration. Thus, it controls the synchronous change of motor speed and boom speed according to the actual operating state of the tower crane slewing mechanism. When the tower crane stops, the motor speed and boom speed can be controlled to reach zero speed synchronously without the need for a turbine mechanism, preventing the tower crane boom from rebounding. This solves the technical problem of high cost in existing tower crane slewing mechanisms that use eddy current mechanisms to suppress tower crane boom rebound, and reduces the control cost of the tower crane slewing mechanism. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0036] Figure 1 A tower crane slewing mechanism control system is provided in the embodiments of this application;

[0037] Figure 2 This is a schematic diagram of the tower crane slewing mechanism control equipment in the hardware operating environment of the embodiments of this application;

[0038] Figure 3 This is a flowchart illustrating the first embodiment of the tower crane slewing mechanism control method of this application;

[0039] Figure 4 A block diagram showing the transfer function between driving torque and boom rotation speed;

[0040] Figure 5 for Figure 3 A simplified block diagram of the transfer function in the diagram;

[0041] Figure 6 A state control block diagram of a tower crane slewing mechanism provided in an embodiment of this application;

[0042] Figure 7 Here is an example waveform diagram of the slewing state control of a tower crane's slewing mechanism under windless conditions;

[0043] Figure 8 Here is an example waveform diagram of the slewing state control of a tower crane's slewing mechanism under headwind conditions;

[0044] Figure 9 This is an example waveform diagram of the slewing state control of a tower crane's slewing mechanism under tailwind conditions.

[0045] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0048] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an apparatus or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an apparatus or system. Without further limitation, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the apparatus or system that includes that element.

[0049] In view of the high cost of suppressing the jib springback of tower cranes using eddy current mechanisms in existing tower crane slewing mechanisms, this application provides a control method for tower crane slewing mechanisms, the overall concept of which is as follows:

[0050] The method includes: acquiring the real-time jib speed, slewing motor speed, real-time speed integral feedback, and real-time speed integral calibration of the slewing mechanism of the tower crane; adjusting the driving torque output by the slewing motor based on the real-time jib speed, real-time motor speed, real-time speed integral feedback, and real-time speed integral calibration to obtain the adjusted driving torque; and controlling the slewing motor to drive the tower crane slewing mechanism based on the adjusted driving torque.

[0051] This application provides a control method for the slewing mechanism of a tower crane. Based on real-time jib speed, real-time motor speed, real-time speed integral feedback, and real-time speed integral calibration, the driving torque of the slewing motor is adjusted to control the slewing motor. The method considers the influence of motor speed, motor speed integral feedback, and jib speed on the driving torque of the slewing motor. Furthermore, the real-time speed integral feedback is calibrated based on the real-time speed integral calibration. This allows the motor speed and jib speed to change synchronously according to the actual operating state of the tower crane slewing mechanism. When the tower crane stops, the motor speed and jib speed can be controlled to reach zero speed synchronously without a turbine mechanism, preventing jib rebound. This solves the technical problem of high cost associated with suppressing jib rebound using eddy current mechanisms in existing tower crane slewing mechanisms, thus reducing the control cost of the tower crane slewing mechanism.

[0052] The following provides a detailed description of the tower crane slewing mechanism control method, equipment, system, and storage medium used in the technical implementation of this application:

[0053] Reference Figure 1 , Figure 1 This application provides a control system for a tower crane slewing mechanism.

[0054] This embodiment provides a control system for a tower crane slewing mechanism, the system may include:

[0055] Tower crane slewing mechanism control equipment;

[0056] Tower crane slewing mechanism, including slewing motor;

[0057] The tower crane's slewing mechanism control equipment is connected to the slewing motor.

[0058] In the tower crane slewing mechanism control system of this embodiment, the tower crane slewing mechanism control equipment may include Figure 1 The inverter 10 and / or other controllers are shown. The tower crane slewing mechanism may include an upper turntable 80 and a lower turntable 50. The upper turntable 80 is equipped with a slewing motor 20, a reducer 30, a tower crane boom 70, and a pinion 40. The lower turntable 50 is connected to the tower body 60 and the turntable of the slewing gear.

[0059] During the tower crane's slewing process, the frequency converter 10 controls the rotation of the slewing motor 20. The slewing motor 20, via the reducer 30, drives the pinion 40 to rotate around the large slewing gear. The lower turntable 50, subjected to force, undergoes elastic deformation, generating an elastic torsional force. This force opposes the rotation of the slewing motor 20 while simultaneously driving the tower crane's jib 70 to rotate. In other words, the pinion 40 rotates on its own axis while simultaneously causing the tower crane's jib 70 to rotate around the large slewing gear.

[0060] Among them, reference Figure 2 , Figure 2 This is a schematic diagram of the tower crane slewing mechanism control equipment in the hardware operating environment of the embodiments of this application.

[0061] like Figure 2 As shown, the device may include: a processor 1001, such as a CPU; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a motor, and optionally, the user interface 1003 may also be a power grid, etc. The memory 1005 may be a high-speed RAM or a stable, non-volatile memory, such as a disk storage device. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0062] It is understood that the device may also include a network interface 1004, which may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). Optionally, the device may also include RF (Radio Frequency) circuitry, sensors, audio circuitry, a Wi-Fi module, etc.

[0063] Those skilled in the art will understand that Figure 2The device structure shown does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0064] The tower crane slewing mechanism control method, equipment, system, and storage medium of this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0065] Based on, but not limited to, the above hardware structure, refer to Figures 3 to 9 , Figure 3 This is a flowchart illustrating the first embodiment of the tower crane slewing mechanism control method of this application. Figure 4 This is a block diagram showing the transfer function between the driving torque and the boom rotation speed. Figure 5 for Figure 3 A simplified block diagram of the transfer function in the diagram. Figure 6 This application provides a state control block diagram for a tower crane slewing mechanism. Figure 7 This is an example waveform diagram showing the slewing state control of a tower crane's slewing mechanism under windless conditions. Figure 8 This is an example waveform diagram showing the slewing state control of a tower crane's slewing mechanism under headwind conditions. Figure 9 This is an example waveform diagram of the slewing state control of a tower crane's slewing mechanism under tailwind conditions.

[0066] This embodiment provides a control method for the slewing mechanism of a tower crane, such as... Figure 3 As shown, the method may include:

[0067] Step S100: Obtain the real-time boom speed, real-time motor speed of the slewing motor, real-time speed integral feedback of the real-time motor speed, and real-time speed integral calibration of the real-time motor speed in the tower crane slewing mechanism.

[0068] Step S200: Based on the real-time boom speed, real-time motor speed, real-time speed integral feedback, and real-time speed integral calibration, adjust the driving torque output by the rotary motor to obtain the adjusted driving torque.

[0069] Step S300: Based on the adjusted driving torque, control the slewing motor to drive the tower crane's slewing mechanism.

[0070] In this embodiment, the executing entity is the tower crane slewing mechanism control device as described above. The tower crane slewing mechanism control device may include... Figure 1 The inverter 10 and / or other controllers shown. The tower crane slewing mechanism control equipment can control the slewing motor to output the required driving torque according to actual usage needs, thereby driving the tower crane slewing mechanism to operate.

[0071] It is understandable that in the control process of the tower crane slewing mechanism, the tower crane slewing mechanism control equipment first obtains the driving torque output by the slewing motor according to the set motor speed, and drives the tower crane slewing mechanism to start working. After that, the real-time motor speed of the slewing motor in the tower crane slewing mechanism is detected in real time, and the real-time boom speed, real-time speed integral feedback and real-time speed integral calibration are determined according to the real-time motor speed, so as to adjust the driving torque output by the slewing motor in the subsequent control process.

[0072] The set motor speed can be determined based on actual usage requirements. Real-time motor speed can be obtained through sensors. Real-time boom speed can be obtained based on the real-time motor speed and the transfer function between the motor speed and boom speed. The transfer function between the motor speed and boom speed can be determined based on the structure of the tower crane's slewing mechanism and actual usage conditions. Real-time speed integral feedback can be obtained by integrating the real-time motor speed and real-time boom speed.

[0073] In this embodiment, the step of obtaining the real-time speed integral calibration of the real-time motor speed in the tower crane slewing mechanism may include:

[0074] Real-time speed integral calibration is obtained based on the set motor speed and the real-time motor speed.

[0075] In this embodiment, real-time speed integral calibration can be obtained by integrating the deviation between the real-time motor speed and the set motor speed, so as to achieve calibration of real-time speed integral feedback.

[0076] As one specific implementation, step S200 may include:

[0077] Step S210: Obtain the state control equations of the tower crane slewing mechanism.

[0078] Step S220: Based on the state control equation and the preset system expectation equation, obtain the boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient and integral calibration coefficient.

[0079] Step S230: Adjust the driving torque based on the real-time boom speed, real-time motor speed, real-time speed integral feedback, real-time speed integral calibration, boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient, and integral calibration coefficient to obtain the adjusted driving torque.

[0080] In the tower crane slewing mechanism control process of this embodiment, the influence of state feedback, including boom speed feedback, motor speed feedback, motor speed integral feedback, and speed integral calibration, on the motor speed and boom speed is added. Therefore, the magnitude of the influence of different state feedbacks on the motor speed and boom speed can be determined, that is, state feedback coefficients can be configured for different state feedbacks. Correspondingly, the state feedback coefficients can include boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient, and integral calibration coefficient.

[0081] In addition, for real-time speed integral calibration, the real-time motor speed integral feedback can be calibrated by setting an integral calibration coefficient, so as to further improve the reliability of the tower crane slewing mechanism control.

[0082] In practical application, the state control equations of the tower crane slewing mechanism are first constructed based on the boom speed feedback, motor speed feedback, motor speed integral feedback, and speed integral calibration. Then, a preset system expectation formula is set, and the state control equations are solved to obtain the boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient, and integral calibration coefficient. The preset system expectation formula can be set according to actual control requirements.

[0083] In this embodiment, step S210 may include: obtaining the transfer function between the driving torque and the boom rotation speed of the tower crane boom; and constructing the state control equation of the tower crane slewing mechanism based on the transfer function, boom rotation speed feedback, motor rotation speed feedback, motor rotation speed integral feedback, and motor rotation speed integral calibration feedback.

[0084] In this embodiment, the transfer function between the driving torque and the jib rotation speed of the tower crane is obtained by performing a Laplace transform on the dynamic equation of the tower crane slewing mechanism.

[0085] The dynamic equation of the tower crane's slewing mechanism is as follows:

[0086]

[0087]

[0088]

[0089] Among them, T t For elastic torsional force, K t R1 is the elastic torsional coefficient, R2 is the radius of the pinion, R2 is the radius of the gear, K1 is the reduction ratio of the reducer, and T is the elastic torsional coefficient. m w is the driving torque output by the rotary motor. m T is the motor speed. L To measure the real-time friction and wind resistance of the boom, w d J is the rotational speed of the boom. m J is the inertia of the motor.d The moment of inertia of the boom and the suspended object.

[0090] Arm friction and motor speed w m Direction, elastic torsional force T t The size of the boom and the suspended objects are related; wind resistance is related to the boom rotation speed w. d The speed is related to natural wind speed, the angle between the boom and the wind speed, the length of the boom, and its structure. The reduction ratio K1, pinion radius R1, and gear radius R2 of the reducer are provided by the corresponding equipment manufacturers. Motor inertia J... m Moment of inertia of boom and suspended load J d and elastic torsional coefficient K t The moment of inertia J of the boom and suspended load is determined by the slewing motor used in the tower crane's slewing system, the tower crane's model, and its height. d It will change depending on the weight being lifted by the boom.

[0091] The initial transfer function obtained by performing a Laplace transform on the dynamic equations can include:

[0092] motor speed w m With motor drive torque T m The first transfer function between them is as follows:

[0093]

[0094] Where s is the complex frequency of the tower crane slewing mechanism control system.

[0095] boom rotation speed w d With motor drive torque T m The second transfer function between them is as follows:

[0096]

[0097] motor speed w m With the rotational speed of the boom w d The third transfer function between them is as follows:

[0098]

[0099] Therefore, based on the first transfer function, the second transfer function, and the third transfer function, we can obtain the following: Figure 4 The diagram shows the transfer function between the driving torque and the boom rotation speed.

[0100] In this embodiment, since the tower crane slewing system includes a motor structure and a mechanical structure, during the control process, it is necessary to calibrate the parameters in the mechanical structure using the equipment parameters in the motor structure as the standard. This means unifying the range of the mechanical structure parameters to the range of the motor structure parameters to facilitate subsequent calculation of control commands. The calibration process is specifically represented as follows:

[0101] make:

[0102]

[0103]

[0104]

[0105]

[0106]

[0107] Among them, T t ' is the calibrated elastic torsional force; w d 'K' represents the calibrated boom rotation speed; t ' is the calibrated elastic torsional coefficient; T L 'J represents the friction and wind resistance of the boom after calibration;' d 'This refers to the inertia of the boom and suspended object after calibration.

[0108] Substituting into the dynamic equation, the simplified dynamic equation is:

[0109]

[0110] T m -T t ′=J m ×s×w m ;

[0111] T t ′-T L ′=J′ d ×s×w′ d ;

[0112] Therefore, based on the simplified dynamic equations, we can obtain, as follows Figure 5 The diagram shows a simplified block diagram of the transfer function between the boom speed and the motor drive torque, where ω is the natural frequency of the tower crane slewing mechanism control system and ζ is the system damping of the tower crane slewing mechanism control system.

[0113] like Figure 6 As shown, in this embodiment... Figure 5By adding boom speed feedback x1, motor speed feedback x3, motor speed integral feedback x2, and motor speed integral calibration x4, as well as boom speed feedback coefficients k1, motor speed feedback coefficients k3, speed integral feedback coefficients k2, and integral calibration coefficients k4 to the simplified block diagram of the transfer function shown, the state control block diagram of the tower crane slewing mechanism control method provided in this application embodiment can be obtained. Among them, the motor speed integral feedback x2 controls the motor speed w... m Compared with the calibrated boom rotation speed w d The deviation is obtained by integrating the values. The motor speed integral calibration x4 is achieved by adjusting the set motor speed w. mref With motor speed w m The deviation is obtained by integrating.

[0114] It should be noted that in the actual control process, the range of the parameters of the mechanical structure in the tower crane slewing mechanism needs to be unified with the range of the parameters of the motor structure. Therefore, when obtaining real-time speed integral feedback, the real-time boom speed used can be the calibrated real-time boom speed. The calibration process of the real-time boom speed is the same as the above-mentioned calibration process of the boom speed.

[0115] In this embodiment, step S220 may include: obtaining the characteristic polynomial of the control system corresponding to the tower crane slewing mechanism according to the state control equation; solving the characteristic polynomial according to the preset system expectation equation to obtain the boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient and integral calibration coefficient.

[0116] In this embodiment, as Figure 6 As shown, the state control equation can be:

[0117]

[0118]

[0119] u = w mref ;

[0120]

[0121] in, To predict boom rotation speed, To predict the integral feedback of the rotational speed, To predict motor speed, For the integral calibration of the predicted rotational speed, y represents the boom rotational speed. This is achieved by... Predictive Speed ​​Integral Feedback Predict motor speed and predictive speed integral calibration By performing integration separately, we can obtain the corresponding boom speed feedback x1, motor speed integral feedback x2, motor speed feedback x3, and motor speed integral calibration x4.

[0122] Based on the state control equations, the characteristic polynomial can be obtained as follows:

[0123]

[0124] In this embodiment, the preset system expectation can be set as follows:

[0125]

[0126] Where, ω rc and ω t For the desired extreme point, ω n and ζ n Let ζ be the parameter of the second-order polynomial at the pole. n A value ≥ 1 guarantees that the poles are real numbers. ω n It can be configured according to the natural frequency of the tower crane's slewing mechanism control system, ω t and ω rc According to ω n Configuration. Preferably, ω n =3.5ω,ω rc =ω n ,ω t =ω n This ensures that the poles are negative real numbers.

[0127] By solving the characteristic polynomial based on the pre-defined system expectation formula, we can obtain:

[0128]

[0129]

[0130] Under the control of the tower crane slewing mechanism control method in this embodiment, such as Figures 7 to 9As shown, curve L1 represents the change in the set motor speed under windless conditions; curve L2 represents the change in the actual motor speed under windless conditions; curve L3 represents the change in the boom speed under windless conditions; and curve L4 represents the change in the driving torque output by the motor under windless conditions. Curve L5 represents the change in the set motor speed under headwind conditions; curve L6 represents the change in the actual motor speed under headwind conditions; curve L7 represents the change in the boom speed under headwind conditions; and curve L8 represents the change in the driving torque output by the motor under headwind conditions. Curve L9 represents the change in the set motor speed under tailwind conditions; curve L10 represents the change in the actual motor speed under tailwind conditions; curve L11 represents the change in the boom speed under tailwind conditions; and curve L12 represents the change in the driving torque output by the motor under tailwind conditions. It can be seen that under various environmental conditions, the tower crane slewing mechanism control method of this embodiment can control the motor speed of the slewing motor and the boom speed of the tower crane boom to change stably and synchronously.

[0131] As one specific implementation, step S300 may include:

[0132] Step S310: Obtain the predicted motor speed based on the adjusted drive torque, real-time speed integral feedback, and real-time boom and suspension inertia.

[0133] Step S320: Based on the predicted motor speed, control the slewing motor to drive the tower crane's slewing mechanism.

[0134] In the tower crane slewing mechanism control process of this embodiment, the inertia of the boom and the suspended load will change with the change of the suspended load on the tower crane boom. Therefore, as Figure 6 As shown, during the control process, the influence of the real-time inertia of the boom and suspended object on the motor speed can also be considered. Combining the adjusted drive torque, real-time speed integral feedback, and the real-time inertia of the boom and suspended object, based on the motor speed w... m With motor drive torque T m The first transfer function between the two is used to determine the predicted motor speed of the rotary motor, and then the rotary motor is controlled.

[0135] It should be noted that in the actual control process, the range of the parameters of the mechanical structure in the tower crane slewing mechanism needs to be unified with the range of the parameters of the motor structure. Therefore, when determining the predicted motor speed, the real-time inertia of the boom and the suspended object can be the calibrated real-time inertia of the boom and the suspended object. The calibration process of the real-time inertia of the boom and the suspended object is the same as the calibration process of the boom and the suspended object mentioned above.

[0136] Specifically, after step S310, the method may include: obtaining the predicted boom speed based on the predicted motor speed, the real-time boom speed, and the real-time boom friction and wind resistance, and updating the real-time boom speed to the predicted boom speed in order to further adjust the adjusted drive torque.

[0137] In this embodiment, the wind resistance of the tower crane's slewing mechanism's operating environment also affects the boom speed. Therefore, during the control of the tower crane's slewing mechanism, the influence of real-time boom friction and wind resistance on the boom speed under different operating environments can also be considered. Combining the predicted motor speed, real-time boom speed, and real-time boom friction and wind resistance, based on the motor speed w... m With the rotational speed of the boom w d The third transfer function between the two determines the predicted boom speed at the current moment and updates the predicted boom speed to the real-time boom speed. This serves as the basis for adjusting the drive torque when controlling the tower crane slewing mechanism at the next moment, thereby ensuring good control performance regardless of whether it is in a tailwind, headwind, or no wind.

[0138] It should be noted that in the actual control process, the range of the mechanical structure parameters will be unified with the range of the motor structure parameters. Therefore, the predicted boom speed obtained by combining the predicted motor speed, real-time boom speed, and real-time boom friction and wind resistance is the calibrated predicted boom speed.

[0139] This embodiment provides a control method for a tower crane slewing mechanism. Utilizing state feedback control, after calibrating the state feedback coefficient and the motor speed integral, the driving torque of the slewing motor is adjusted. The tower crane slewing mechanism is then driven by the adjusted driving torque, resulting in a boom speed without any overshoot. Furthermore, the poles of the tower crane slewing mechanism control system can be configured according to actual usage requirements. By configuring the poles as real numbers, the swaying of the tower crane boom in the slewing mechanism can be eliminated. Additionally, due to the calibration of the motor speed integral, the control system maintains good control performance in windy conditions, regardless of whether it is headwind or tailwind.

[0140] Furthermore, embodiments of this application also propose a computer storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of the tower crane slewing mechanism control method described above. Therefore, it will not be repeated here. Additionally, the beneficial effects of using the same method will not be repeated here either. For technical details not disclosed in the computer-readable storage medium embodiments of this application, please refer to the description of the method embodiments of this application. As an example, program instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0141] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A control method for the slewing mechanism of a tower crane, characterized in that, The method includes: The system acquires the real-time jib speed, slewing motor speed, real-time integral feedback of the slewing motor, and real-time integral calibration of the slewing motor in the tower crane's slewing mechanism. The real-time integral feedback is obtained by integrating the deviation curve between the real-time motor speed curve and the real-time jib speed curve from the start of jib slewing to the current time. The real-time integral calibration is obtained by integrating the deviation curve between the set motor speed curve and the real-time motor speed curve from the start of jib slewing to the current time. The driving torque output by the slewing motor is adjusted based on the real-time boom speed, the real-time motor speed, the real-time speed integral feedback, and the real-time speed integral calibration to obtain the adjusted driving torque. The real-time boom speed, the real-time motor speed, the real-time speed integral feedback, and the real-time speed integral calibration serve as state feedback of the transfer function between the driving torque and the boom speed of the tower crane. The transfer function includes a first transfer function between the real-time motor speed and the driving torque, a second transfer function between the real-time boom speed and the driving torque, and a third transfer function between the real-time motor speed and the real-time boom speed, obtained by performing a Laplace transform on the dynamic equations of the tower crane slewing mechanism. Based on the adjusted driving torque, the slewing motor is controlled to drive the tower crane slewing mechanism. The step of adjusting the driving torque output by the slewing motor based on the real-time boom rotation speed, the real-time motor rotation speed, the real-time rotation speed integral feedback, and the real-time rotation speed integral calibration to obtain the adjusted driving torque includes: Obtain the state control equations of the tower crane slewing mechanism; Based on the state control equation and the preset system expectation equation, the boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient and integral calibration coefficient are obtained. The driving torque is adjusted based on the real-time boom speed, the real-time motor speed, the real-time speed integral feedback, the real-time speed integral calibration, the boom speed feedback coefficient, the motor speed feedback coefficient, the speed integral feedback coefficient, and the integral calibration coefficient to obtain the adjusted driving torque. The step of obtaining the state control equation of the tower crane slewing mechanism includes: Obtain the transfer function between the driving torque and the boom rotation speed of the tower crane boom; Based on the transfer function, boom speed feedback, motor speed feedback, motor speed integral feedback, and motor speed integral calibration feedback, the state control equation of the tower crane slewing mechanism is constructed.

2. The method as described in claim 1, characterized in that, The desired formula for the preset system is: in, and ζ n The parameters of the second-order polynomial at the poles are... , Based on the natural frequency configuration of the tower crane's slewing mechanism control system, and For the expected extreme point, and according to Configuration, For Laplace transform operators.

3. The method as described in claim 2, characterized in that, The step of obtaining the boom speed feedback coefficient, motor speed feedback coefficient, speed integral feedback coefficient, and integral calibration coefficient based on the state control equation and the preset system expectation equation includes: Based on the state control equation, the characteristic polynomial of the control system corresponding to the tower crane slewing mechanism is obtained; Based on the preset system expectation formula, the characteristic polynomial is solved to obtain the boom speed feedback coefficient, the motor speed feedback coefficient, the speed integral feedback coefficient, and the integral calibration coefficient.

4. The method as described in claim 1, characterized in that, The step of controlling the slewing motor to drive the tower crane slewing mechanism according to the adjusted driving torque includes: The predicted motor speed is obtained based on the adjusted driving torque, the real-time speed integral feedback, and the real-time inertia of the boom and the suspended object. Based on the predicted motor speed, the slewing motor is controlled to drive the tower crane's slewing mechanism.

5. The method as described in claim 4, characterized in that, After the step of obtaining the predicted motor speed based on the adjusted driving torque, the real-time speed integral feedback, and the real-time inertia of the boom and suspended object, the method further includes: Based on the predicted motor speed, the real-time boom speed, and the real-time boom friction and wind resistance, the predicted boom speed is obtained, and the real-time boom speed is updated to the predicted boom speed to further adjust the adjusted drive torque.

6. The method as described in claim 1, characterized in that, The step of obtaining the real-time speed integral calibration of the real-time motor speed in the tower crane slewing mechanism includes: The real-time speed integral calibration is obtained based on the set motor speed and the real-time motor speed.

7. A control device for the slewing mechanism of a tower crane, characterized in that, The device includes: a memory, a processor, and a tower crane slewing mechanism control program stored in the memory and executable on the processor, configured to implement the steps of the tower crane slewing mechanism control method as described in any one of claims 1 to 6.

8. A control system for a tower crane slewing mechanism, characterized in that, The system includes: The tower crane slewing mechanism control device as described in claim 7; Tower crane slewing mechanism; The tower crane slewing mechanism control device is connected to the tower crane slewing mechanism.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the tower crane slewing mechanism control method as described in any one of claims 1 to 6.

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