Numerical control hoist control method and its application in stage suspension lifting

Abstract

The application discloses a numerical control hoist control method and application thereof in stage suspension frame lifting, the scheme ingeniously monitors the load weight and lifting speed of the numerical control hoist during work, determines a reference parameter, and balances the working parameters of all the numerical control hoists in use through the controller, so that the multiple numerical control hoists can better work coordinately during synchronous work, and the working reliability and flexibility of the corresponding device system are improved. In addition, the scheme further introduces redundant numerical control hoists to provide function compensation for abnormal numerical control hoists, and the overall working stability of the numerical control hoist is improved. When the method is used for lifting control of the stage first-level suspension frame, the stage first-level suspension frame can be provided with stable lifting operation service.

Description

Technical Field

[0001] This invention relates to the field of CNC technology, and in particular to a CNC hoist control method and its application in stage hoisting. Background Technology

[0002] Electric hoists are a type of special lifting equipment. Due to their small size, light weight, simple operation, and ease of use, they are frequently used in industrial and mining enterprises, warehouses, docks, stages, and other places for lifting and lowering equipment, components, and goods. Stages, as performance venues, often involve high-altitude actions and props during performances. Nowadays, in various performance venues such as stadiums, theaters, and studios, the use of CNC hoists for single-stage hoists is widespread. Once installed, the single-stage hoist is not dismantled, allowing for the suspension of various stage performance equipment, such as lighting, sound systems, and artistic decorations, for subsequent performances and events, greatly simplifying stage setup. Furthermore, if the equipment suspended on the hoist... Uneven weight distribution, influenced by the increased elastic deformation of the chain as it extends, leads to heavier lifting points experiencing increasing stress during the overall lifting process. This stress may eventually exceed the lifting point's capacity, affecting the entire lifting operation. Therefore, introducing a control mechanism into the CNC hoist's control system to monitor parameters such as speed and weight at each lifting point in real time, and then dynamically adjust the lifting point's speed to maintain the weight near its initial value before lifting, ensures dynamic balance across all lifting points during the ascent. This would significantly improve the reliability and flexibility of CNC hoist applications. Summary of the Invention

[0003] In view of this, the purpose of this invention is to propose a CNC hoist control method that is reliable in implementation, flexible in application, and stable in synchronous operation, and its application in stage hoist lifting.

[0004] To achieve the above-mentioned technical objectives, the technical solution adopted by this invention is as follows:

[0005] A CNC hoist control method is disclosed for the synchronous lifting control of multiple CNC hoists, wherein the multiple CNC hoists are simultaneously connected to a target object and control the lifting of the target object. Each CNC hoist is equipped with a load cell for sensing its lifting weight. The multiple CNC hoists are controlled by a controller. The control method includes:

[0006] S01. Synchronize the internal clocks of the multiple CNC hoists according to a preset time frequency, so that they are synchronized to the same clock source;

[0007] S02. In response to the control command issued by the controller, monitor the working parameters of the multiple CNC hoists, wherein the working parameters include at least the lifting speed and load weight of the CNC hoists;

[0008] S03. Acquire the working parameters of the multiple CNC hoists, determine the reference parameters from them according to preset conditions, and then perform adaptive parameter adjustment of the CNC hoists according to preset methods.

[0009] As a possible implementation, further, in this solution S01, each of the CNC hoists is equipped with a position sensor for sensing the position of its hook and a speed sensor for sensing the lifting speed of its hook. When multiple CNC units synchronize their internal clocks at a preset time frequency, they all use Network Time Protocol (NTP) or Precision Time Protocol (PTP) to synchronize the internal clocks of the load cells, position sensors and speed sensors deployed on them to the same clock source.

[0010] As one possible implementation, further, in this solution S02, the controller is a PID controller, and the weighing sensors, position sensors and speed sensors on the multiple CNC hoists are calibrated according to a preset time period. The monitored working parameters also include the position of the hook.

[0011] In S03, the reference parameter is the median or average of the lifting speeds of the plurality of CNC hoists;

[0012] The preset method for adaptively adjusting the parameters of the remaining CNC hoists is to decrease or increase acceleration or engage braking.

[0013] As a preferred implementation method, this solution further includes multiple redundant CNC hoists, which are arranged in an array above the target object and are all connected to and control the lifting and lowering of the target object; the multiple CNC hoists and the multiple redundant CNC hoists have a first state and a second state of mutual cooperation.

[0014] In the first state, the multiple CNC hoists control the lifting and lowering of the target object, and the operation of the multiple redundant CNC hoists is suspended.

[0015] In the second state, at least some of the CNC hoists perform lifting and lowering control on the target object, and at least some of the redundant CNC hoists are engaged to assist the CNC hoists in performing lifting and lowering control on the target object.

[0016] Among them, a one-to-one or one-to-many redundancy relationship is established between the multiple CNC hoists and the multiple redundant CNC hoists.

[0017] As a preferred implementation method, the control method described in this solution further includes:

[0018] S04. Obtain the working parameters of multiple CNC hoists, perform anomaly judgment on them according to preset conditions, and output the judgment result. When the judgment result indicates that there is an anomaly among the multiple CNC hoists, start the corresponding redundant CNC hoist according to preset conditions to assist the CNC hoist in lifting and lowering the target object.

[0019] Based on the above, this solution also provides a stage hoist lifting control method, which includes the CNC hoist control method described above; the target object is the stage primary hoist; the controller is a PID controller, wherein the CNC hoist in use and the redundant CNC hoist are set as the hoist in use.

[0020] As a preferred implementation method, in S02 of this solution, the operating parameters of the multiple CNC hoists are recorded using a data array as follows:

[0021]

[0022] Among them, C n This refers to the set of working parameters monitored and recorded by one or more CNC hoists during operation, where t is time. n Let v be the time point, and I, V, F, and T be the lifting speed, operating current, operating voltage, load weight, and operating torque, respectively. n I n V n F n T n t n At a given time point, the corresponding lifting speed, operating current, operating voltage, load weight, and operating torque of the CNC hoist or redundant CNC hoist.

[0023] As a preferred implementation method, preferably, in this solution S03, the reference parameter is the median or average of the lifting speeds of the plurality of CNC hoists; when the reference parameter is the average, its calculation formula is as follows:

[0024]

[0025] Among them, v avg (t) represents the average speed of the CNC hoists in use and the redundant CNC hoists at time t; M represents the number of CNC hoists in use and the redundant CNC hoists; v n (t) represents the speed of the CNC hoist in use and the redundant CNC hoist at time t.

[0026] As a preferred implementation method, preferably, in this solution S03, the method for adaptively adjusting the parameters of the remaining CNC hoists according to a preset method includes:

[0027] The CNC hoists in use and redundant CNC hoists will be designated as the hoists in use, with an average speed v. avg Based on (t), the target speed of all in-use hoists is set to v. std (t), the v std (t)=v avg (t);

[0028] The deviation of each in-use hoist from the target speed is calculated using the following formula:

[0029] e i (t)=v std (t)-v i (t)

[0030] Among them, e i (t) represents the deviation value of the hoist from the target speed, v i (t) represents the current speed of the gourd in use;

[0031] Based on the deviation value e i (t), using a PID controller to adjust the control input u of the hoist in use. i (t) is derived from the adaptive target velocity, as shown in the following formula:

[0032]

[0033] Among them, K p K i K d These are the proportional gain, integral gain, and derivative gain parameters of the PID controller, which can be adjusted using empirical formulas or manually.

[0034] When using empirical formulas, K p K i K d The relationship is as follows:

[0035] K p =Q×K u

[0036]

[0037]

[0038] Where Q, L, and R are user-defined constants, and K... u T is the proportional gain of the PID controller when system oscillation begins. u The system oscillation period of the PID controller;

[0039] When manual adjustment is used, K p K i K d The method for determining it is as follows:

[0040] Scissor K i K d Set K to zero, then gradually adjust K. p When the PID controller system exhibits sustained oscillations, that is, when the PID controller begins to oscillate, the proportional gain K is found. u Based on this, K was determined p ;

[0041] In K p After setting, gradually adjust and increase K. i After the steady-state error of the PID controller system is eliminated to a preset range, K is determined accordingly. i ;

[0042] In K i After setting, gradually adjust and increase K. d To ensure that the overshoot and set time of the PID controller meet the preset requirements, K is determined accordingly. i .

[0043] As a preferred implementation method, the stage primary rigging described in this solution is preferably kept in a suspended state; in step S03, the lifting position and speed of the stage primary rigging are also monitored; step S03 further includes:

[0044] S031. Set the CNC hoists in use and redundant CNC hoists as in-use hoists. Before activating them, calibrate them and then record the upper limit load weight F of each in-use hoist after calibration. Hstd Lower limit load weight F Lstd Upper limit speed v Hstd Lower limit speed v Lstd ;

[0045] S032. Responding to the signal of the control command issued by the PID controller, the lifting speed of the stage primary hoist is obtained. When it is a constant speed, the control command is judged. If it is an upward control command, the PID controller is released to adjust the speed change and enters A031. Otherwise, the PID controller continues to adaptively adjust the lifting speed of all hoists in use according to a preset method, using the median or average of the lifting speed of multiple hoists in use as the reference parameter.

[0046] A031. Monitor the load weight of each hoist in use, and record the initial load weight F at startup. istdWhen the load exceeds 50% of the preset upper limit threshold, a self-test is performed on the load cell of the hoist in use. If the self-test shows no abnormalities, it is further determined whether the hoist in use is in a constant-speed lifting state. If it is in a constant-speed state, the current load weight F of the hoist in use is obtained. n Determine whether it is greater than the initial load weight F. istd and 3% of the upper limit load weight F Hstd The sum of,

[0047] When it is greater than 0, further determine the upward speed v of the hoist in use. n Cumulative offset of stage primary hoist lifting speed v D Is the offset value less than the upper limit speed v? Hstd If the speed of the hoist decreases by 0.5%, then it is deduced whether the stage primary gantry will deviate from the preset target position by more than 50mm after the preset command time. If not, the speed of the hoist in use is reduced by 0.2%.

[0048] When the value is less than the specified value, further determine the current load weight F of the hoist in use. n Is it less than the initial load weight F? istd and 3% of the upper limit load weight F Hstd The absolute difference, when it is, further determines the upward speed v of the gourd. n Cumulative offset of stage primary hoist lifting speed v D Is the offset value less than the upper limit speed v? Hstd If the speed is increased by 0.5%, then it is deduced whether increasing the lifting speed of the hoist currently in use by 0.2% will cause the stage primary gantry to deviate from the preset target position by more than 50mm under the preset command time. If not, the speed of the hoist in use is increased by 0.2%.

[0049] As a preferred implementation method, solution S04 preferably includes:

[0050] S041. Obtain the operating parameters of multiple hoists in use. These operating parameters include at least one of the following: lifting speed, current, voltage, load weight, and torque of the hoist in use. Calculate the average value of each parameter at time t among the operating parameters of the multiple hoists in use, as follows:

[0051]

[0052]

[0053]

[0054]

[0055]

[0056] Among them, v avg (t), I avg (t), V avg (t), F avg (t), T avg (t) represents the average speed, average current, average voltage, average load weight, and average torque of the hoist in operation at time t; M is the number of hoists in operation; v n (t), I n (t), V n (t), F n (t), T n (t) represents the speed, operating current, operating voltage, load weight, and operating torque of the hoist in use at time t;

[0057] S042. Based on the average speed, average current, average voltage, average load weight, and average torque of the hoists in use, calculate the absolute deviation of the operating parameters of each hoist at time t, using the following formula:

[0058] Δv n (t)=|v n (t)-v avg (t)|

[0059] ΔI n (t)=|I n (t)-I avg (t)|

[0060] ΔV n (t)=|V n (t)-v avg (t)|

[0061] ΔF n (t)=|F n (t)-F avg (t)|

[0062] ΔT n (t)=|T n (t)-T avg (t)|

[0063] S043. Obtain the absolute deviation value of the working parameters of each hoist in use at time t, and substitute it into the preset fault assessment model to calculate the abnormal weight value, as shown in the following formula:

[0064] H i (t)=w v Δv n (t)+w I ΔI n(t)+w V ΔV n (t)+w F ΔF n (t)+w T ΔT n (t)

[0065] Among them, w v w I w V w F w T Preset weighting coefficients;

[0066] S044. Obtain the abnormal weight value H i (t), compare it with a preset threshold, and when it is greater than the preset threshold, mark the state of the gourd at time t as abnormal;

[0067] S045. Obtain the number of abnormal markers of the hoist in use within a preset time period. When the number exceeds a preset threshold, output the judgment result that the hoist in use is abnormal. Otherwise, output normal. When the judgment result points to the CNC hoist being abnormal, start the corresponding redundant CNC hoist according to preset conditions to assist the CNC hoist in lifting and lowering the target object.

[0068] Based on the above, the present invention also provides a stage rigging lifting control system for lifting a primary stage rigging, which is loaded with the CNC hoist control method or the stage rigging lifting control method described above, the system comprising:

[0069] There are multiple CNC hoists and redundant CNC hoists arranged in an array above the primary stage truss, and the hooks of all hoists are connected to the primary stage truss at the same time. Each of the multiple CNC hoists and the redundant CNC hoists is equipped with a position sensor for sensing the position of its hook, a speed sensor for sensing the lifting speed of its hook, and a weighing sensor for sensing the lifting weight.

[0070] The clock synchronization module is used to internally synchronize multiple CNC hoists according to a preset time frequency, so that they are synchronized to the same clock source.

[0071] The work monitoring module is used to respond to control commands issued by the controller and monitor the working parameters of multiple CNC hoists. The working parameters include at least the lifting speed and load weight of the CNC hoist.

[0072] A PID controller is used with multiple CNC hoists and redundant CNC hoists, and is used to acquire the working parameters of the multiple CNC hoists, determine reference parameters from them according to preset conditions, and then adaptively adjust the parameters of the CNC hoists according to preset methods.

[0073] Compared with the prior art, the present invention, employing the above technical solution, has the following beneficial effects: The ingenious solution monitors the load weight and lifting speed of the CNC hoist during operation, determines a reference parameter, and then balances the working parameters of all used CNC hoists through a controller. This allows for better coordination when multiple CNC hoists work synchronously, improving the reliability and flexibility of the corresponding device system. Furthermore, the solution introduces redundant CNC hoists to provide functional compensation for abnormal CNC hoists, improving the overall working stability of the CNC hoists. When used for the lifting control of stage primary scaffolding, this solution can provide stable lifting operation services for the stage primary scaffolding. In addition to monitoring weight and lifting speed, the solution further monitors the working current, working voltage, torque, and other working parameters of the electric hoist. By weighing the deviation from the normal average, it assigns corresponding abnormality markers. Then, combined with the abnormal situation within a preset time period, it determines whether the CNC hoist meets the requirements for continued use, providing a reference for equipment replacement and offering positive guidance for equipment maintenance. Attached Figure Description

[0074] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0075] Figure 1 This is one of the simplified implementation flowcharts of the control method in this scheme;

[0076] Figure 2 This is a simplified connection diagram of the components such as the hanger, CNC hoist, control cabinet (i.e., PID controller or controller), control console (main controller), and weighing sensor in the control method of this scheme;

[0077] Figure 3 This is a schematic diagram of the control process of the hoist when taking the lifting of the gantry as an example in the control method of this scheme;

[0078] Figure 4 This is the second simplified implementation flowchart of the control method in this scheme;

[0079] Figure 5 This solution presents a simplified diagram of the system's units, modules, and component connections. Detailed Implementation

[0080] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the invention. Similarly, the following embodiments are only some, not all, embodiments of the present invention, and all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0081] Combination Figure 1 , Figure 2 As shown in this embodiment, a CNC hoist control method is provided for the synchronous lifting and lowering control of multiple CNC hoists. The multiple CNC hoists are simultaneously connected to a target object and control the lifting and lowering of the target object. Each CNC hoist is also equipped with a weighing sensor for sensing its lifting weight. The multiple CNC hoists are controlled by a controller. The control method includes:

[0082] S01. Synchronize the internal clocks of the multiple CNC hoists according to a preset time frequency, so that they are synchronized to the same clock source;

[0083] S02. In response to the control command issued by the controller, monitor the working parameters of the multiple CNC hoists, wherein the working parameters include at least the lifting speed and load weight of the CNC hoists;

[0084] S03. Acquire the working parameters of the multiple CNC hoists, determine the reference parameters from them according to preset conditions, and then perform adaptive parameter adjustment of the CNC hoists according to preset methods.

[0085] In this solution S01, each of the CNC hoists is equipped with a position sensor for sensing the position of its hook and a speed sensor for sensing the lifting speed of its hook. When multiple CNC units synchronize their internal clocks at a preset time frequency, they all use Network Time Protocol (NTP) or Precision Time Protocol (PTP) to synchronize the internal clocks of the load cells, position sensors and speed sensors deployed on them to the same clock source.

[0086] This solution, by unifying and synchronizing the internal clocks of the sensors, helps to provide more reliable data consistency when comparing and aggregating monitoring data.

[0087] In this solution S02, the controller is a PID controller, and the weighing sensors, position sensors and speed sensors on the multiple CNC hoists are calibrated according to a preset time period. The monitored working parameters also include the position of the hook.

[0088] In addition, in this scheme S03, the reference parameter can be the median or average of the lifting speeds of the multiple CNC hoists.

[0089] Regarding speed control, the PID controller in this solution can adaptively adjust the parameters of the other CNC hoists in a preset manner by reducing or increasing acceleration or engaging braking.

[0090] To avoid increasing the risk of accidents to the entire device due to malfunctions of individual CNC hoists, as a preferred implementation method, this solution preferably includes multiple redundant CNC hoists. These redundant CNC hoists and the multiple CNC hoists are arranged in an array above the target object, and each is connected to and controls the lifting and lowering of the target object. The multiple CNC hoists and the multiple redundant CNC hoists have a first state and a second state of mutual cooperation.

[0091] In the first state, the multiple CNC hoists control the lifting and lowering of the target object, and the operation of the multiple redundant CNC hoists is suspended.

[0092] In the second state, at least some of the CNC hoists perform lifting and lowering control on the target object, and at least some of the redundant CNC hoists are engaged to assist the CNC hoists in performing lifting and lowering control on the target object.

[0093] Among them, a one-to-one or one-to-many redundancy relationship is established between the multiple CNC hoists and the multiple redundant CNC hoists.

[0094] To improve the reliability of anomaly monitoring for CNC hoists or redundant CNC hoists and to provide a reference for subsequent replacements, this study combines... Figure 4 As shown, as a preferred embodiment, the control method of this solution further includes:

[0095] S04. Obtain the working parameters of multiple CNC hoists, perform anomaly judgment on them according to preset conditions, and output the judgment result. When the judgment result indicates that there is an anomaly among the multiple CNC hoists, start the corresponding redundant CNC hoist according to preset conditions to assist the CNC hoist in lifting and lowering the target object.

[0096] Based on the above, the CNC hoist control method of this scheme can be applied to the stage scaffolding lifting control method, which includes the CNC hoist control method described above; the target object is the stage primary scaffolding; the controller is a PID controller, wherein the CNC hoist in use and the redundant CNC hoist are set as the hoist in use.

[0097] Regarding parameter recording, as a preferred implementation method, in this solution S02, the working parameters of the multiple CNC hoists are recorded using a data array as follows:

[0098]

[0099] Among them, Cn This refers to the set of working parameters monitored and recorded by one or more CNC hoists during operation, where t is time. n Let v be the time point, and I, V, F, and T be the lifting speed, operating current, operating voltage, load weight, and operating torque, respectively. n i n V n F n T n t n At a given time point, the corresponding lifting speed, operating current, operating voltage, load weight, and operating torque of the CNC hoist or redundant CNC hoist.

[0100] As a preferred embodiment, in S03 of this solution, the reference parameter is the median or average of the lifting speeds of the plurality of CNC hoists; when the reference parameter is the average, its calculation formula is as follows:

[0101]

[0102] Among them, v avg (t) represents the average speed of the CNC hoists in use and the redundant CNC hoists at time t; M represents the number of CNC hoists in use and the redundant CNC hoists; v n (t) represents the speed of the CNC hoist in use and the redundant CNC hoist at time t.

[0103] As a preferred implementation method, preferably, in this solution S03, the method for adaptively adjusting the parameters of the remaining CNC hoists according to a preset method includes:

[0104] The CNC hoists in use and redundant CNC hoists will be designated as the hoists in use, with an average speed v. avg Based on (t), the target speed of all in-use hoists is set to v. std (t), the v std (t)=v avg (t);

[0105] The deviation of each in-use hoist from the target speed is calculated using the following formula:

[0106] e i (t)=v std (t)-v i (t)

[0107] Among them, e i (t) represents the deviation value of the hoist from the target speed, v i (t) represents the current speed of the gourd in use;

[0108] Based on the deviation value e i(t), using a PID controller to adjust the control input u of the hoist in use. i (t) is derived from the adaptive target velocity, as shown in the following formula:

[0109]

[0110] Among them, K p K i K d These are the proportional gain, integral gain, and derivative gain parameters of the PID controller, which can be adjusted using empirical formulas or manually.

[0111] When using empirical formulas, K p K i K d The relationship is as follows:

[0112] K p =Q×K u

[0113]

[0114]

[0115] Where Q, L, and R are user-defined constants, and K... u T is the proportional gain of the PID controller when system oscillation begins. u The system oscillation period of the PID controller;

[0116] When manual adjustment is used, K p K i K d The method for determining it is as follows:

[0117] Scissor K i K d Set K to zero, then gradually adjust K. p When the PID controller system exhibits sustained oscillations, that is, when the PID controller begins to oscillate, the proportional gain K is found. u Based on this, K was determined p ;

[0118] In K p After setting, gradually adjust and increase K. i After the steady-state error of the PID controller system is eliminated to a preset range, K is determined accordingly. i ;

[0119] In K i After setting, gradually adjust and increase K. d To ensure that the overshoot and set time of the PID controller meet the preset requirements, K is determined accordingly. i .

[0120] Combination Figure 3 As shown, as a preferred embodiment, the stage primary rigging described in this solution is preferably kept in a suspended state; in S03, the lifting position and speed of the stage primary rigging are also monitored; S03 further includes:

[0121] S031. Set the CNC hoists in use and redundant CNC hoists as in-use hoists. Before activating them, calibrate them and then record the upper limit load weight F of each in-use hoist after calibration. Hstd Lower limit load weight F Lstd Upper limit speed v Hstd Lower limit speed v Lstd ;

[0122] S032. Responding to the signal of the control command issued by the PID controller, the lifting speed of the stage primary hoist is obtained. When it is a constant speed, the control command is judged. If it is an upward control command, the PID controller is released to adjust the speed change and enters A031. Otherwise, the PID controller continues to adaptively adjust the lifting speed of all hoists in use according to a preset method, using the median or average of the lifting speed of multiple hoists in use as the reference parameter.

[0123] A031. Monitor the load weight of each hoist in use, and record the initial load weight F at startup. istd When the load exceeds 50% of the preset upper limit threshold, a self-test is performed on the load cell of the hoist in use. If the self-test shows no abnormalities, it is further determined whether the hoist in use is in a constant-speed lifting state. If it is in a constant-speed state, the current load weight F of the hoist in use is obtained. n Determine whether it is greater than the initial load weight F. istd and 3% of the upper limit load weight F Hstd The sum of,

[0124] When it is greater than 0, further determine the upward speed v of the hoist in use. n Cumulative offset of stage primary hoist lifting speed v D Is the offset value less than the upper limit speed v? Hstd If the speed of the hoist decreases by 0.5%, then it is deduced whether the stage primary gantry will deviate from the preset target position by more than 50mm after the preset command time. If not, the speed of the hoist in use is reduced by 0.2%.

[0125] When the value is less than the specified value, further determine the current load weight F of the hoist in use. n Is it less than the initial load weight F? istd and 3% of the upper limit load weight F HstdThe absolute difference, when it is, further determines the upward speed v of the gourd. n Cumulative offset of stage primary hoist lifting speed v D Is the offset value less than the upper limit speed v? Hstd If the speed is increased by 0.5%, then it is deduced whether increasing the lifting speed of the hoist currently in use by 0.2% will cause the stage primary gantry to deviate from the preset target position by more than 50mm under the preset command time. If not, the speed of the hoist in use is increased by 0.2%.

[0126] In the case of anomaly monitoring feedback, as a preferred implementation method, this solution S04 preferably includes:

[0127] S041. Obtain the operating parameters of multiple hoists in use. These operating parameters include at least one of the following: lifting speed, current, voltage, load weight, and torque of the hoist in use. Calculate the average value of each parameter at time t among the operating parameters of the multiple hoists in use, as follows:

[0128]

[0129]

[0130]

[0131]

[0132]

[0133] Among them, v avg (t), I avg (t), V avg (t), F avg (t), T avg (t) represents the average speed, average current, average voltage, average load weight, and average torque of the hoist in operation at time t; M is the number of hoists in operation; v n (t), I n (t), V n (t), F n (t), T n (t) represents the speed, operating current, operating voltage, load weight, and operating torque of the hoist in use at time t;

[0134] S042. Based on the average speed, average current, average voltage, average load weight, and average torque of the hoists in use, calculate the absolute deviation of the operating parameters of each hoist at time t, using the following formula:

[0135] Δv n (t)=|v n(t)-v avg (t)|

[0136] ΔI n (t)=|I n (t)-I avg (t)|

[0137] ΔV n (t)=|V n (t)-v avg (t)|

[0138] ΔF n (t)=|F n (t)-F avg (t)|

[0139] ΔT n (t)=|T n (t)-T avg (t)|

[0140] S043. Obtain the absolute deviation value of the working parameters of each hoist in use at time t, and substitute it into the preset fault assessment model to calculate the abnormal weight value, as shown in the following formula:

[0141] H i (t)=w v Δv n (t)+w I ΔI n (t)+w V ΔV n (t)+w F ΔF n (t)+w T ΔT n (t)

[0142] Among them, w v w I w V w F w T The preset weighting coefficients are, for example, 0.4, 0.3, 0.3, 0.25, and 0.3.

[0143] S044. Obtain the abnormal weight value H i (t), compare it with a preset threshold, and when it is greater than the preset threshold, mark the state of the gourd at time t as abnormal;

[0144] S045. Obtain the number of abnormal markers of the hoist in use within a preset time period. When the number exceeds a preset threshold, output the judgment result that the hoist in use is abnormal. Otherwise, output normal. When the judgment result points to the CNC hoist being abnormal, start the corresponding redundant CNC hoist according to preset conditions to assist the CNC hoist in lifting and lowering the target object.

[0145] Combination Figure 5 As shown, based on the above, this embodiment also provides a stage rigging lifting control system for lifting a primary stage rigging, which is loaded with the CNC hoist control method or the stage rigging lifting control method described above. The system includes:

[0146] There are multiple CNC hoists and redundant CNC hoists arranged in an array above the primary stage truss, and the hooks of all hoists are connected to the primary stage truss at the same time. Each of the multiple CNC hoists and the redundant CNC hoists is equipped with a position sensor for sensing the position of its hook, a speed sensor for sensing the lifting speed of its hook, and a weighing sensor for sensing the lifting weight.

[0147] The clock synchronization module is used to internally synchronize multiple CNC hoists according to a preset time frequency, so that they are synchronized to the same clock source.

[0148] The work monitoring module is used to respond to control commands issued by the controller and monitor the working parameters of multiple CNC hoists. The working parameters include at least the lifting speed and load weight of the CNC hoist.

[0149] A PID controller is used with multiple CNC hoists and redundant CNC hoists, and is used to acquire the working parameters of the multiple CNC hoists, determine reference parameters from them according to preset conditions, and then adaptively adjust the parameters of the CNC hoists according to preset methods.

[0150] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0151] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0152] The above description is only a part of the embodiments of the present invention and does not limit the scope of protection of the present invention. Any equivalent device or equivalent process transformation made based on the content of the present invention specification and drawings, or direct or indirect application in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A stage rigging lifting control method, which utilizes a CNC hoist control method for synchronous lifting control of multiple CNC hoists. The multiple CNC hoists are simultaneously connected to a target object and control the lifting and lowering of the target object. Each CNC hoist is equipped with a weighing sensor for sensing its lifting weight. The multiple CNC hoists are controlled by a controller, which is a PID controller. The CNC hoist control method further includes multiple redundant CNC hoists, which are arranged in an array above the target object and are all connected to and control the lifting and lowering of the target object. The multiple CNC hoists and the multiple redundant CNC hoists have mutually cooperating first and second states. In the first state, the multiple CNC hoists control the lifting and lowering of the target object, and the operation of the multiple redundant CNC hoists is suspended. In the second state, at least some of the CNC hoists perform lifting and lowering control on the target object, and at least some of the redundant CNC hoists are engaged to assist the CNC hoists in performing lifting and lowering control on the target object. in, A one-to-one or one-to-many redundancy relationship is established between the multiple CNC hoists and the multiple redundant CNC hoists; the target object is the stage primary hoist. In-use CNC hoists and redundant CNC hoists are set as in-use hoists; The CNC hoist control method includes: S01. Synchronize the internal clocks of the multiple CNC hoists according to a preset time frequency, so that they are synchronized to the same clock source; S02. In response to the control command issued by the controller, monitor the working parameters of the multiple CNC hoists, wherein the working parameters include at least the lifting speed and load weight of the CNC hoists; S03. Acquire the working parameters of the multiple CNC hoists, determine the reference parameters from them according to preset conditions, and then perform adaptive parameter adjustment of the CNC hoists according to preset methods. S04. Obtain the working parameters of multiple CNC hoists, perform anomaly judgment on them according to preset conditions, and output the judgment result. When the judgment result points to an anomaly among the multiple CNC hoists, start the corresponding redundant CNC hoist according to preset conditions to assist the CNC hoist in lifting and lowering the target object. The stage primary rigging is continuously kept in a suspended state; in step S03, the lifting position and speed of the stage primary rigging are also monitored; step S03 includes: S031. Set the CNC hoists in use and redundant CNC hoists as in-use hoists. Before activating them, calibrate them and then record the upper limit load weight of each in-use hoist after calibration. Lower limit load weight Maximum speed Lower limit speed ; S032. Responding to the signal of the control command issued by the PID controller, the lifting speed of the stage primary hoist is obtained. When it is a constant speed, the control command is judged. If it is an upward control command, the PID controller is released to adjust the speed change and enters A031. Otherwise, the PID controller continues to adaptively adjust the lifting speed of all hoists in use according to a preset method, using the median or average of the lifting speed of multiple hoists in use as the reference parameter. A031. Monitor the load weight of each hoist in use, including its initial load weight at startup. When the load exceeds 50% of the preset upper limit threshold, a self-test is performed on the load cell of the hoist in use. If the self-test shows no abnormalities, it is further determined whether the hoist in use is in a constant-speed lifting state. If it is in a constant-speed state, the current load weight of the hoist in use is obtained. Determine if it is greater than the initial load weight. and 3% of the maximum load weight The sum of, When it is greater than 1, further determine the rising speed of the hoist in use. Cumulative offset of stage primary hoist lifting speed Is the offset value less than the upper speed limit? If the speed of the hoist in use decreases by 0.5%, it is deduced whether the stage primary gantry will deviate from the preset target position by more than 50 mm after the preset command time. If not, the speed of the hoist in use is reduced by 0.2%. If the value is less than the specified value, further determine the current load weight of the hoist in use. Is it less than the initial load weight? and 3% of the maximum load weight The absolute difference, when it is, further determines the upward speed of the gourd. Cumulative offset of stage primary hoist lifting speed Is the offset value less than the upper speed limit? If the speed is increased by 0.5%, then it is deduced whether increasing the lifting speed of the hoist currently in use by 0.2% will cause the stage primary gantry to deviate from the preset target position by more than 50 mm under the preset command time. If not, the speed of the hoist in use is increased by 0.2%.

2. The stage rigging lifting control method as described in claim 1, characterized in that, In S01, each of the CNC hoists is equipped with a position sensor for sensing the position of its hook and a speed sensor for sensing the lifting speed of its hook. When multiple CNC hoists synchronize their internal clocks at a preset time frequency, they all use Network Time Protocol (NTP) or Precision Time Protocol (PTP) to synchronize the internal clocks of the load cells, position sensors and speed sensors deployed on them to the same clock source.

3. The stage rigging lifting control method as described in claim 2, characterized in that, In S02, the weighing sensors, position sensors and speed sensors on the multiple CNC hoists are calibrated according to a preset time period, and the monitored working parameters also include the position of the hook. In S03, the reference parameter is the median or average of the lifting speeds of the plurality of CNC hoists; The preset method for adaptively adjusting the parameters of the remaining CNC hoists is to decrease or increase acceleration or engage braking.

4. The stage rigging lifting control method as described in claim 1, characterized in that, In S02, the operating parameters of the multiple CNC hoists are recorded using a data array as follows: in, This refers to the set of working parameters monitored and recorded when one or more CNC hoists are in operation. For time, For a point in time, , , , T represents the lifting speed, operating current, operating voltage, load weight, and operating torque, respectively. , , , , They are respectively At a given time point, the corresponding lifting speed, operating current, operating voltage, load weight, and operating torque of the CNC hoist or redundant CNC hoist.

5. The stage rigging lifting control method as described in claim 1 or 4, characterized in that, In S03, the reference parameter is the median or average of the lifting speeds of the multiple CNC hoists; when the reference parameter is the average, its calculation formula is as follows: in, Let be the average speed of the CNC hoists in use and the redundant CNC hoists at time t; M is the number of CNC hoists in use and the redundant CNC hoists. The speed of the CNC hoist in use and the redundant CNC hoist at time t; In S03, the method for adaptively adjusting the parameters of the remaining CNC hoists according to a preset method includes: The CNC hoists in use and redundant CNC hoists will be designated as in-use hoists, and they will operate at an average speed. Based on this, the target speed of all in-use hoists is set to... ,Should = ; The deviation of each in-use hoist from the target speed is calculated using the following formula: in, This represents the deviation of the hoist from the target speed. This corresponds to the current speed of the gourd in use; Based on deviation value Use a PID controller to adjust the control input of the hoist in use. Derived from the target speed, the formula is as follows: in, , , These are the proportional gain, integral gain, and derivative gain parameters of the PID controller, which can be adjusted using empirical formulas or manually. When using empirical formulas , , The relationship is as follows: in, , , All are user-defined constants. The proportional gain of the PID controller when system oscillation begins. The system oscillation period of the PID controller; When using manual adjustment , , The method for determining it is as follows: shilling , Start with zero, then gradually adjust. When the PID controller system exhibits persistent oscillations, that is, when the PID controller begins to oscillate, the proportional gain is found. Based on this, it is determined ; exist After setting, gradually adjust and increase. After the steady-state error of the PID controller system is eliminated to a preset range, the system is then determined accordingly. ; exist After setting, gradually adjust and increase. To ensure that the system overshoot and set time of the PID controller meet the preset requirements, the following is determined: .

6. The stage rigging lifting control method as described in claim 5, characterized in that, S04 includes: S041. Obtain the operating parameters of multiple hoists in use. These operating parameters include at least one of the following: lifting speed, current, voltage, load weight, and torque of the hoist in use. Calculate the average value of each parameter at time t among the operating parameters of the multiple hoists in use, as follows: in, , , , , These represent the average speed, average current, average voltage, average load weight, and average torque of the hoist in use at time t; M is the number of hoists in use. , , , , The values ​​of the hoist in use at time t are: speed, operating current, operating voltage, load weight, and operating torque. S042. Based on the average speed, average current, average voltage, average load weight, and average torque of the hoists in use, calculate the absolute deviation of the operating parameters of each hoist at time t, using the following formula: S043. Obtain the absolute deviation value of the working parameters of each hoist in use at time t, and substitute it into the preset fault assessment model to calculate the abnormal weight value, as shown in the following formula: in, , , , , Preset weighting coefficients; S044. Obtain abnormal weight values The state of the gourd at time t is compared with a preset threshold. If the state is greater than the preset threshold, the state of the gourd at time t will be marked as abnormal. S045. Obtain the number of abnormal markers of the hoist in use within a preset time period. When the number exceeds a preset threshold, output the judgment result that the hoist in use is abnormal. Otherwise, output normal. When the judgment result points to the CNC hoist being abnormal, start the corresponding redundant CNC hoist according to preset conditions to assist the CNC hoist in lifting and lowering the target object.

7. A stage rigging lifting control system, characterized in that, It is used for the lifting and lowering of a stage rigging, and is equipped with the stage rigging lifting and lowering control method according to any one of claims 1 to 6, the system comprising: There are multiple CNC hoists and redundant CNC hoists arranged in an array above the primary stage truss, and the hooks of all hoists are connected to the primary stage truss at the same time. Each of the multiple CNC hoists and the redundant CNC hoists is equipped with a position sensor for sensing the position of its hook, a speed sensor for sensing the lifting speed of its hook, and a weighing sensor for sensing the lifting weight. The clock synchronization module is used to internally synchronize multiple CNC hoists according to a preset time frequency, so that they are synchronized to the same clock source. The work monitoring module is used to respond to control commands issued by the controller and monitor the working parameters of multiple CNC hoists. The working parameters include at least the lifting speed and load weight of the CNC hoist. A PID controller is used with multiple CNC hoists and redundant CNC hoists, and is used to acquire the working parameters of the multiple CNC hoists, determine reference parameters from them according to preset conditions, and then adaptively adjust the parameters of the CNC hoists according to preset methods.

Images