Cable crane main cable force control method, system, device and readable storage medium

Abstract

A cable crane main cable force control method, system, device and readable storage medium, relating to bridge construction technology field, including taking the main cable sag design value as the benchmark, determining the main cable sag calculation value according to the preset main cable sag deviation value; based on the main cable sag calculation value, the corresponding first cable force when the crown block is empty and the corresponding second cable force when the crown block is full are calculated; according to the first cable force, the second cable force, the preset cable force deviation allowed value and the main cable sag deviation value, the main cable sag deviation limit value is determined; in the main cable construction stage, the main cable sag deviation is controlled according to the main cable sag deviation limit value. The application reduces the safety risk of the cable crane main cable construction, and ensures that the main cable force deviation of the cable crane in the use process is within the specified limit value range.

Description

Technical Field

[0001] This invention relates to the field of bridge construction technology, and specifically to a method for controlling the main cable force of a cable crane. Background Technology

[0002] After the cable crane system was installed, the measured sag of the main cable deviated significantly from the design sag. During the lifting of the steel beam by the cable crane, as the cable crane trolley moved, the significant deviation between the measured and design sag led to a substantial difference between the actual and design cable forces of each main cable. This excessive difference between the actual and design cable forces will affect the safety of the cable crane.

[0003] To ensure the safety of cable crane lifting operations, it is necessary to control the tension of the main cables, keeping the difference between the actual tension and the design tension within a certain range. In related technologies, tension control is often achieved by adjusting the main cables during the loaded phase. However, since a crane is mounted on the main cables during this period, adjusting the tension may cause the crane to lose balance, leading to safety issues. Therefore, reducing the safety risks associated with controlling main cable tension deviation to ensure construction safety and the safe operation of the cable crane is a pressing problem that needs to be solved. Summary of the Invention

[0004] This invention provides a method, system, device, and readable storage medium for controlling the main cable force of a cable crane, which can solve the technical problem of safety risks caused by controlling the main cable force deviation during the loading stage of the main cable in the prior art.

[0005] In a first aspect, embodiments of the present invention provide a method for controlling the main cable force of a cable crane, comprising the following steps:

[0006] Based on the design value of the main cable sag, the calculated value of the main cable sag is determined according to the preset deviation value of the main cable sag.

[0007] Based on the calculated value of the main cable sag, the first cable force corresponding to the gantry crane being unloaded and the second cable force corresponding to the gantry crane being fully loaded are calculated.

[0008] The main cable empty cable sag deviation limit is determined based on the first cable force, the second cable force, the preset allowable cable force deviation value, and the main cable empty cable sag deviation value;

[0009] During the main cable construction phase, the main cable sag deviation is controlled according to the aforementioned main cable sag deviation limit.

[0010] In conjunction with the first aspect, in one implementation, calculating the first cable force corresponding to the crane being unloaded and the second cable force corresponding to the crane being fully loaded, based on the calculated value of the main cable sag, includes:

[0011] Based on the calculated value of the main cable sag, the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded are calculated according to the segmented catenary theory.

[0012] In conjunction with the first aspect, in one embodiment, determining the main cable sag deviation limit based on the first cable force, the second cable force, a preset allowable cable force deviation value, and the main cable sag deviation value includes:

[0013] Calculate the difference between the first cable force and the second cable force and the theoretical value of the cable force, respectively, to obtain the first difference and the second difference;

[0014] The first cable force deviation is obtained by calculating the ratio between the first difference and the theoretical value of the cable force, and the second cable force deviation is obtained by calculating the ratio between the second difference and the theoretical value of the cable force.

[0015] The limit value of the main cable sag is determined based on the relationship between the first cable force deviation, the second cable force deviation and the preset allowable cable force deviation value, as well as the main cable sag deviation value.

[0016] In conjunction with the first aspect, in one embodiment, determining the main cable sag deviation limit based on the relationship between the first cable force deviation, the second cable force deviation, and a preset allowable cable force deviation value, and the main cable sag deviation value, includes:

[0017] If both the first cable force deviation and the second cable force deviation are less than or equal to the preset allowable cable force deviation value, then the main cable empty cable sag deviation value is taken as the main cable empty cable sag deviation limit value.

[0018] If the first cable force deviation is greater than the preset allowable cable force deviation value or the second cable force deviation is greater than the preset allowable cable force deviation value, the main cable empty cable sag deviation value is updated until the main cable empty cable sag deviation limit value is obtained.

[0019] In conjunction with the first aspect, in one implementation, updating the main cable sag deviation value until a main cable sag deviation limit value is obtained includes:

[0020] The main cable sag deviation value is decreased by a preset gradient value to obtain a new main cable sag deviation value. Based on the new main cable sag deviation value, the step of determining the main cable sag deviation limit value according to the first cable force, the second cable force, the preset cable force deviation allowable value and the main cable sag deviation value is performed until the main cable sag deviation limit value is obtained.

[0021] In conjunction with the first aspect, in one embodiment, before the step of calculating the differences between the first cable force and the second cable force and the theoretical value of the cable force, respectively, to obtain the first difference and the second difference, the method further includes:

[0022] The calculated value of the cable force deviation is obtained by calculating the cable force of the main cable with the largest sag deviation based on the segmented catenary calculation theory.

[0023] Secondly, embodiments of the present invention provide a cable crane main cable force control system, comprising:

[0024] The first processing module is used to determine the calculated value of the main cable empty cable sag based on the design value of the main cable empty cable sag and the preset deviation value of the main cable empty cable sag.

[0025] The second processing module is used to calculate the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded, based on the calculated value of the main cable sag.

[0026] The third processing module is used to determine the main cable empty cable sag deviation limit based on the first cable force, the second cable force, the preset cable force deviation allowable value, and the main cable empty cable sag deviation value.

[0027] The control module is used to control the sag deviation of the main cable according to the sag deviation limit of the main cable during the main cable construction stage.

[0028] In conjunction with the second aspect, in one implementation, the second processing module is specifically used for:

[0029] Based on the calculated value of the main cable sag, the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded are calculated according to the segmented catenary theory.

[0030] Thirdly, embodiments of the present invention provide a cable crane main cable force control device, including a processor, a memory, and a cable crane main cable force control program stored in the memory and executable by the processor, wherein when the cable crane main cable force control program is executed by the processor, it implements the steps of the cable crane main cable force control method as described in any of the preceding claims.

[0031] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a cable crane main cable force control program, wherein when the cable crane main cable force control program is executed by a processor, it implements the steps of the cable crane main cable force control method as described in any of the preceding claims.

[0032] The beneficial effects of the technical solutions provided by the embodiments of the present invention include:

[0033] Based on the design value of the main cable's unloaded sag, the calculated value of the main cable's unloaded sag is determined according to the preset deviation value. The first cable force corresponding to the gantry crane being unloaded and the second cable force corresponding to the gantry crane being fully loaded are calculated based on the calculated value. The limit value of the main cable's unloaded sag is determined based on the cable force deviation, the preset allowable value of the cable force deviation, and the deviation value of the main cable's unloaded sag. During the main cable construction phase, the main cable sag deviation is controlled according to the aforementioned limit value. Since there is no gantry crane on the main cable during the main cable construction phase, adjusting the cable force at this time will not cause the gantry crane to lose balance, thereby reducing the safety risk during main cable force deviation control and ensuring construction safety. Attached Figure Description

[0034] Figure 1 This is a flowchart illustrating an embodiment of the cable crane main cable force control method of the present invention;

[0035] Figure 2 For the present invention Figure 1 A detailed flowchart of step S30;

[0036] Figure 3 For the present invention Figure 2 Detailed flowchart of step S303;

[0037] Figure 4 This is a schematic diagram of the architecture of an embodiment of the cable crane main cable force control system of the present invention;

[0038] Figure 5 This is a schematic diagram of the hardware structure of the cable crane main cable force control device involved in the embodiment of the present invention. Detailed Implementation

[0039] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0041] In a first aspect, embodiments of the present invention provide a method for controlling the main cable force of a cable crane.

[0042] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the cable crane main cable force control method of the present invention. Figure 1 As shown, the main cable tension control method for cable cranes includes:

[0043] S10: Based on the design value of the main cable sag, determine the calculated value of the main cable sag according to the preset deviation value of the main cable sag.

[0044] In this exemplary embodiment, the main cable sag design value refers to the main cable sag value preset during the design process. The main cable sag deviation refers to the vertical deviation between the hook position and the main wire rope during the operation of the crane. It can determine whether the crane system is operating normally and whether there is a deviation exceeding the allowable range, thereby prompting adjustments to the main cable to ensure the safe operation of the equipment. Controlling the main cable sag deviation can improve the operating efficiency and safety of the crane system. By adding and subtracting the main cable sag deviation value from the main cable sag design value, two main cable sag calculation values ​​can be obtained. The main cable sag design value and the main cable sag deviation value can be determined according to actual needs. For example, the main cable sag design value can be set to 1000mm, and the main cable sag deviation value can be set to 200mm. Then, the corresponding main cable sag calculation values ​​are 800mm and 1200mm.

[0045] S20: Calculate the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded based on the calculated value of the main cable sag.

[0046] In this exemplary embodiment, "crane unloaded" means that the crane is running on a main cable with a sag deviation corresponding to the calculated value of the unloaded sag of the main cable without any load; while "full load" means that the crane is running under the maximum load. Cable force is a physical quantity that measures the degree of tension or compression of an object under force. The first cable force and the second cable force represent the cable forces experienced by the crane when it is running on a main cable with a sag deviation corresponding to the calculated value of the unloaded sag of the main cable in an unloaded and fully loaded state, respectively.

[0047] S30: Determine the main cable empty cable sag deviation limit value based on the first cable force, the second cable force, the preset cable force deviation allowable value, and the main cable empty cable sag deviation value;

[0048] As an example, in this embodiment, the limit value of the sag of the main cable is determined based on the calculated first cable force, second cable force, preset allowable cable force deviation value, and main cable sag deviation value. This defines the upper and lower limits of the relative offset of the main cable in the vertical direction, ensuring that the crane can still maintain a relatively balanced state under different load conditions. This allows the main cable to be adjusted within a controllable range during engineering operations, preventing excessive deviation from causing the crane to become unbalanced or unstable.

[0049] S40: During the main cable construction phase, the main cable sag deviation is controlled according to the main cable sag deviation limit.

[0050] In this exemplary embodiment, during the main cable construction phase, the sag deviation of the unloaded main cables is controlled according to the limit value, ensuring that the difference in sag between the unloaded main cables is kept within a certain range, thereby guaranteeing the lifting safety of the cable crane. Since there is no overhead crane during the main cable construction phase, adjusting the cable tension at this time will not cause the overhead crane to lose balance. Therefore, by controlling the sag deviation of the unloaded cables to ensure that the cable tension deviation under load does not exceed the limit value, cable tension adjustments can be avoided while the cables are loaded, thus ensuring the construction safety of the cable crane.

[0051] In this embodiment of the invention, the main cable sag is calculated based on the main cable sag design value and a preset main cable sag deviation value. The first cable force when the gantry crane is unloaded and the second cable force when the gantry crane is fully loaded are calculated based on the calculated main cable sag value. A main cable sag deviation limit is determined based on the cable force deviation, a preset allowable cable force deviation value, and the main cable sag deviation value. During the main cable construction phase, the main cable sag deviation is controlled according to the main cable sag deviation limit. Since there is no gantry crane on the main cable during the main cable construction phase, adjusting the cable force at this time will not cause the gantry crane to lose balance, thereby reducing the safety risk during main cable force deviation control and ensuring construction safety.

[0052] Further, in one embodiment, calculating the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded, based on the calculated value of the main cable sag, includes:

[0053] Based on the calculated value of the main cable sag, the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded are calculated according to the segmented catenary theory.

[0054] As an example, in this embodiment, the catenary theory is first used to calculate the stress-free profile of the main cable based on the calculated value of the sag of the main cable and the main cable span, where the main cable span refers to the distance between the two supports of the main cable and is a constant value; then, the segmented catenary theory is used to calculate the cable force of the main cable under load based on the stress-free profile of the main cable and the crane load.

[0055] Specifically, when the crane is unloaded, the main cable tension is relatively low due to the absence of additional load. The first cable tension is calculated using the segmented catenary theory when the crane moves to the mid-span and the left and right edges, reflecting the minimum cable tension required by the crane system under no-load conditions to maintain the stability of the hook position. When the crane is fully loaded, the main cable tension increases accordingly due to the additional weight. The second cable tension is calculated using the segmented catenary theory when the crane moves to the mid-span and the left and right edges, evaluating the total cable tension experienced by the crane system under full-load conditions to ensure the safety and load-bearing capacity of the crane structure.

[0056] Furthermore, in one embodiment, such as Figure 2 As shown, determining the main cable sag deviation limit based on the first cable force, the second cable force, the preset allowable cable force deviation value, and the main cable sag deviation value includes:

[0057] S301: Calculate the difference between the first cable force and the second cable force and the theoretical value of the cable force, respectively, to obtain the first difference and the second difference;

[0058] S302: Calculate the ratio between the first difference and the theoretical value of the cable force to obtain the first cable force deviation, and calculate the ratio between the second difference and the theoretical value of the cable force to obtain the second cable force deviation;

[0059] S303: Determine the limit value of the main cable sag deviation based on the relationship between the first cable force deviation, the second cable force deviation and the preset allowable value of cable force deviation, as well as the main cable sag deviation value.

[0060] In this exemplary embodiment, the theoretical cable force value refers to the cable force value under the designed alignment, which is generally given in the design documents. First, the differences between the first cable force and the second cable force and the theoretical cable force value need to be calculated to obtain the first difference and the second difference. Then, the ratios between the first difference and the second difference and the preset allowable cable force deviation value are calculated. Finally, the limit value of the main cable empty cable sag is determined based on the relationship between the first cable force deviation, the second cable force deviation, and the preset allowable cable force deviation value, as well as the main cable empty cable sag deviation value. The preset allowable cable force deviation value is preferably 5%, but it can be adjusted adaptively according to actual needs, which is not limited here.

[0061] Furthermore, in one embodiment, such as Figure 3 As shown, determining the main cable sag deviation limit based on the relationship between the first cable force deviation, the second cable force deviation, and the preset allowable cable force deviation value, as well as the main cable sag deviation value, includes:

[0062] S3031: If both the first cable force deviation and the second cable force deviation are less than or equal to the preset cable force deviation allowable value, then the main cable empty cable sag deviation value shall be used as the main cable empty cable sag deviation limit value.

[0063] S3032: If the first cable force deviation is greater than the preset cable force deviation allowable value or the second cable force deviation is greater than the preset cable force deviation allowable value, then the main cable empty cable sag deviation value is updated until the main cable empty cable sag deviation limit value is obtained.

[0064] In this exemplary embodiment, if both the first cable force deviation and the second cable force deviation are less than or equal to the preset allowable cable force deviation value, then the main cable empty cable sag deviation value is taken as the main cable empty cable sag deviation limit value, meaning that the magnitude of the main cable empty cable sag deviation already meets the requirements and no adjustment is needed; if the first cable force deviation is greater than the preset allowable cable force deviation value or the second cable force deviation is greater than the preset allowable cable force deviation value, then the main cable empty cable sag deviation value needs to be updated to obtain a new main cable empty cable sag deviation limit value that meets the cable force deviation limit; by continuously adjusting the main cable empty cable sag deviation value, precise control of the main cable force is achieved, thereby ensuring that the cable crane can reach the optimal working state during use.

[0065] Further, in one embodiment, updating the main cable sag deviation value until the main cable sag deviation limit value is obtained includes:

[0066] The main cable sag deviation value is decreased by a preset gradient value to obtain a new main cable sag deviation value. Based on the new main cable sag deviation value, the step of determining the main cable sag deviation limit value according to the first cable force, the second cable force, the preset cable force deviation allowable value and the main cable sag deviation value is performed until the main cable sag deviation limit value is obtained.

[0067] In this exemplary embodiment, the process of updating the main cable sag deviation value to reach a predetermined limit involves several steps. First, a gradient value is set to decrease the main cable sag deviation value until the predetermined limit is reached. During execution, the main cable sag deviation value is first decreased according to the gradient value to obtain a new value, preferably 2 mm. Then, the predetermined limit is recalculated based on the new value until a new first and second difference are calculated. If the ratio of these new differences to the theoretical cable force value is less than or equal to a preset allowable cable force deviation value, the predetermined limit is reached, and this value is then used as the predetermined limit. In this process, the preset gradient value can be increased or decreased as needed to control the rate of decrease of the main cable sag deviation value. It should be noted that during the execution process, the calculation methods and data used must be accurate to ensure that the updated main cable sag deviation value meets the expected limit.

[0068] Further, in one embodiment, before the step of calculating the difference between the first cable force and the second cable force and the theoretical value of the cable force, respectively, to obtain the first difference and the second difference, the method further includes:

[0069] The calculated value of the cable force deviation is obtained by calculating the cable force of the main cable with the largest sag deviation based on the segmented catenary calculation theory.

[0070] As an example, in this embodiment, after the main cable construction is completed, during the trial lifting stage of the cable crane, the cable force of the main cable with the largest sag deviation is measured when the crane is unloaded and fully loaded. The cable force of the main cable with the largest sag deviation is calculated using the segmented catenary calculation theory when the crane is unloaded and fully loaded. Then, the cable force deviation is calculated based on the difference between the two cable forces.

[0071] Secondly, embodiments of the present invention also provide a cable crane main cable force control system.

[0072] In one embodiment, reference is made to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the cable crane main cable force control system of the present invention. Figure 4 As shown, the cable crane main cable force control system includes:

[0073] The first processing module is used to determine the calculated value of the main cable empty cable sag based on the design value of the main cable empty cable sag and the preset deviation value of the main cable empty cable sag.

[0074] The second processing module is used to calculate the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded, based on the calculated value of the main cable sag.

[0075] The third processing module is used to determine the main cable empty cable sag deviation limit based on the first cable force, the second cable force, the preset cable force deviation allowable value, and the main cable empty cable sag deviation value.

[0076] The control module is used to control the sag deviation of the main cable according to the sag deviation limit of the main cable during the main cable construction stage.

[0077] Furthermore, in some embodiments, the second processing module is specifically used for:

[0078] Based on the calculated value of the main cable sag, the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded are calculated according to the segmented catenary theory.

[0079] Furthermore, in some embodiments, the third processing module is specifically used for:

[0080] Calculate the difference between the first cable force and the second cable force and the theoretical value of the cable force, respectively, to obtain the first difference and the second difference;

[0081] The first cable force deviation is obtained by calculating the ratio between the first difference and the theoretical value of the cable force, and the second cable force deviation is obtained by calculating the ratio between the second difference and the theoretical value of the cable force.

[0082] The limit value of the main cable sag is determined based on the relationship between the first cable force deviation, the second cable force deviation and the preset allowable cable force deviation value, as well as the main cable sag deviation value.

[0083] Furthermore, in some embodiments, the third processing module is specifically used for:

[0084] If both the first cable force deviation and the second cable force deviation are less than or equal to the preset allowable cable force deviation value, then the main cable empty cable sag deviation value is taken as the main cable empty cable sag deviation limit value.

[0085] If the first cable force deviation is greater than the preset allowable cable force deviation value or the second cable force deviation is greater than the preset allowable cable force deviation value, the main cable empty cable sag deviation value is updated until the main cable empty cable sag deviation limit value is obtained.

[0086] Furthermore, in some embodiments, the third processing module is specifically used for:

[0087] The main cable sag deviation value is decreased by a preset gradient value to obtain a new main cable sag deviation value. Based on the new main cable sag deviation value, the step of determining the main cable sag deviation limit value according to the first cable force, the second cable force, the preset cable force deviation allowable value and the main cable sag deviation value is performed until the main cable sag deviation limit value is obtained.

[0088] Furthermore, in some embodiments, the third processing module is specifically used for:

[0089] The calculated value of the cable force deviation is obtained by calculating the cable force of the main cable with the largest sag deviation based on the segmented catenary calculation theory.

[0090] In this embodiment of the invention, the main cable sag is calculated based on the main cable sag design value and a preset main cable sag deviation value. The first cable force when the gantry crane is unloaded and the second cable force when the gantry crane is fully loaded are calculated based on the calculated main cable sag value. A main cable sag deviation limit is determined based on the cable force deviation, a preset allowable cable force deviation value, and the main cable sag deviation value. During the main cable construction phase, the main cable sag deviation is controlled according to the main cable sag deviation limit. Since there is no gantry crane on the main cable during the main cable construction phase, adjusting the cable force at this time will not cause the gantry crane to lose balance, thereby reducing the safety risk during main cable force deviation control and ensuring construction safety.

[0091] The functions of each module in the above-mentioned cable crane main cable force control device correspond to the steps in the above-mentioned cable crane main cable force control method embodiment, and their functions and implementation processes will not be described in detail here.

[0092] Thirdly, embodiments of the present invention provide a cable crane main cable force control device, which can be a personal computer (PC), laptop computer, server or other device with data processing capabilities.

[0093] Reference Figure 5 , Figure 5 This is a schematic diagram of the hardware structure of the cable crane main cable force control device involved in an embodiment of the present invention. In this embodiment, the cable crane main cable force control device may include a processor, a memory, a communication interface, and a communication bus.

[0094] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0095] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used to interconnect components within the cable crane's main cable force control equipment, as well as interfaces used to interconnect the cable crane's main cable force control equipment with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0096] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0097] The processor can be a general-purpose processor, which can call the cable crane main cable force control program stored in the memory and execute the cable crane main cable force control method provided in the embodiments of the present invention. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the cable crane main cable force control program is called can be referred to in various embodiments of the cable crane main cable force control method of the present invention, and will not be repeated here.

[0098] Those skilled in the art will understand that Figure 5 The hardware structure shown does not constitute a limitation of the invention and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0099] Fourthly, embodiments of the present invention also provide a readable storage medium.

[0100] The present invention stores a cable crane main cable force control program on a readable storage medium, wherein when the cable crane main cable force control program is executed by a processor, the steps of the cable crane main cable force control method described above are implemented.

[0101] The method implemented when the cable crane main cable force control program is executed can be referred to in various embodiments of the cable crane main cable force control method of the present invention, and will not be repeated here.

[0102] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0103] In the description of the embodiments of the present invention, terms such as "exemplary," "for example," or "for instance" are used to indicate that they are examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary," "for example," or "for instance" in the embodiments of the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a specific manner.

[0104] In the description of the embodiments of the present invention, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present invention, "multiple" means two or more.

[0105] In some processes described in the embodiments of the present invention, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of the present invention, or may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0106] It should be noted that the sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0107] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of the present invention.

[0108] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for controlling the main cable force of a cable crane, characterized in that, The method for controlling the main cable force of the cable crane includes: Based on the design value of the main cable sag, the calculated value of the main cable sag is determined according to the preset deviation value of the main cable sag. Based on the calculated value of the main cable sag, the first cable force corresponding to the gantry crane being unloaded and the second cable force corresponding to the gantry crane being fully loaded are calculated. Calculate the difference between the first cable force and the second cable force and the theoretical value of the cable force, respectively, to obtain the first difference and the second difference; The first cable force deviation is obtained by calculating the ratio between the first difference and the theoretical value of the cable force, and the second cable force deviation is obtained by calculating the ratio between the second difference and the theoretical value of the cable force. If both the first cable force deviation and the second cable force deviation are less than or equal to the preset allowable cable force deviation value, then the main cable empty cable sag deviation value is taken as the main cable empty cable sag deviation limit value. If the first cable force deviation is greater than the preset allowable cable force deviation value or the second cable force deviation is greater than the preset allowable cable force deviation value, then the main cable empty cable sag deviation value is decreased by a preset gradient value to obtain a new main cable empty cable sag deviation value. Based on the new main cable empty cable sag deviation value, the step of determining the main cable empty cable sag deviation limit value according to the first cable force, the second cable force, the preset allowable cable force deviation value and the main cable empty cable sag deviation value is performed until the main cable empty cable sag deviation limit value is obtained. During the main cable construction phase, the main cable sag deviation is controlled according to the aforementioned main cable sag deviation limit.

2. The cable crane main cable force control method as described in claim 1, characterized in that, The calculation of the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded, based on the calculated value of the main cable sag, includes: Based on the calculated value of the main cable sag, the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded are calculated according to the segmented catenary theory.

3. The cable crane main cable force control method as described in claim 1, characterized in that, Before the step of calculating the difference between the first cable force and the second cable force and the theoretical value of the cable force, respectively, to obtain the first difference and the second difference, the method further includes: The calculated value of the cable force deviation is obtained by calculating the cable force of the main cable with the largest sag deviation based on the segmented catenary calculation theory.

4. A cable crane main cable force control system, characterized in that, The cable crane main cable force control system includes: The first processing module is used to determine the calculated value of the main cable empty cable sag based on the design value of the main cable empty cable sag and the preset deviation value of the main cable empty cable sag. The second processing module is used to calculate the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded, based on the calculated value of the main cable sag. The third processing module is used to calculate the difference between the first cable force and the second cable force and the theoretical value of the cable force, respectively, to obtain the first difference and the second difference; The first cable force deviation is obtained by calculating the ratio between the first difference and the theoretical value of the cable force, and the second cable force deviation is obtained by calculating the ratio between the second difference and the theoretical value of the cable force. If both the first cable force deviation and the second cable force deviation are less than or equal to the preset allowable cable force deviation value, then the main cable empty cable sag deviation value is taken as the main cable empty cable sag deviation limit value. If the first cable force deviation is greater than the preset allowable cable force deviation value or the second cable force deviation is greater than the preset allowable cable force deviation value, then the main cable empty cable sag deviation value is decreased by a preset gradient value to obtain a new main cable empty cable sag deviation value. Based on the new main cable empty cable sag deviation value, the step of determining the main cable empty cable sag deviation limit value according to the first cable force, the second cable force, the preset allowable cable force deviation value and the main cable empty cable sag deviation value is performed until the main cable empty cable sag deviation limit value is obtained. The control module is used to control the sag deviation of the main cable according to the sag deviation limit of the main cable during the main cable construction stage.

5. The cable crane main cable force control system as described in claim 4, characterized in that, The second processing module is specifically used for: Based on the calculated value of the main cable sag, the first cable force when the crane is unloaded and the second cable force when the crane is fully loaded are calculated according to the segmented catenary theory.

6. A cable crane main cable force control device, characterized in that, The cable crane main cable force control device includes a processor, a memory, and a cable crane main cable force control program stored in the memory and executable by the processor, wherein when the cable crane main cable force control program is executed by the processor, it implements the steps of the cable crane main cable force control method as described in any one of claims 1 to 3.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a cable crane main cable force control program, wherein when the cable crane main cable force control program is executed by a processor, it implements the steps of the cable crane main cable force control method as described in any one of claims 1 to 3.

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