Speed acquisition method and device, tower crane rotating system and storage medium

Abstract

The application discloses a speed acquisition method and device, a tower crane rotating system and a storage medium, and relates to the technical field of electrical control. The method comprises the following steps: acquiring a current actual motor speed and a current predicted motor speed of a driving motor in a tower crane rotating system; obtaining a current disturbance of the tower crane rotating system according to the speed difference integral between the current actual motor speed and the current predicted motor speed; wherein the speed difference integral is an N-order integral, and N is greater than or equal to 2; and obtaining a current large-arm rotating speed of a tower crane large arm in the tower crane rotating system according to a current driving torque of the driving motor and the current disturbance. The application accurately observes the current disturbance of the tower crane rotating system to acquire the current large-arm rotating speed, considers the influence of the current disturbance of the tower crane rotating system on the current large-arm rotating speed, solves the technical problem that the large-arm rotating speed acquired by a related speed acquisition method is inaccurate, and improves the accuracy of the acquired large-arm rotating speed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electrical control, and particularly relates to a speed acquisition method, device, tower crane slewing system and storage medium. BACKGROUND

[0002] In the related art, the slewing speed of a tower crane jib in a tower crane slewing system is acquired in real time to adjust the driving torque output by a driving motor, so as to control the tower crane jib to operate according to actual requirements. However, the related speed acquisition method cannot observe the influence of unknown disturbances of the tower crane slewing system on the slewing speed of the tower crane jib, resulting in inaccurate slewing speed of the tower crane jib. SUMMARY

[0003] The main purpose of the present application is to provide a speed acquisition method, device, tower crane slewing system and storage medium, which aims to solve the technical problem of inaccurate slewing speed of the tower crane jib obtained by the related speed acquisition method.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] In a first aspect, the present application provides a speed acquisition method, which comprises:

[0006] acquiring a current actual motor speed and a current predicted motor speed of a driving motor in a tower crane slewing system;

[0007] integrating a speed difference between the current actual motor speed and the current predicted motor speed to obtain a current disturbance of the tower crane slewing system; wherein the speed difference integration is N-order integration, and N is greater than or equal to 2;

[0008] obtaining a current slewing speed of a tower crane jib in the tower crane slewing system according to a current driving torque of the driving motor and the current disturbance.

[0009] Optionally, before the step of integrating the speed difference between the current actual motor speed and the current predicted motor speed to obtain the current disturbance of the tower crane slewing system, the method further comprises:

[0010] acquiring a state observation equation of the tower crane slewing system;

[0011] obtaining an observation feedback coefficient according to the state observation equation and a preset system expectation formula; wherein the observation feedback coefficient comprises a first speed difference integration coefficient and a second speed difference integration coefficient;

[0012] The step of integrating the speed difference between the current actual motor speed and the current predicted motor speed to obtain the current disturbance of the tower crane slewing system comprises:

[0013] Integrate the speed difference between the current actual motor speed and the current predicted motor speed by N orders according to the first speed difference integral coefficient and the second speed difference integral coefficient to obtain the current disturbance.

[0014] Optionally, the observation feedback coefficient further comprises a first speed difference coefficient, a second speed difference coefficient and a third speed difference coefficient.

[0015] According to the current driving torque of the driving motor and the current disturbance, the current jib slewing speed of the jib of the tower crane slewing system is obtained, comprising:

[0016] According to the current driving torque, the current disturbance, the speed difference, the first speed difference coefficient, the second speed difference coefficient and the third speed difference coefficient, the current jib slewing speed is obtained.

[0017] Optionally, the step of obtaining the state observation equation of the tower crane slewing system comprises:

[0018] The transfer function between the driving torque of the driving motor, the disturbance of the tower crane slewing system and the jib slewing speed of the jib of the tower crane is obtained, and the initial state observation equation is constructed.

[0019] The disturbance in the initial state observation equation is derived by N orders to obtain the state observation equation.

[0020] Optionally, according to the state observation equation and the preset system expectation formula, the step of obtaining the observation feedback coefficient comprises:

[0021] According to the state observation equation, the characteristic polynomial of the tower crane slewing system is obtained.

[0022] According to the preset system expectation formula, the characteristic polynomial is solved to obtain the observation feedback coefficient.

[0023] Optionally, according to the current driving torque, the current disturbance, the speed difference, the first speed difference coefficient, the second speed difference coefficient and the third speed difference coefficient, the step of obtaining the current jib slewing speed comprises:

[0024] According to the current driving torque, the speed difference and the third speed difference coefficient, the current predicted motor speed is obtained.

[0025] According to the current predicted motor speed, the current disturbance, the speed difference, the first speed difference coefficient and the second speed difference coefficient, the current jib slewing speed is obtained.

[0026] Optionally, according to the current driving torque, the speed difference and the third speed difference coefficient, the step of obtaining the current predicted motor speed comprises:

[0027] According to the current driving torque, the current jib and suspended load inertia of the jib of the tower crane, the speed difference and the third speed difference coefficient, the current predicted motor speed is obtained.

[0028] Optionally, the step of obtaining the current jib slewing speed according to the current predicted motor speed, the current disturbance, the speed difference, the first speed difference coefficient and the second speed difference coefficient comprises:

[0029] The current jib slewing speed is obtained according to the current predicted motor speed, the historical jib slewing speed of the tower crane jib, the current disturbance, the speed difference, the first speed difference coefficient and the second speed difference coefficient.

[0030] In a second aspect, the present application further provides a speed acquisition device, which comprises a memory, a processor and a speed acquisition program stored in the memory and executable on the processor, and the speed acquisition program is configured to realize the steps of any one of the above speed acquisition methods.

[0031] In a third aspect, the present application further provides a tower crane slewing system, which comprises:

[0032] The speed acquisition device as described above;

[0033] The tower crane slewing mechanism comprises a driving motor;

[0034] The speed acquisition device is connected with the driving motor.

[0035] In a fourth aspect, the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of any one of the above speed acquisition methods.

[0036] The above one or more technical solutions provided by the present application can have the following advantages or at least achieve the following technical effects:

[0037] The present application provides a speed acquisition method, device, tower crane slewing system and storage medium, which obtains the current actual motor speed and the current predicted motor speed of a driving motor in a tower crane slewing system; obtains the current disturbance of the tower crane slewing system according to the speed difference integral between the current actual motor speed and the current predicted motor speed; wherein the speed difference integral is N-order integral, and N≥2; obtains the current jib slewing speed of a tower crane jib in the tower crane slewing system according to the current driving torque of the driving motor and the current disturbance.

[0038] Therefore, this application obtains the current disturbance of the tower crane slewing system by the Nth-order integral of the speed difference between the current actual motor speed and the current predicted motor speed of the drive motor. Combined with the current driving torque of the drive motor, the current slewing speed of the tower crane boom in the tower crane slewing system is obtained. Since the multi-order integral can cancel the disturbance and ensure high-order unbiasedness, the current disturbance of the tower crane slewing system can be accurately observed to obtain the current slewing speed. The influence of the current disturbance of the tower crane slewing system on the current slewing speed is taken into account, so that the accuracy of the obtained slewing speed is high. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0040] Figure 1 A tower crane slewing system provided in this application embodiment;

[0041] Figure 2 This is a schematic diagram of the structure of the speed acquisition device for the hardware operating environment involved in the embodiments of this application;

[0042] Figure 3 This is a flowchart illustrating the first embodiment of the speed acquisition method of this application;

[0043] Figure 4 A block diagram showing the transfer function between the driving torque and disturbance amount and the boom slewing speed;

[0044] Figure 5 A state observer provided for the velocity acquisition method of this application;

[0045] Figure 6 As an example, in the case of no wind Figure 5 State curves of the tower crane slewing mechanism as observed by the mid-state observer;

[0046] Figure 7 As an example, in a windy situation Figure 5 Partial state curves of the tower crane slewing mechanism as observed by the medium-state observer.

[0047] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] In order to make the objects, technical solutions and advantages of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0049] It should be understood that the specific embodiments described herein are intended to be illustrative only and not restrictive of the present application.

[0050] In the present application, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that the device or system comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such device or system. Without more limitation, the elements defined by the statement "comprising" do not exclude the presence of other identical elements in the device or system comprising the element.

[0051] In addition, in the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood broadly, for example, "connection" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For a person of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] If the present application has a description of "first", "second" and the like in the embodiments, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features.

[0053] In view of the technical problem that the speed of the large arm obtained by the related speed acquisition method is inaccurate, the present application provides a speed acquisition method, device, tower crane rotating system and storage medium, and the general idea is as follows:

[0054] The method includes: obtaining the current actual motor speed and the current predicted motor speed of the drive motor in the tower crane slewing system; obtaining the current disturbance of the tower crane slewing system based on the integral of the speed difference between the current actual motor speed and the current predicted motor speed; wherein, the speed difference integral is an Nth-order integral, N≥2; and obtaining the current jib rotation speed of the tower crane jib in the tower crane slewing system based on the current driving torque of the drive motor and the current disturbance.

[0055] This application provides a speed acquisition method, device, tower crane slewing system, and storage medium. The method obtains the current disturbance of the tower crane slewing system by integrating the Nth-order difference between the current actual motor speed and the current predicted motor speed of the drive motor. Combined with the current driving torque of the drive motor, the current jib slewing speed of the tower crane slewing system is obtained. Because the multi-order integration can cancel out disturbances and ensure unbiased high-order integration, the current disturbance of the tower crane slewing system can be accurately observed to obtain the current jib slewing speed. The method considers the influence of the current disturbance of the tower crane slewing system on the current jib slewing speed, resulting in high accuracy of the obtained jib slewing speed.

[0056] The following provides a detailed description of the speed acquisition method, equipment, tower crane slewing system, and storage medium used in the technical implementation of this application:

[0057] Reference Figure 1 , Figure 1 This application provides a tower crane slewing system as an embodiment.

[0058] This embodiment provides a tower crane slewing system, which may include:

[0059] Speed ​​acquisition device;

[0060] Tower crane slewing mechanism, including drive motor;

[0061] The speed acquisition device is connected to the drive motor.

[0062] In the tower crane slewing system of this embodiment, the speed acquisition device may include... Figure 1 The inverter 10 and / or other controllers are shown. The tower crane slewing mechanism may include an upper turntable 80, a lower turntable 50, a drive motor 20, a reducer 30, a tower body 60, a tower crane boom 70, and a pinion 40. The lower turntable 50 is connected to the turntable of the tower body 60 and the slewing gear.

[0063] In the rotating process of the tower crane, the frequency converter 10 controls the driving motor 20 to operate, and the driving motor 20 drives the small gear 40 to rotate around the rotating large gear through the speed reducer 30, and the lower rotating table 50 is subjected to the force, and the elastic deformation is generated, so that the elastic torsion force is generated, the elastic torsion force hinders the rotation of the driving motor 20, and at the same time, the driving motor 20 drives the large arm 70 of the tower crane to rotate, so that the small gear 40 rotates around the rotating large gear while self-rotating, and at this time, the speed acquisition device can acquire the large arm rotating speed of the large arm of the tower crane in real time, so as to adjust the driving torque output by the driving motor, so as to control the large arm of the tower crane to operate according to the actual demand.

[0064] In the above embodiment, the speed acquisition device is used to acquire the large arm rotating speed of the large arm of the tower crane in real time, so as to adjust the driving torque output by the driving motor, so as to control the large arm of the tower crane to operate according to the actual demand. Figure 2 , Figure 2 The speed acquisition device is a hardware running environment involved in the embodiment of the application.

[0065] As shown in Figure 2 , the device can include a processor 1001, such as a CPU, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between the components. The user interface 1003 can include a motor, and the user interface 1003 can also be a power grid and the like. The memory 1005 can be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0066] It can be understood that the device can also include a network interface 1004, which can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). Optionally, the device can also include RF (Radio Frequency, radio frequency) circuit, sensor, audio circuit, WiFi module and the like.

[0067] Those skilled in the art can understand that the device structure shown in Figure 2 does not constitute a limitation on the device, and can include more or fewer components than shown, or combine certain components, or different component arrangements.

[0068] Based on the above hardware structure but not limited to the above hardware structure, referring to Figures 3 to 7 , Figure 3 is a flowchart of the speed acquisition method of the first embodiment of the application, Figure 4 is a block diagram of the transfer function between the driving torque and the disturbance and the large arm rotating speed, Figure 5 is a state observer provided by the speed acquisition method of the application, Figure 6 is an exemplary state observer under the condition of no wind Figure 5The state curve of the tower crane slewing mechanism as observed by the state observer. Figure 7 As an example, in windy conditions Figure 5 Partial state curves of the tower crane slewing mechanism as observed by the medium-state observer.

[0069] This embodiment provides a speed acquisition method, such as Figure 3 As shown, the method may include:

[0070] Step S100: Obtain the current actual motor speed and the current predicted motor speed of the drive motor in the tower crane slewing system.

[0071] Step S200: Based on the integral of the speed difference between the current actual motor speed and the current predicted motor speed, obtain the current disturbance of the tower crane slewing system.

[0072] The speed difference integral is an Nth-order integral, where N ≥ 2.

[0073] Step S300: Based on the current driving torque of the drive motor and the current disturbance, obtain the current slewing speed of the tower crane boom in the tower crane slewing system.

[0074] In this embodiment, the executing entity is the speed acquisition device as described above, and the speed acquisition device may include... Figure 1 The inverter 10 and / or other controllers are shown. The speed acquisition device can determine the set driving torque of the drive motor according to actual usage requirements, and control the drive motor to drive the tower crane slewing mechanism.

[0075] In the actual control process of the tower crane slewing system, the speed acquisition device can determine the initial set driving torque according to actual needs, control the drive motor to run, and drive the tower crane slewing mechanism to start working. Then, the speed acquisition device can detect the current actual motor speed of the drive motor in the tower crane slewing system in real time, and obtain the current predicted motor speed of the drive motor. The speed difference between the current actual motor speed and the current predicted motor speed is integrated by the Nth order to obtain the current disturbance of the tower crane slewing system. Combined with the current driving torque, the current jib slewing speed of the tower crane jib is obtained.

[0076] The current actual motor speed can be obtained by a sensor or the like. The current predicted motor speed can be obtained according to the current driving torque by using a first transfer function between the motor speed and the driving torque, which can be determined according to the structure and actual use of the tower crane slewing system. The current jib slewing speed can be obtained according to the current driving torque and the current disturbance by using a second transfer function between the jib slewing speed, the driving torque and the disturbance, which can also be determined according to the structure and actual use of the tower crane slewing system. The current disturbance can include the current jib friction and wind resistance. Generally, the current jib friction is related to the direction of the current actual motor speed, the size of the current elastic torsion of the tower crane jib and the jib and the suspended object, and the wind resistance is related to the current jib slewing speed, the current natural wind speed, the angle between the current jib and the wind speed, the length and structure of the tower crane jib.

[0077] It can be understood that the current driving torque is the current set driving torque of the driving motor. After the tower crane slewing mechanism starts to work, the initial set driving torque is taken as the current driving torque, and during the working process of the tower crane slewing mechanism, the current jib slewing speed can be obtained in real time by the speed acquisition device, and the current driving torque is adjusted.

[0078] It should be noted that the order of the speed difference integral can be determined according to actual use requirements. Generally, the first-order integral action can offset constant disturbance to ensure zero-order unbiasedness, the second-order integral action can offset ramp disturbance to ensure first-order unbiasedness, and so on. Preferably, the second-order integral is adopted in the embodiment, and the ramp disturbance can be eliminated by performing second-order integral on the speed difference between the current actual motor speed and the current predicted motor speed, so that the stable current disturbance is obtained.

[0079] As an embodiment, before step S200, the method can include:

[0080] Step S400: obtaining a state observation equation of the tower crane slewing system.

[0081] Step S500: obtaining an observation feedback coefficient according to the state observation equation and a preset system expectation formula.

[0082] The observation feedback coefficient includes a first speed difference integral coefficient and a second speed difference integral coefficient.

[0083] Correspondingly, step S200 can include: performing N-order integral on the speed difference between the current actual motor speed and the current predicted motor speed according to the first speed difference integral coefficient and the second speed difference integral coefficient, to obtain the current disturbance.

[0084] In the speed acquisition process of the embodiment, the influence of the speed difference between the current actual motor speed and the current predicted motor speed on the current disturbance and the current boom slewing speed is considered. Therefore, the influence of the speed difference on the current disturbance and the influence of the speed difference on the current boom slewing speed can be further determined. For the influence of the speed difference on the current disturbance, since the current disturbance is obtained by performing second-order integration on the speed difference, the first speed difference integration coefficient and the second speed difference integration coefficient can be determined as the first-order integration coefficient and the second-order integration coefficient, respectively, to integrate the speed difference to obtain the current disturbance.

[0085] In the embodiment, the observation feedback coefficient can further include the first speed difference coefficient, the second speed difference coefficient, and the third speed difference coefficient.

[0086] Correspondingly, the step S300 can include:

[0087] Step S310: obtaining the current boom slewing speed according to the current driving torque, the current disturbance, the speed difference, the first speed difference coefficient, the second speed difference coefficient, and the third speed difference coefficient.

[0088] In the embodiment, for the influence of the speed difference on the current boom slewing speed, the first speed difference coefficient, the second speed difference coefficient, and the third speed difference coefficient can be determined as the influence of the speed difference on the current boom slewing speed.

[0089] In a specific implementation, first, the state observation equation of the tower crane slewing system is constructed according to the driving torque, the disturbance, the speed difference, and the boom slewing speed, and then a preset system expectation formula is set to solve the state observation equation, so as to obtain the first speed difference integration coefficient, the second speed difference integration coefficient, the first speed difference coefficient, the second speed difference coefficient, and the third speed difference coefficient. The preset system expectation formula can be set according to actual control requirements, and the state observation equation can be constructed according to the structure of the tower crane slewing system and actual use conditions.

[0090] In the embodiment, the step S400 can include: obtaining the transfer function between the driving torque of the driving motor and the disturbance of the tower crane slewing system and the boom slewing speed of the tower crane boom, and constructing an initial state observation equation; performing N-order derivation on the disturbance in the initial state observation equation to obtain the state observation equation.

[0091] In the embodiment, the transfer function between the driving torque of the driving motor and the disturbance of the tower crane slewing system and the boom slewing speed of the tower crane boom is the second transfer function in the above-described embodiments, and the second transfer function can be obtained by performing a pull-type transformation on the dynamics equation of the tower crane slewing mechanism.

[0092] Specifically, the dynamics equation of the tower crane slewing mechanism is as follows:

[0093]

[0094]

[0095]

[0096] wherein, T t is the elastic torsion force of the tower crane boom, K t is the elastic torsion coefficient, R1 is the pinion radius, R2 is the gear radius, K1 is the reducer ratio, T m is the driving torque output by the driving motor, w mod is the predicted motor speed, T L is the disturbance, w d is the boom rotation speed, J m is the motor inertia, J d is the boom and load inertia.

[0097] The reducer ratio K1, the pinion radius R1 and the gear radius R2 are provided by the corresponding equipment manufacturer. The motor inertia J m , the boom and load inertia J d and the elastic torsion coefficient K t are determined by the driving motor used by the tower crane rotation system, the model of the tower crane and the height of the tower crane, and the boom and load inertia J d will change with the weight of the load hoisted by the boom.

[0098] It should be noted that, since the tower crane rotation system includes a motor structure and a mechanical structure, in the control process, the parameters in the mechanical structure need to be scaled based on the parameters in the motor structure, i.e., the range of the parameters in the mechanical structure is unified to the range of the parameters in the motor structure, to facilitate the subsequent calculation of the control command. The scaling process is specifically represented as follows:

[0099] Let:

[0100]

[0101]

[0102]

[0103]

[0104]

[0105] wherein, T t ' is the scaled elastic torsion force; w d ' is the scaled boom rotation speed; K tT is the scaled elastic torsion coefficient; T L J is the scaled disturbance; J d J is the scaled inertia of the boom and the suspended object.

[0106] Substituting the dynamics equation, the simplified dynamics equation is obtained as follows:

[0107]

[0108] T m -T t ′=J m ×s×w mod ;

[0109] T t ′-T L ′=J′ d ×s×w′ d ;

[0110] Thus, the first transfer function between the motor speed and the driving torque, and the second transfer function between the boom rotation speed and the driving torque and the disturbance can be obtained by performing the Laplace transformation on the simplified dynamics equation, as shown in the following formulas: Figure 4 The simplified block diagram of the second transfer function is shown in the following formula, wherein ω is the natural frequency of the tower crane rotation system, and ζ is the system damping of the tower crane rotation system.

[0111] In the specific implementation, according to the simplified block diagram, the initial state observation equation can be obtained as follows: Figure 4

[0112]

[0113]

[0114] wherein, is the predicted boom rotation speed, is the predicted motor speed integral, is the predicted motor speed, x1 is the current boom rotation speed, x2 is the current motor speed integral, and x3 is the current motor speed.

[0115] The second-order derivative of the disturbance T L is obtained, and the state observation equation can be obtained as follows:

[0116]

[0117]

[0118] u=T m ;

[0119] Thus, according to the state observation equation, the following formulas can be obtained: Figure 5 ​The state observer is shown. Wherein, is a predicted disturbance quantity, is a first derivative of the predicted disturbance quantity, x4 is a current disturbance quantity, and x5 is a first derivative of the current disturbance quantity.

[0120] In this embodiment, step S500 can include: obtaining a characteristic polynomial of the tower crane slewing system according to a state observation equation; and solving the characteristic polynomial to obtain an observation feedback coefficient according to a preset system expectation formula.

[0121] In a specific implementation, obtaining the characteristic polynomial according to the state observation equation can be:

[0122]

[0123] Wherein, g1 is a first speed difference coefficient, g2 is a second speed difference coefficient, g3 is a third speed difference coefficient, g4 is a second speed difference integral coefficient, and g5 is a first speed difference integral coefficient.

[0124] In this embodiment, the preset system expectation formula can be:

[0125]

[0126] Wherein, ω g is an expected pole, which can be configured according to actual use requirements.

[0127] Solving the characteristic polynomial according to the preset system expectation formula can obtain:

[0128]

[0129]

[0130] g3 = 5ω g - 2ωζ.

[0131]

[0132]

[0133] As an embodiment, step S310 can include:

[0134] Step S311: obtaining a current predicted motor speed according to a current driving torque, a speed difference, and a third speed difference coefficient.

[0135] Step S312: obtaining a current boom slewing speed according to the current predicted motor speed, a current disturbance quantity, the speed difference, a first speed difference coefficient, and a second speed difference coefficient.

[0136] In a specific implementation, as Figure 5As shown, the state observer can first utilize the first transfer function to obtain the current predicted motor speed according to the current driving torque, the speed difference and the third speed difference coefficient, and then utilize the second transfer function to obtain the current boom slewing speed according to the current predicted motor speed, the current disturbance, the speed difference, the first speed difference coefficient and the second speed difference coefficient.

[0137] In the embodiment, step S311 can include: obtaining the current predicted motor speed according to the current driving torque, the current boom and load inertia of the tower crane, the speed difference and the third speed difference coefficient.

[0138] In the embodiment, when the tower slewing mechanism is running, the current boom and load inertia of the tower crane will also affect the current boom slewing speed, and therefore, the influence of the current boom and load inertia on the current predicted motor speed can also be considered to obtain the influence of the current boom and load inertia on the current boom slewing speed.

[0139] It should be noted that in the actual observation process, the range of the parameters of the mechanical structure in the tower slewing system needs to be unified to the range of the parameters of the motor structure, and therefore, the current boom and load inertia can be the current boom and load inertia after scaling.

[0140] In the embodiment, step S312 can include: obtaining the current boom slewing speed according to the current predicted motor speed, the historical boom slewing speed of the tower crane, the current disturbance, the speed difference, the first speed difference coefficient and the second speed difference coefficient.

[0141] In the embodiment, the historical boom slewing speed is the boom slewing speed observed by the state observer before the current time. When the tower slewing mechanism is running, the historical boom slewing speed can be used as feedback to obtain the current boom slewing speed in combination with the current predicted motor speed, the current disturbance and the speed difference.

[0142] It can be understood that in the actual observation process, the range of the parameters of the mechanical structure in the tower slewing system needs to be unified to the range of the parameters of the motor structure, and therefore, the boom slewing speed observed by the state observer is the boom slewing speed after scaling.

[0143] In the specific implementation, according to the state observation equation, the state observer as shown in Figure 5 is obtained, and after the state observation feedback coefficients of the state observer are obtained according to the expected poles configured according to the actual use scenario, the parameters ω, ζ, J m and J d of the tower slewing system are configured according to the actual use scenario, the state observer can obtain the driving torque T m output by the driving motor, and the actual motor speed w m and the predicted motor speed w modThe rotational speed difference between the two, the large arm of the tower crane is observed in real time Large arm rotation speed w d The state observer can also observe the disturbance T of the tower crane rotation system in real time L The motor speed integral x2 and the predicted motor speed w mod S is the complex frequency of the tower crane rotation system.

[0144] In an example, the parameters of the tower crane rotation system are configured as follows:

[0145] ω g = 6*ω

[0146] Wherein, the specific values of ω, ζ, J m And J d of the tower crane rotation system can be configured according to the actual use scene.

[0147] As shown in Figure 6 , including no wind, the large arm rotation speed curve L1 observed by the state observer and the actual large arm rotation speed curve L2, the motor speed integral curve L3 observed by the state observer and the actual motor speed integral curve L4, the motor speed curve L5 observed by the state observer and the actual motor speed curve L6, and the disturbance curve L7 observed by the state observer and the actual disturbance curve L8. Figure 6 In the figure, curves L1 and L2, L3 and L4, L5 and L6, and L7 and L8 are completely coincident. It can be seen that in the case of no wind, the disturbance automatically generated by the rotation of the tower crane large arm increases with the increase of the large arm rotation speed, and the state observed by the state observer is consistent with the actual state.

[0148] As shown in Figure 7 , including wind, the large arm rotation speed curve L9 observed by the state observer and the actual large arm rotation speed curve L10, the motor speed integral curve L11 observed by the state observer and the actual motor speed integral curve L12, the motor speed curve L13 observed by the state observer and the actual motor speed curve L14, and the disturbance curve L15 observed by the state observer and the actual disturbance curve L16. Curves L9 and L10, L11 and L12, L13 and L14, and L15 and L16 start to be slightly different, and then gradually completely coincide. It can be seen that in the case of wind, when the disturbance increases with a certain sinusoidal fluctuation, the state of the motor speed, the large arm rotation speed and the motor speed integral observed by the state observer can quickly track the actual state, and when the disturbance has a certain fluctuation, it can also quickly track.

[0149] The embodiment improves a speed acquisition method, obtains the current disturbance of the tower crane slewing system according to N-order integral of the speed difference between the current actual motor speed of the driving motor and the current predicted motor speed, and obtains the current jib slewing speed of the jib of the tower crane slewing system in combination with the current driving torque of the driving motor. Since the disturbance can be offset by the multi-order integral, high-order unbiasedness is ensured, so that the current disturbance of the tower crane slewing system can be accurately observed to obtain the current jib slewing speed. The influence of the current disturbance of the tower crane slewing system on the current jib slewing speed is considered, so that the accuracy of the obtained jib slewing speed is higher.

[0150] In addition, the embodiment of the present application further provides a computer storage medium, and the computer storage medium stores a computer program. The computer program is executed by a processor to implement the steps of the speed acquisition method described above. Therefore, the description will not be repeated here. In addition, the beneficial effects of the same method will not be described again. For the technical details not disclosed in the computer readable storage medium embodiment of the present application, please refer to the description of the method embodiment of the present application. For example, the program instructions can be deployed to be executed on one computing device, or on multiple computing devices located in one place, or on multiple computing devices distributed in multiple places and interconnected through a communication network.

[0151] From the above description of the embodiments, those skilled in the art can clearly understand that the above embodiment method can be realized by means of software and necessary general hardware platforms, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in the above computer readable storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions to make a terminal device (which can be a mobile phone, computer, server, or network device, etc.) execute the method of each embodiment of the present application.

[0152] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the contents of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A speed acquisition method characterized by, The method comprises: Real-time acquisition of current actual motor speed and current predicted motor speed of a driving motor in a tower crane slewing system, to obtain actual motor speed curve and predicted motor speed curve varying with time; N-order integration of a speed difference curve between the actual motor speed curve and the predicted motor speed curve from an initial time when a tower crane jib starts to run to a current time, to obtain a current disturbance of the tower crane slewing system; wherein N≥2; the disturbance is related to current jib friction and wind resistance; According to the current driving torque of the driving motor and the current disturbance, a current jib slewing speed of the tower crane jib in the tower crane slewing system is obtained.

2. The method of claim 1, wherein, Before the step of N-order integration of the speed difference curve between the actual motor speed curve and the predicted motor speed curve from the initial time when the tower crane jib starts to run to the current time, to obtain the current disturbance of the tower crane slewing system, the method further comprises: Obtaining a state observation equation of the tower crane slewing system; According to the state observation equation and a preset system expectation formula, an observation feedback coefficient is obtained; wherein the observation feedback coefficient comprises a first speed difference integral coefficient and a second speed difference integral coefficient; The step of obtaining the current disturbance of the tower crane slewing system according to the speed difference integral between the current actual motor speed and the current predicted motor speed comprises: According to the first speed difference integral coefficient and the second speed difference integral coefficient, N-order integration of the speed difference curve between the actual motor speed curve and the predicted motor speed curve from the initial time when the tower crane jib starts to run to the current time is performed, to obtain the current disturbance; The preset system expectation formula is: wherein is a desired pole, is a first speed difference coefficient, is a second speed difference coefficient, is a third speed difference coefficient, is a second speed difference integral coefficient, is a first speed difference integral coefficient, ω is a natural frequency of the slewing system of the tower crane, ζ is a system damping of the slewing system of the tower crane, J m is a motor inertia, J d is a boom and load inertia, s is an operator of the pullback transformation.

3. The method of claim 2, wherein, The observation feedback coefficient further comprises a first speed difference coefficient, a second speed difference coefficient and a third speed difference coefficient; The step of obtaining the current jib slewing speed of the tower crane jib in the tower crane slewing system according to the current driving torque of the driving motor and the current disturbance comprises: According to the current driving torque, the current disturbance, the speed difference, the first speed difference coefficient, the second speed difference coefficient and the third speed difference coefficient, the current jib slewing speed is obtained.

4. The method of claim 2, wherein, The step of obtaining the state observation equation of the tower crane slewing system comprises: Obtaining a transfer function between a driving torque of the driving motor, a disturbance of the tower crane slewing system and a jib slewing speed of the tower crane jib, to construct an initial state observation equation; the transfer function is obtained by performing a pull-type transformation on a dynamics equation of the tower crane slewing system; N-order derivation of the disturbance in the initial state observation equation is performed, to obtain the state observation equation.

5. The method of claim 2, wherein, The step of obtaining the observation feedback coefficient according to the state observation equation and a preset system expectation formula comprises: According to the state observation equation, a characteristic polynomial of the tower crane slewing system is obtained; According to the preset system expectation formula, the characteristic polynomial is solved, to obtain the observation feedback coefficient.

6. The method of claim 3, wherein, The step of obtaining the current large arm slewing speed according to the current driving torque, the current disturbance, the speed difference, the first speed difference coefficient, the second speed difference coefficient and the third speed difference coefficient comprises: obtaining the current predicted motor speed according to the current driving torque, the speed difference and the third speed difference coefficient; obtaining the current large arm slewing speed according to the current predicted motor speed, the current disturbance, the speed difference, the first speed difference coefficient and the second speed difference coefficient.

7. The method of claim 6, wherein, The step of obtaining the current predicted motor speed according to the current driving torque, the speed difference and the third speed difference coefficient comprises: obtaining the current predicted motor speed according to the current driving torque, the current large arm and load inertia of the tower crane, the speed difference and the third speed difference coefficient.

8. The method of claim 6, wherein, The step of obtaining the current large arm slewing speed according to the current predicted motor speed, the current disturbance, the speed difference, the first speed difference coefficient and the second speed difference coefficient comprises: obtaining the current large arm slewing speed according to the current predicted motor speed, the historical large arm slewing speed of the tower crane, the current disturbance, the speed difference, the first speed difference coefficient and the second speed difference coefficient.

9. A speed acquisition device, characterized in that The device comprises a memory, a processor and a speed acquisition program stored in the memory and executable on the processor, and the speed acquisition program is configured to realize the steps of the speed acquisition method according to any one of claims 1 to 8.

10. A slewing system of a tower crane, characterized in that The system comprises: The speed acquisition device according to claim 9; A tower crane slewing mechanism comprising a driving motor; The speed acquisition device is connected with the driving motor.

11. A computer readable storage medium characterized by: The storage medium stores a computer program, and the computer program is executed by the processor to realize the steps of the speed acquisition method according to any one of claims 1 to 8.

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