Swing damping device control system and method applied to folding arm crane

Abstract

The invention provides a system and a method for controlling a shimmy damping device applied to a folding arm crane. The control system comprises a control system, a measuring system and an executing mechanism, the measuring system collects information of the shimmy damping device and the folding arm crane, forms a measuring signal and sends the measuring signal to the control system; the control system receives the measurement signal, forms a corresponding control signal according to the measurement signal and sends the control signal to the execution mechanism; and the executing mechanism receives the control signal and executes corresponding control action according to the control signal so as to control the sling to swing. The control system comprises a signal acquisition module, a stabilization motion module, a stabilization motion inverse solution module, a current driving module, a detection control module and a computer. The system is easy to control, large-scale transformation of the folding arm crane is not needed, the working efficiency of the folding arm crane can be effectively improved, and the working safety of operators can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of maritime transportation, and more particularly, to a swing reduction device control system and method applied to a folding boom crane. Background Art

[0002] A folding boom crane is a lifting device widely used in maritime transportation, port loading and unloading, and ship operations. Through the design of a folding boom, it can realize the lifting, transportation, and loading and unloading operations of goods in a limited space. Due to its complex working environment, especially during maritime operations, a folding boom crane is easily affected by external factors such as wind waves and ship sway, resulting in the swinging of the sling and goods, which affects the operation efficiency and safety.

[0003] Currently, folding boom cranes are usually equipped with some swing reduction devices to suppress the swinging of the sling. These swing reduction devices mainly include mechanical swing reduction devices, hydraulic dampers, and electronic control systems. The mechanical swing reduction device restricts the swinging amplitude of the sling through a physical structure, such as using a pendulum rod, spring, or damper to absorb the swinging energy. The hydraulic damper generates a damping force through the flow of hydraulic oil to suppress the swinging of the sling. In addition, some advanced cranes are also equipped with an electronic swing reduction system based on sensors and controllers, which realizes the swing reduction effect by real-time monitoring the swinging state of the sling and adjusting the operating parameters of the crane.

[0004] Although the existing swing reduction devices can suppress the swinging of the sling to a certain extent, there are still some deficiencies. First, the mechanical swing reduction device has a complex structure, high installation and maintenance costs, and limited swing reduction effect under complex sea conditions. Second, the damping force of the hydraulic damper is difficult to dynamically adjust according to the actual working conditions, resulting in an unsatisfactory swing reduction effect under different loads and environmental conditions. In addition, although the existing electronic swing reduction system can achieve a certain degree of automatic control, it often requires large-scale modification of the crane, and has high requirements for the sensor accuracy and control system, increasing the complexity and cost of the system. More importantly, while the existing swing reduction devices suppress the swinging of the sling, they often cannot effectively maintain the horizontal attitude of the moving platform, resulting in potential safety hazards during the loading and unloading of goods, especially in harsh maritime environments, these problems are more prominent. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to propose a swing reduction device control system and method applied to a folding boom crane to solve the technical problems of low efficiency of the anti-swing device and complex control system structure under existing complex sea conditions.

[0006] The technical means adopted by the present invention are as follows:

[0007] A swing reduction device control system applied to a folding boom crane includes a control system, a measurement system, and an actuator;

[0008] The measurement system collects information of the anti-sway device and the folding boom crane and forms measurement signals to be sent to the control system;

[0009] The control system receives the measurement signals and forms corresponding control signals according to the measurement signals to be sent to the actuator;

[0010] The actuator receives the control signals and performs corresponding control actions according to the control signals to control the sway of the sling.

[0011] Furthermore, the control system includes a signal acquisition module, an anti-sway motion module, an inverse kinematics module for anti-sway motion, a current drive module, a detection and control module, and a computer;

[0012] The signal acquisition module is used to collect the measurement signals from the measurement system, and the signal acquisition module sends the measurement signals to the anti-sway motion module and the computer;

[0013] The anti-sway motion module is used to receive the measurement signals and generate control signals for each magnetorheological damper based on the measurement signals. The anti-sway motion module transmits the control signals of the magnetorheological damper to the inverse kinematics module for anti-sway motion;

[0014] The inverse kinematics module for anti-sway motion receives the control signals of the magnetorheological damper and generates desired current value signals for each magnetorheological damper based on the control signals of the magnetorheological damper. The inverse kinematics module for anti-sway motion sends the desired current value signals to the current drive module;

[0015] The current drive module is used to receive the desired current value signals, generate current value signals corresponding to each magnetorheological damper based on the desired current value signals, and transmit the current value signals to the corresponding magnetorheological damper;

[0016] The detection and control module acquires various data processed by the anti-sway motion module in real time and sends them to the computer in real time; the detection and control module receives the input signals fed back by the computer in real time and sends the input signals to the anti-sway motion module for parameter modification and control;

[0017] The computer is used to receive the signals from the signal acquisition module and the detection and control module, and output the control signals of the servo electric cylinder and the hydraulic cylinder, as well as the feedback signals of the detection and control module.

[0018] Furthermore, the measurement system includes a first attitude sensor, a second attitude sensor, a first displacement sensor, a second displacement sensor, and a filter;

[0019] The first attitude sensor is located on the static platform and is used to detect the pose of the static platform in real time and transmit the detection signal to the signal acquisition module; the second attitude sensor is located on the moving platform and is used to detect the pose of the moving platform in real time and transmit the detection signal to the signal acquisition module; the first displacement sensor is installed on the magnetorheological damper and is used to detect the displacement of each magnetorheological damper in real time and transmit the detection signal to the signal acquisition module; the second displacement sensor is located at the front end of the telescopic boom and is used to measure the displacement of the telescopic boom in real time and transmit the detection signal to the signal acquisition module.

[0020] Further, the actuator includes a magnetorheological damper, a servo electric cylinder, and a hydraulic cylinder;

[0021] The magnetorheological damper is located between the static platform and the moving platform of the magnetorheological anti-sway platform. The magnetorheological damper receives the current value signal and generates a resistance to suppress the swing of the sling; the magnetorheological damper is used to keep the moving platform always parallel to the sea level to suppress the sway of the sling; the servo electric cylinder is used to adjust the pose of the static platform, and the hydraulic cylinder is used to control the telescopic movement of the telescopic boom.

[0022] Further, the filter is a low-pass filter, which is used to filter out the high-frequency signals contained in the sensor measurement signals in the measurement system;

[0023] The present invention also provides a control method for a sway reduction device control system applied to a folding boom crane, which is implemented based on any one of the sway reduction device control systems applied to a folding boom crane, and includes the following steps:

[0024] The sling starts to swing under the influence of an external excitation, driving the sleeve to swing, resulting in the deviation of the moving platform and the telescopic sleeve from the initial position; the signal acquisition module collects the signal of the second attitude sensor filtered by the filter and uploads it to the anti-sway motion module; the anti-sway motion module receives the signal of the second attitude sensor, and the anti-sway motion module generates a control signal for the magnetorheological damper based on the signal of the second attitude sensor;

[0025] The anti-sway motion module transmits the generated control signal to the inverse kinematics module for anti-sway motion; the inverse kinematics module for anti-sway motion receives the control signal and outputs the desired current value signal of the magnetorheological damper based on the control signal, and transmits it to the current drive module;

[0026] The current drive module receives the desired current value signal and generates a corresponding current based on the desired current value signal, and outputs the current to the magnetorheological damper;

[0027] The magnetorheological damper changes the magnitude of the damping force according to the magnitude of the obtained current, so that the moving platform and the telescopic sleeve return to the initial position, thereby achieving the effect of controlling the swing of the sling.

[0028] Compared with the prior art, the present invention has the following advantages:

[0029] 1. Improve work efficiency

[0030] Fast response: The control system can monitor and process signals in real time, quickly respond to the swing of the sling, reduce the waiting time caused by the swing, and thus significantly improve the loading and unloading efficiency of the crane.

[0031] High degree of automation: The system reduces manual intervention through automatic control. The operator does not need to frequently adjust the equipment, reducing the operation difficulty and further improving the work efficiency.

[0032] 2. Enhance operation safety

[0033] Reduce danger: Through automatic control, the frequency of the operator directly participating in the adjustment of the sling swing is reduced, and the safety risks caused by manual operation errors or harsh environments are reduced.

[0034] Keep the platform level: The magnetorheological damper can keep the moving platform always parallel to the sea level. Even in the case of ship swaying or complex sea conditions, it can effectively reduce the risk of cargo dumping and ensure the safety of the operation process.

[0035] 3. Strong environmental adaptability

[0036] Stability in harsh sea conditions: The system can effectively cope with complex marine environments such as wind waves and ship swaying, ensuring that the crane can still work normally under harsh conditions.

[0037] Application of low-pass filter: By removing high-frequency interference in the sensor signal through the low-pass filter, the anti-interference ability and stability of the system are improved. Description of the drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0039] Figure 1 It is the control system framework diagram of the present invention.

[0040] Figure 2 It is the control framework diagram of the magnetorheological rheostat of the present invention.

[0041] Figure 3 It is the attitude control logic diagram of the swing reduction platform of the present invention.

[0042] Figure 4This is the overall structural layout diagram of the anti-rolling device of the present invention.

[0043] Figure 5 This is the schematic diagram of the storage state of the anti-rolling device of the present invention on a ship.

[0044] Figure 6 This is the structural schematic diagram of the anti-rolling device of the present invention.

[0045] Figure 7 This is the enlarged view of the static platform of the anti-rolling device of the present invention.

[0046] Figure 8 This is the schematic diagram of the working state of the anti-rolling device of the present invention on a ship.

[0047] In the figure: 1. Machine base; 2. First folding arm; 3. Second folding arm; 4. Third folding arm; 5. Anti-rolling device; 51. Static platform; 52. Magnetorheological damper; 53. Intermediate connecting rod; 54. Hook hinge; 55. Moving platform; 56. Stable connection mechanism; 57. Slide table; 58. Intermediate connector; 59. Pitching electric cylinder; 510. Safety beam; 511. Sleeve; 6. Suspension plate. Detailed implementation manners

[0048] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0050] As Figure 4 shown, the connection relationship between the anti-rolling device 5 and other components in the present invention is as follows: The upper part of the base 1 is sequentially connected to the first folding arm 2, the second folding arm 3, and the third folding arm 4. The end of the third folding arm 4 is connected to the anti-rolling device 5, and the lower part of the anti-rolling device 5 is connected to the suspension plate 6.

[0051] As Figure 6 and 7 shown, the structure of the anti-sway device 5 in the present invention is as follows: The static platform 51 and the moving platform 55 are arranged vertically and connected by an intermediate connecting rod 53 in the middle and a plurality of magnetorheological dampers 52. The magnetorheological dampers 52 are connected to the static platform 51 and the moving platform 55 through Hooke joints 54. A safety beam 510 is arranged on the moving platform 55. One end of a pitching electric cylinder 59 is arranged on the moving platform 55. The other end of the pitching electric cylinder 59 is connected to one end of an intermediate connector 58. The other end of the intermediate connector 58 is connected to a sliding table 57. A stable connection mechanism 56 is arranged on the sliding table 57.

[0052] As Figures 1-8 shown, the present invention provides an anti-sway device control system applied to a folding boom crane, including a control system, a measurement system and an actuator;

[0053] The measurement system collects information of the anti-sway device and the folding boom crane and forms a measurement signal to be sent to the control system;

[0054] The control system receives the measurement signal and forms a corresponding control signal according to the measurement signal to be sent to the actuator;

[0055] The actuator receives the control signal and performs corresponding control actions according to the control signal to control the swing of the sling.

[0056] The control system includes a signal acquisition module, an anti-sway motion module, an anti-sway motion inverse solution module, a current drive module, a detection and control module and a computer;

[0057] The signal acquisition module is used to collect the measurement signal from the measurement system, and the signal acquisition module sends the measurement signal to the anti-sway motion module and the computer;

[0058] The anti-sway motion module is used to receive the measurement signal and generate a control signal for each magnetorheological damper based on the measurement signal. The anti-sway motion module transmits the control signal of the magnetorheological damper to the anti-sway motion inverse solution module;

[0059] The anti-sway motion inverse solution module receives the control signal of the magnetorheological damper and generates an expected current value signal for each magnetorheological damper based on the control signal of the magnetorheological damper. The anti-sway motion inverse solution module sends the expected current value signal to the current drive module;

[0060] The current drive module is used to receive the expected current value signal and generate a current value signal corresponding to each magnetorheological damper based on the expected current value signal, and transmit the current value signal to the corresponding magnetorheological damper;

[0061] The detection and control module obtains various data processed by the anti-rolling motion module in real time and sends them to the computer in real time; the detection and control module receives the input signals fed back by the computer in real time, and sends the input signals to the anti-rolling motion module for parameter modification and control;

[0062] The various data obtained by the detection and control module include the control signals of the magnetorheological damper: the signals generated by the anti-rolling motion module for controlling the magnetorheological damper, which reflect information such as the swinging condition of the sling and the magnitude and direction of the damping force required by the magnetorheological damper. The desired current value signal of the magnetorheological damper: the desired current value signal generated by the anti-rolling motion inverse solution module based on the control signal of the magnetorheological damper, which determines the damping characteristics of the magnetorheological damper. Attitude sensor data: including the pose data detected by the first attitude sensor (static platform) and the second attitude sensor (moving platform), which reflect the real-time attitudes of the static platform and the moving platform, such as tilt angle, azimuth angle, etc. Displacement sensor data: the displacement data detected by the first displacement sensor (magnetorheological damper) and the second displacement sensor (front end of the telescopic arm), which reflect the telescopic displacement of the magnetorheological damper and the displacement condition of the telescopic arm.

[0063] The computer is used to receive the signals from the signal acquisition module and the detection and control module, and output the control signals of the servo electric cylinder and the hydraulic cylinder as well as the feedback signal of the detection and control module.

[0064] The signals from the signal acquisition module include the sensor signals in the measurement system after filtering processing, such as the original measurement signals of the attitude sensor and the displacement sensor. The signals from the detection and control module include the various data processed by the anti-rolling motion module, such as the control signal of the magnetorheological damper, the desired current value signal, the attitude and displacement data, etc.

[0065] The measurement system includes a first attitude sensor, a second attitude sensor, a first displacement sensor, a second displacement sensor and a filter;

[0066] The first attitude sensor is located on the static platform and is used to detect the pose of the static platform in real time and transmit the detection signal to the signal acquisition module; the second attitude sensor is located on the moving platform and is used to detect the pose of the moving platform in real time and transmit the detection signal to the signal acquisition module; the first displacement sensor is installed on the magnetorheological damper and is used to detect the displacement of each magnetorheological damper in real time and transmit the detection signal to the signal acquisition module; the second displacement sensor is located at the front end of the telescopic arm and is used to measure the displacement of the telescopic arm in real time and transmit the detection signal to the signal acquisition module. The filter is a low-pass filter for filtering out the high-frequency signals contained in the sensor measurement signals in the measurement system.

[0067] The actuator includes a magnetorheological damper, a servo electric cylinder, and a hydraulic cylinder;

[0068] The magnetorheological damper is located between the static platform and the moving platform of the magnetorheological anti-sway platform. The magnetorheological damper receives a current value signal and generates a resistance force to suppress the swinging of the sling; the magnetorheological damper is used to keep the moving platform always parallel to the sea level to suppress the swaying of the sling; the servo electric cylinder is used to adjust the pose of the static platform, and the hydraulic cylinder is used to control the telescoping of the telescopic boom.

[0069] The present invention also provides a control method for a sway reduction device control system applied to a folding boom crane, including the following steps:

[0070] The sling starts to swing under the influence of an external excitation, driving the sleeve to swing, resulting in the moving platform and the telescopic sleeve deviating from the initial position; the signal acquisition module acquires the signal of the second attitude sensor filtered by the filter and uploads it to the anti-sway motion module; the anti-sway motion module receives the signal of the second attitude sensor, and the anti-sway motion module generates a control signal for the magnetorheological damper based on the signal of the second attitude sensor;

[0071] The anti-sway motion module transmits the generated control signal to the inverse kinematics module of the anti-sway motion; the inverse kinematics module of the anti-sway motion receives the control signal and outputs a desired current value signal for the magnetorheological damper based on the control signal, and transmits it to the current drive module;

[0072] The current drive module receives the desired current value signal and generates a corresponding current based on the desired current value signal, and outputs the current to the magnetorheological damper;

[0073] The magnetorheological damper changes the magnitude of the damping force according to the magnitude of the acquired current, so that the moving platform and the telescopic sleeve return to the initial position, thereby achieving the effect of controlling the swinging of the sling.

[0074] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sway reduction device control system applied to a folding arm crane, characterized in that: Including control system, measurement system and actuator; The measuring system collects information of the sway reduction device and the knuckle boom crane and forms a measuring signal to be sent to the control system; The control system receives the measurement signal and generates a corresponding control signal according to the measurement signal and sends it to the actuator; The actuator receives the control signal and performs corresponding control actions according to the control signal to realize the swing control of the sling.

2. The sway reduction device control system for a folding arm crane according to claim 1, characterized in that: The control system includes a signal acquisition module, a sway reduction module, a sway reduction inverse analysis module, a current drive module, a detection control module and a computer; The signal acquisition module is used to collect measurement signals from the measurement system, and the signal acquisition module sends the measurement signals to the anti-roll motion module and the computer; The anti-roll motion module is used to receive the measurement signal and generate a control signal for each magnetorheological damper based on the measurement signal, and the anti-roll motion module transmits the control signal of the magnetorheological damper to the anti-roll motion inverse solution module; The anti-roll motion inverse solution module receives the control signal of the magnetorheological damper, and generates an expected current value signal of each magnetorheological damper based on the control signal of the magnetorheological damper, and the anti-roll motion inverse solution module sends the expected current value signal to the current driving module; The current driving module is used to receive the expected current value signal, generate a current value signal corresponding to each magnetorheological damper based on the expected current value signal, and transmit the current value signal to the corresponding magnetorheological damper; The detection control module acquires various data processed by the anti-roll motion module in real time and sends them to the computer in real time; the detection control module receives input signals fed back by the computer in real time, and sends the input signals to the anti-roll motion module for parameter modification and control; The computer is used to receive signals from the signal acquisition module and the detection control module, and output control signals of the servo electric cylinder and the hydraulic cylinder as well as feedback signals of the detection control module.

3. The sway reduction device control system for a folding arm crane according to claim 2, characterized in that: The measurement system includes a first attitude sensor, a second attitude sensor, a first displacement sensor, a second displacement sensor and a filter; The first attitude sensor is located on the static platform, and is used to detect the static platform posture in real time, and transmit the detection signal to the signal acquisition module; the second attitude sensor is located on the dynamic platform, and is used to detect the dynamic platform posture in real time, and transmit the detection signal to the signal acquisition module; the first displacement sensor is installed on the magnetorheological damper, and is used to detect the displacement of each magnetorheological damper in real time, and transmit the detection signal to the signal acquisition module; the second displacement sensor is located at the front end of the telescopic arm, and is used to measure the displacement of the telescopic arm in real time, and transmit the detection signal to the signal acquisition module.

4. The sway reduction device control system for a folding arm crane according to claim 2, characterized in that: The actuator includes a magnetorheological damper, a servo electric cylinder and a hydraulic cylinder; The magnetorheological damper is located between the static platform and the dynamic platform of the magnetorheological anti-sway platform. The magnetorheological damper receives the current value signal and generates resistance to suppress the swing of the sling. The magnetorheological damper is used to keep the dynamic platform always parallel to the sea level to suppress the sway of the sling. The servo electric cylinder is used to adjust the posture of the static platform, and the hydraulic cylinder is used to control the extension and retraction of the telescopic arm.

5. The sway reduction device control system for a folding arm crane according to claim 3, characterized in that: The filter is a low-pass filter, which is used to filter out high-frequency signals contained in the sensor measurement signal in the measurement system.

6. A control method for a sway reduction device control system applied to a folding arm crane, which is implemented based on the sway reduction device control system applied to a folding arm crane according to any one of claims 1 to 5, and is characterized in that: The steps include: The sling begins to swing under the influence of external excitation, driving the sleeve to swing, causing the moving platform and the telescopic sleeve to deviate from the initial position; the signal acquisition module collects the signal of the second attitude sensor filtered by the filter and uploads it to the anti-roll motion module; the anti-roll motion module receives the signal of the second attitude sensor, and the anti-roll motion module generates a control signal of the magnetorheological damper based on the signal of the second attitude sensor; The anti-roll motion module transmits the generated control signal to the anti-roll motion inverse solution module; the anti-roll motion inverse solution module receives the control signal and outputs the desired current value signal of the magnetorheological damper based on the control signal, and transmits it to the current driving module; The current driving module receives the expected current value signal and generates a corresponding current based on the expected current value signal, and outputs the current to the magnetorheological damper; The magnetorheological damper changes the magnitude of the damping force according to the magnitude of the acquired current, so that the moving platform and the telescopic sleeve return to their initial positions, thereby achieving the effect of controlling the swing of the sling.

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