Model establishment method, simulation control method and device of crane system

Abstract

The invention provides a model building method, a simulation control method and a simulation control device of a crane system, and belongs to the technical field of hoisting. The model building method comprises the following steps: building a suspension arm model and a winch device model of the crane system, wherein the winch device model is connected with a weight model and the suspension arm model; constructing a plunger motor model and a hydraulic system model of the crane system; a controller model of the crane system is constructed, and the controller model is connected with the hydraulic system model and the winch device model and used for obtaining the target swing angle of the plunger motor model according to the actual displacement of the weight model; and adjusting and controlling the moving stroke of the plunger model according to the target swing angle so as to change the rotating speed of the motor body model, so that the actual displacement of the weight model is consistent with the target displacement. The control precision of the crane system can be improved.

Description

Technical Field

[0001] The present disclosure belongs to the field of lifting technology, and in particular relates to a model building method, a simulation control method and a device for a crane system. Background Art

[0002] Marine cranes are widely used at sea for material handling, container transshipment, and onboard supply. However, since ships are docked on the water, waves can cause heaving and rolling, impacting handling efficiency. Furthermore, significant swaying can pose a threat to workers and life. Therefore, cranes require wave compensation control.

[0003] In related technologies, wave compensation control for cranes typically involves first creating a three-dimensional crane model, then simulating the crane's motion using this model to determine the crane's control parameters. This 3D crane model is typically created using software to first create models corresponding to each component in the crane's mechanical structure, assemble these components, and then create a motor model and hydraulic system model corresponding to the motor that drives the crane. To simplify the model, the motor model is typically a rotary motor.

[0004] However, because the motor in the constructed 3D model corresponds to a rotary motor, whereas the motors in actual cranes are generally plunger motors, the motor model in the constructed 3D model does not truly reflect the crane's actual structure, resulting in inaccurate control parameters during subsequent simulation control. Furthermore, because the motor model is typically a rotary motor, when simulating crane motion, the constructed 3D model can only simulate the motor speed by changing the motor flow rate, thereby providing the crane with heave compensation. When the crane is heavily loaded, the oil pressure in the hydraulic system often changes suddenly, causing the motor speed to become unstable. This makes the above simulation control method unable to truly simulate the actual state of the crane, affecting the simulation accuracy and the subsequent crane control accuracy and stability. Summary of the Invention

[0005] The embodiments of the present disclosure provide a crane system modeling method, simulation control method, and device, which can simulate the crane system through simulation, thereby improving the control accuracy of the crane system. The technical solution is as follows:

[0006] An embodiment of the present disclosure provides a model building method for a crane system, the model building method comprising: constructing a boom model and a winch device model of the crane system, the winch device model being connected to a weight model and the boom model; constructing a plunger motor model and a hydraulic system model of the crane system, wherein a mapping relationship exists between the movement stroke of the plunger motor model and the swing angle of the plunger motor model, the hydraulic system model being connected to the plunger motor model and being used to drive the plunger motor model to move back and forth, and changing the swing angle and the speed of the output end of the plunger motor model by changing the movement stroke of the plunger motor model, the output end of the plunger motor model being connected to the winch device model and being used to drive the weight model to move up and down; and constructing a controller model of the crane system, the controller model being connected to the hydraulic system model and the winch device model respectively, and being used to obtain a target swing angle of the plunger motor model according to the actual displacement of the weight model, and regulating the movement stroke of the plunger model according to the target swing angle to change the speed of the motor body model, so that the actual displacement of the weight model is consistent with the target displacement.

[0007] In another embodiment of the present disclosure, the boom model includes at least two connecting rods connected end to end, at least two cylinder sub-models and a base, the ends of two adjacent connecting rods of the at least two connecting rods are hinged through one of the cylinder sub-models, and one end of the connecting rod located at the endmost end is hinged to the base through one of the cylinder sub-models; the winch device model includes a winch sub-model, a wire rope model and multiple pulley group sub-models, the multiple pulley group sub-models are spaced and rotatably connected to the at least two connecting rods, the wire rope model spans outside the multiple pulley group sub-models and is in sliding contact with the pulley group sub-model, and the two ends of the wire rope model are respectively connected to the weight model and the winch sub-model.

[0008] In another implementation of the present disclosure, the plunger motor model includes a motor body model, a plunger model and a first reversing valve, the first working oil port and the second working oil port of the first reversing valve are respectively connected to the first oil chamber and the second oil chamber of the plunger model, the oil inlet of the first reversing valve is respectively connected to the first oil port of the hydraulic system model and the motor body model, and the oil outlet of the first reversing valve is respectively connected to the second oil port of the hydraulic system model and the motor body model.

[0009] In another embodiment of the present disclosure, the hydraulic system model includes at least one flow control unit and one pressure control unit; the flow control unit includes a first control valve and a first oil pump, the oil outlet of the first oil pump is connected to the first oil port of the first control valve, the second oil port of the first control valve is respectively connected to the oil inlet of the first reversing valve and the first oil port of the motor body model, and the third oil port of the first control valve is connected to the first oil port of the first control valve; the pressure control unit includes a second control valve, a second oil pump and a first overflow valve, the oil outlet of the second oil pump is connected to the first oil port of the second control valve, the second oil port of the second control valve is connected to the oil outlet of the first reversing valve and the second oil port of the motor body model, the third oil port of the second control valve is connected to the first oil port of the first overflow valve, the second oil port of the first overflow valve is connected to the second oil port of the second control valve, and the third oil port of the first overflow valve is connected to its own first oil port.

[0010] In another implementation of the present disclosure, the controller model includes a displacement controller model, a speed controller model and a swing angle controller model. The displacement controller model is used to obtain the target speed of the weight model based on the target displacement of the weight model and the actual displacement of the weight model; the speed controller model is connected to the displacement controller model, and is used to obtain the target speed of the motor body model based on the target speed of the weight model, and at the same time obtain the theoretical swing angle of the motor body based on the target speed and actual speed of the motor body model; the swing angle controller model is connected to the speed controller model, and is used to obtain the target swing angle based on the theoretical swing angle and the actual swing angle, and control the plunger model to change the moving stroke according to the target swing angle, so that the actual displacement of the weight model is the target displacement.

[0011] On the other hand, the present disclosure also provides a simulation control method for a crane system, the simulation control method comprising: obtaining a target swing angle of a motor in the crane system based on a three-dimensional model of the crane system; and controlling the motor according to the target swing angle of the motor; wherein the three-dimensional model of the crane system is constructed by the model building method described above.

[0012] On the other hand, the present disclosure also provides a model building device for a crane system, the model building device comprising: a first building unit for building a boom model and a winch device model of the crane system, the winch device model being connected to the weight model and the boom model; a second building unit for building a plunger motor model and a hydraulic system model of the crane system, wherein a mapping relationship exists between the movement stroke of the plunger motor model and the swing angle of the plunger motor model, the hydraulic system model being connected to the plunger motor model and being used to drive the plunger motor to move back and forth, and changing the swing angle and the speed of the output end of the plunger motor model by changing the movement stroke of the plunger motor model, the output end of the plunger motor model being connected to the winch device model and being used to drive the weight model to move up and down; a third building unit for building a controller model of the crane system, the controller model being connected to the hydraulic system model and the winch device model respectively, and being used to obtain a target swing angle of the plunger motor model according to the actual displacement of the weight model, and regulating the movement stroke of the plunger model according to the target swing angle to change the speed of the motor body model so that the actual displacement of the weight model is consistent with the target displacement.

[0013] On the other hand, the present disclosure also provides a simulation control device for a crane system, the simulation control device comprising: a target swing angle determination module for obtaining a target swing angle of a motor in the crane system based on a three-dimensional model of the crane system; a control module for controlling the motor according to the target swing angle of the motor; the three-dimensional model of the crane system is constructed by the model establishment method described above.

[0014] On the other hand, the present disclosure further provides a computer device, comprising: a processor and a memory, wherein the memory is used to store processor-executable instructions; wherein the processor is configured to execute the model building method as described above.

[0015] On the other hand, the present disclosure further provides a computer storage medium having computer instructions stored thereon, which implement the model building method described above when executed by a processor.

[0016] The technical solutions provided by the embodiments of the present disclosure have the following beneficial effects:

[0017] When simulating a crane system using the model building method provided by the embodiments of the present disclosure, the model building method sequentially builds a boom model, a winch assembly model, a plunger motor model, a hydraulic system model, and a controller model. Thus, the boom model and winch assembly model can be used to simulate the winch and boom assemblies in the crane system, thereby simulating the crane system's lifting motion. Simultaneously, the plunger motor model and the hydraulic system model can be used to simulate the hydraulic system and motor that drives the lifting of the load, thereby realistically simulating the power structure controlling the lifting of the load in the crane system. Furthermore, since the plunger motor model can reciprocate under the drive of the hydraulic system model and its output is connected to the winch assembly model, the plunger motor model can be used to simulate the movement of the plunger in the crane system's plunger motor during operation, and the plunger motor's travel can also be used to reflect the swing angle of the plunger motor. Furthermore, the controller model can also be used to simulate the crane system's control system. Thus, a crane system model can be obtained through the above steps, enabling the established model to accurately simulate the crane system's lifting process.

[0018] Moreover, since the plunger motor model in the constructed three-dimensional model corresponds to the plunger motor in the crane, the plunger motor model can realistically simulate the motion state of the plunger motor in the crane system. Moreover, since there is a mapping relationship between the movement stroke of the plunger motor model and the swing angle of the plunger motor model, and the controller model is used to obtain the target swing angle of the plunger motor model based on the actual displacement of the weight model, the plunger motor model is placed at the target swing angle through the hydraulic system model to change the rotation speed so that the actual displacement of the weight model is consistent with the target displacement. In this way, the entire process of obtaining the control parameters of the crane system can be simulated by the three-dimensional model, that is, the process of changing the rotation speed of the plunger motor by changing the swing angle of the plunger motor can be realistically simulated, thereby enabling the crane system to have a wave compensation function, thereby avoiding the situation where the motor speed is unstable due to unstable oil pressure in the hydraulic system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 It is a structural diagram of a crane system in the related art;

[0021] Figure 2A flowchart of a crane system model building method provided by an embodiment of the present disclosure;

[0022] Figure 3 It is a structural diagram of the boom model and the winch device model;

[0023] Figure 4 This is a schematic diagram of the model structure of the crane system;

[0024] Figure 5 for Figure 4 Schematic diagram of the model structure of the hydraulic system in FIG;

[0025] Figure 6 A flowchart of a simulation control method for a crane system provided by the present disclosure;

[0026] Figure 7 A block diagram of a model building device for a crane system provided in an embodiment of the present disclosure;

[0027] Figure 8 A block diagram of a simulation control device for a crane system provided by an embodiment of the present disclosure;

[0028] Figure 9 A schematic diagram of the structure of a computer device provided in an embodiment of the present disclosure.

[0029] The symbols in the figure mean the following:

[0030] 1. Tower body;

[0031] 2. Winch assembly; 22. Winch; 23. Wire rope; 24. Pulley block; 3. Boom assembly; 31. Folding arm; 311. Boom body; 32. Luffing cylinder;

[0032] 100, boom model; 101, connecting rod; 1011, first connecting rod; 1012, second connecting rod; 102, cylinder sub-model; 1021, first cylinder; 1022, second cylinder; 103, base; 1031, connecting block;

[0033] 200, winch device model; 201, winch sub-model; 202, wire rope model; 203, pulley sub-model;

[0034] 300, plunger motor model; 301, motor body model; 302, plunger model; 303, first reversing valve;

[0035] 400, hydraulic system model; 401, flow control unit; 4011, first control valve; 4012, first oil pump; 4013, second reversing valve; 4014, shuttle valve; 402, pressure control unit; 4021, second control valve; 4022, second oil pump; 4023, first relief valve; 4024, third control valve; 4025, second relief valve; 4026, third oil pump; 4027, accumulator; 4028, third relief valve;

[0036] 500, controller model; 501, displacement controller model; 502, speed controller model; 503, swing angle controller model. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0038] Figure 1 It is a structural diagram of the crane system in the related technology, combined with Figure 1 The crane system includes a tower body 1, a winch assembly 2 and a boom assembly 3.

[0039] The tower 1 provides a mounting base for the winch assembly 2 and the boom assembly 3. The winch assembly 2 includes a drive unit, a winch 22, a wire rope 23, and multiple pulley blocks 24. The winch 22 is connected to the drive unit. The wire rope 23 is wound around the winch 22's drum, with one end connected to the drum and the other end connected to the load. The drive unit drives the winch 22 to release or retract the wire rope 23 for lifting the load. Multiple pulley blocks 24 are connected to the boom assembly 3 at intervals to guide the wire rope 23 so that it can follow the boom assembly 3 to lift the load. This allows the wire rope 23 to simultaneously pitch and tilt the boom assembly 3, thereby changing the lifting position. The drive unit includes a motor control system and a motor. The motor control system controls the motor's rotation. The motor is connected to the winch 22 to control the winch's rotation.

[0040] The boom assembly 3 includes a folding arm 31 and multiple luffing cylinders 32. One end of the folding arm 31 is hinged to the tower body 1 through one of the luffing cylinders 32. The wire rope 23 passes through the other end of the folding arm 31 through the pulley block 24 and is connected to the weight.

[0041] In order to further change the lifting position, the folding arm 31 includes a plurality of arm bodies 311 connected in sequence, and two connected arm bodies 311 are hinged via a variable amplitude oil cylinder 32. Figure 1 The crane system includes two arms 311 .

[0042] The embodiment of the present disclosure provides a method for establishing a model of a crane system, such as Figure 2 As shown, the model building method includes:

[0043] S201: Construct the boom model and winch device model of the crane system.

[0044] The winch device model is connected to the weight model and the boom model.

[0045] S202: Construct the plunger motor model and hydraulic system model of the crane system.

[0046] There is a mapping relationship between the moving stroke of the plunger motor model and the swing angle of the plunger motor model.

[0047] The hydraulic system model is connected to the plunger motor model, which is used to drive the reciprocating movement of the plunger in the plunger motor model, and to change the swing angle of the plunger motor model and the speed of the output end of the plunger motor model 300 by changing the moving stroke of the plunger motor model. The output end of the plunger motor model is connected to the winch device model, which is used to drive the heavy object model to lift and lower.

[0048] The travel of the plunger motor model refers to the maximum travel of the plunger when it moves back and forth.

[0049] S203: Construct a controller model of the crane system.

[0050] The controller model is connected to the hydraulic system model and the winch device model respectively, and is used to obtain the target swing angle of the piston motor model based on the actual displacement of the weight model, and to make the piston motor model 300 be at the target swing angle through the hydraulic system model 400 to change the rotation speed so that the actual displacement of the weight model is consistent with the target displacement.

[0051] When simulating a crane system using the model building method provided by the embodiments of the present disclosure, the model building method sequentially builds a boom model, a winch assembly model, a plunger motor model, a hydraulic system model, and a controller model. Thus, the boom model and winch assembly model can be used to simulate the winch and boom assemblies in the crane system, thereby simulating the crane system's lifting motion. Simultaneously, the plunger motor model and the hydraulic system model can be used to simulate the hydraulic system and motor that drives the lifting of the load, thereby simulating the power structure controlling the lifting of the load in a real crane system. Furthermore, since the plunger motor model can reciprocate under the drive of the hydraulic system model and its output is connected to the winch assembly model, the plunger motor model can be used to simulate the movement of the plunger in the crane system's plunger motor during operation, and the plunger motor's travel distance can also be used to reflect the plunger motor's swing angle. Furthermore, the controller model can also be used to simulate the crane system's control system. Thus, a crane system model can be obtained through the above steps, enabling the established model to accurately simulate the crane system's lifting process.

[0052] Moreover, since the plunger motor model in the constructed three-dimensional model corresponds to the plunger motor in the crane, the plunger motor model can realistically simulate the motion state of the plunger motor in the crane system. Moreover, since there is a mapping relationship between the movement stroke of the plunger motor model and the swing angle of the plunger motor model, and the controller model is used to obtain the target swing angle of the plunger motor model based on the actual displacement of the weight model, the plunger motor model is placed at the target swing angle through the hydraulic system model to change the rotation speed so that the actual displacement of the weight model is consistent with the target displacement. In this way, the entire process of obtaining the control parameters of the crane system can be simulated by the three-dimensional model, that is, the process of changing the rotation speed of the plunger motor by changing the swing angle of the plunger motor can be realistically simulated, thereby enabling the crane system to have a wave compensation function, thereby avoiding the situation where the motor speed is unstable due to unstable oil pressure in the hydraulic system.

[0053] For example, the above model building method can be implemented by simulation software. Moreover, when building the model, the simulation can be performed according to the actual structure of the crane system.

[0054] Figure 3 The structural diagram of the boom model and winch device model is shown in Figure 2. Figure 3Optionally, the boom model 100 includes at least two connecting rods 101 connected end to end, at least two cylinder sub-models 102 and a base 103, the ends of two adjacent connecting rods 101 of the at least two connecting rods 101 are hinged through a cylinder sub-model 102, and one end of a connecting rod 101 located at the endmost end is hinged to the base 103 through a cylinder sub-model 102.

[0055] The winch device model 200 includes a winch sub-model 201, a wire rope model 202 and multiple pulley block sub-models 203. The multiple pulley block sub-models 203 are spaced and rotatably connected to at least two connecting rods 101. The wire rope model 202 spans the outside of the multiple pulley block sub-models 203 and is in sliding contact with the pulley block sub-models 203. The two ends of the wire rope model 202 are respectively connected to the weight and the winch sub-model 201.

[0056] In this embodiment, to simplify the 3D model construction process, the boom assembly in the crane system can be directly simulated using connecting rods and cylinders. A connecting rod 101 corresponds to a boom 311 in the crane system. A cylinder sub-model 102 corresponds to a luffing cylinder 32 in the crane system. The base 103 simulates the tower body 1. The base 103 includes at least two connecting blocks 1031, one of which is hinged to one end of the connecting rod 101, and the other of which is hinged to a luffing cylinder 32.

[0057] Correspondingly, winch sub-model 201 is a cylindrical structure used to simulate winch 22. Wire rope model 202 is a rope with a certain structural strength used to simulate wire rope 23. A pulley block sub-model 203 is used to simulate a pulley block 24, wherein pulley block sub-model 203 is provided with a pulley. Each pulley is connected to connecting rod 101.

[0058] In this embodiment, there are two connecting rods 101, including a first connecting rod 1011 and a second connecting rod 1012. There are two cylinder sub-models 102, including a first cylinder 1021 and a second cylinder 1022. The first connecting rod 1011 and the second connecting rod 1012 are hingedly connected. The ends of the first cylinder 1021 are connected to the first connecting rod 1011 and the second connecting rod 1012 respectively. The second cylinder 1022 is connected to the bottom of the first connecting rod 1011 and one of the connecting blocks 1031 respectively. The first connecting rod 1011 is hingedly connected to the other connecting block 1031.

[0059] In other examples, the number of connecting rods 101 can be other numbers, and the number of connecting rods 101 is completely set according to the number of arms 311.

[0060] Figure 4 This is a schematic diagram of the crane system model structure, see Figure 4 Optionally, the plunger motor model 300 includes a motor body model 301, a plunger model 302 and a first reversing valve 303, the first working oil port and the second working oil port of the first reversing valve 303 are respectively connected to the first oil chamber and the second oil chamber of the plunger model 302, the oil inlet of the first reversing valve 303 is respectively connected to the first oil port A of the hydraulic system model 400 and the first oil port of the motor body model 301, and the oil outlet of the first reversing valve 303 is respectively connected to the second oil port B of the hydraulic system model 400 and the second oil port of the motor body model 301.

[0061] In the disclosed embodiment, the motor used in the crane system is generally a swash plate piston motor. The output speed of the swash plate piston motor is directly related to the swing angle of the motor. The swing angle of the motor refers to the swing angle of the swash plate of the motor, which is also the inclination angle of the swash plate in the motor. This angle plays a vital role in the operation of the swash plate piston motor. The swash plate swing angle determines the displacement and output performance of the swash plate piston motor, including speed and torque. Therefore, by changing the swash plate swing angle of the motor, the speed of the swash plate piston motor can be changed. The motor body model 301 established above can be used to simulate the motor body in the crane system. The first reversing valve 303 is used to simulate the valve component that controls the opening and closing of the motor in the crane system, and the piston model 302 is used to simulate the piston cylinder in the motor.

[0062] Furthermore, the first working oil port and the second working oil port of the first reversing valve 303 are connected to the first oil chamber and the second oil chamber of the plunger model 302, respectively. The oil inlet of the first reversing valve 303 is connected to the first oil port of the hydraulic system model 400 and the first oil port of the motor body model 301, respectively. The oil outlet of the first reversing valve 303 is connected to the second oil port of the hydraulic system model 400 and the second oil port of the motor body model 301, respectively. In this way, the movement direction and movement stroke of the plunger in the plunger model 302 can be controlled by controlling the valve core position of the first reversing valve 303, and the rotation direction and speed of the motor body model 301 can be controlled based on the movement direction and stroke of the plunger. In other words, the movement state of the plunger model 302 can be controlled by the hydraulic system model 400 to simulate the movement of the motor plunger in the crane system. At the same time, by changing the movement stroke of the plunger model 302, the inclination angle change of the motor's swash plate (that is, the change of the motor's swing angle) can be simulated, thereby simulating the process of changing the motor's output speed by changing the motor's swing angle.

[0063] Figure 5 for Figure 4 The model structure diagram of the hydraulic system in Figure 5 Optionally, the hydraulic system model 400 includes at least one flow control unit 401 and one pressure control unit 402 .

[0064] The flow control unit 401 includes a first control valve 4011 and a first oil pump 4012. The oil outlet of the first oil pump 4012 is connected to the first oil port a of the first control valve 4011. The second oil port b of the first control valve 4011 is respectively connected to the oil inlet of the first reversing valve 303 and the first oil port of the motor body model 301. The third oil port c of the first control valve 4011 is connected to the first oil port a of the first control valve 4011.

[0065] The pressure control unit 402 includes a second control valve 4021, a second oil pump 4022 and a first overflow valve 4023. The oil outlet of the second oil pump 4022 is connected to the first oil port a of the second control valve 4021, the second oil port b of the second control valve 4021 is connected to the oil outlet of the first reversing valve 303 and the second oil port of the motor body model 301, the third oil port c of the second control valve 4021 is connected to the first oil port of the first overflow valve 4023, the second oil port of the first overflow valve 4023 is connected to the second oil port b of the second control valve 4021, and the third oil port of the first overflow valve 4023 is connected to its own first oil port.

[0066] In the embodiment of the present disclosure, the flow control unit 401 is used to control the flow of the driving oil entering the motor body model 301. The pressure control unit 402 is used to control the pressure of the driving oil entering the motor body model 301. Among them, the first oil pump 4012 is used to supply oil to the first control valve 4011. The first control valve 4011 is used to supply oil to the motor body model 301 and the plunger model 302. The second oil pump 4022 is used to supply oil to the second control valve 4021, and the second control valve 4021 is used to supply oil to the motor body model 301 and the plunger model 302 to limit the oil pressure of the motor body model 301, etc. The first overflow valve 4023 serves as a safety valve to prevent overpressure.

[0067] Exemplarily, there may be multiple flow control units 401. For example, in the embodiment of the present disclosure, there are two flow control units 401. When the two flow control units 401 are arranged in parallel, the second oil port b of the first control valve 4011 in each flow control unit 401 is connected to the oil inlet of the first reversing valve 303 and the first oil port of the motor body model 301.

[0068] In other examples, the number of flow control units 401 may be other numbers, such as three, four, etc., which can be flexibly set according to the actual lifting speed of the crane system. The greater the lifting speed, the greater the number of corresponding flow control units 401.

[0069] Optionally, the flow control unit 401 also includes a second reversing valve 4013 and a shuttle valve 4014, the oil inlet of the second reversing valve 4013 is connected to the oil outlet of the first oil pump 4012, the oil return port of the second reversing valve 4013 is connected to the oil tank, the first working oil port of the second reversing valve 4013 is connected to the first oil port of the shuttle valve 4014, and the second working oil port of the second reversing valve 4013 is blocked.

[0070] The second oil port of the shuttle valve 4014 is connected to the second oil port and the fourth oil port of the first control valve 4011 respectively, and the third oil port of the shuttle valve 4014 is connected to the third oil port of the first control valve 4011.

[0071] In this embodiment, the second reversing valve 4013 is used as a switch valve to control the first control valve 4011 to be able to open stably. For example, when the valve core of the second reversing valve 4013 is in Figure 5 When the oil pressure at the first oil port of the first control valve 4011 differs from the oil pressure at the second oil port of the first control valve 4011, the valve core of the first control valve 4011 will move, thereby opening the first control valve 4011. This also prevents the first control valve 4011 from being affected by oil pressure fluctuations caused by oil flowing only from the first oil port, which could cause pressure shocks and affect the state of the plunger motor model 300. The setting of the shuttle valve 4014 can compare the oil flowing out of the second reversing valve 4013 with the oil at the fourth oil port of the first control valve 4011 (that is, the oil pressure at the control oil port), so as to introduce the higher oil pressure into the third oil port of the first control valve 4011, thereby ensuring that there is sufficient oil pressure in the third oil port of the first control valve 4011, and it can change with the action of the valve core of the first control valve 4011, so as to further improve the stability of the first control valve 4011.

[0072] Optionally, the pressure control unit 402 further includes a third control valve 4024 and a second relief valve 4025. The first oil port a of the third control valve 4024 is connected to the second oil port b of the second control valve 4021, the second oil port b of the third control valve 4024 is connected to the oil tank, the third oil port c of the third control valve 4024 is connected to the first oil port of the second relief valve 4025, the oil outlet of the first reversing valve 303, and the second oil port of the motor body model 301, respectively, the second oil port of the second relief valve 4025 is connected to the second oil port of the third control valve 4024, and the third oil port of the second relief valve 4025 is connected to the first oil port of the second relief valve 4025.

[0073] In this embodiment, due to the first oil port a of the second control valve 4021 and the second oil port b of the second control valve 4021, the oil flowing out of the second oil port b of the second control valve 4021 will flow to the third control valve 4024, the oil outlet of the first reversing valve 303, and the second oil port of the motor body model 301, respectively. In other words, the third control valve 4024 can divert a portion of the oil flowing out of the second control valve 4021, thereby achieving the purpose of reducing pressure. The second relief valve 4025 is used to protect the third control valve 4024.

[0074] By setting the pressure control unit 402 as described above, the oil pressure entering the motor body model 301 can be the difference between the oil pressures of the second control valve 4021 and the third control valve 4024, thereby avoiding the influence of atmospheric pressure and improving simulation accuracy.

[0075] Illustratively, the second control valve 4021 and the third control valve 4024 have the same structure.

[0076] Optionally, the pressure control unit 402 further includes a third oil pump 4026 , and an oil outlet of the third oil pump 4026 is connected to the first oil port of the third control valve 4024 .

[0077] In this embodiment, the third oil pump 4026 is used to further replenish oil to the third control valve 4024 .

[0078] Optionally, the pressure control unit 402 further includes an accumulator 4027 , which is connected to the oil outlet of the second oil pump 4022 and the first oil port of the second control valve 4021 , respectively.

[0079] The accumulator 4027 is used to store a portion of the oil for use as a backup.

[0080] Pressure control unit 402 also includes a third relief valve 4028. A first port of third relief valve 4028 is connected to the oil outlet of second oil pump 4022, a second port of third relief valve 4028 is connected to the oil tank, and a third port of third relief valve 4028 is connected to its first port. Third relief valve 4028 is used to limit the oil pressure pumped by second oil pump 4022.

[0081] See again Figure 4, the controller model 500 includes a displacement controller model 501, a speed controller model 502 and a swing angle controller model 503. The displacement controller model 501 is used to obtain the target speed of the weight model based on the target displacement of the weight model and the actual displacement of the weight model. The speed controller model 502 is connected to the displacement controller model 501, and is used to obtain the target speed of the motor body model 301 based on the target speed of the weight model, and at the same time, obtain the theoretical swing angle of the motor body based on the target speed and actual speed of the motor body model 301. The swing angle controller model 503 is connected to the speed controller model 502, and is used to obtain the target swing angle based on the theoretical swing angle and the actual swing angle, and control the plunger model 302 to change the moving stroke according to the target swing angle, so that the actual displacement of the weight model is the target displacement.

[0082] In the above implementation, the displacement controller model 501 is used to simulate the displacement controller in the crane system, so as to obtain the target speed of the weight model according to the target displacement of the weight model and the actual displacement of the weight model.

[0083] The speed controller model 502 is used to simulate the speed controller in the crane system so as to obtain the target speed of the motor body model 301 according to the target speed of the weight model, and to obtain the theoretical swing angle of the motor body based on the target speed and actual speed of the motor body model 301.

[0084] The swing angle controller model 503 is used to simulate the swing angle controller in the crane system so as to obtain the target swing angle based on the theoretical swing angle and the actual swing angle, and control the piston model 302 to change the moving stroke according to the target swing angle so that the actual displacement of the heavy object model is the target displacement.

[0085] In other words, when simulating the crane system's heave compensation control process using the constructed 3D model, the target swing angle can be determined through three closed control loops: the position loop (displacement of the load model), the speed loop (speed of the motor model), and the motor's swing angle loop (swing angle of the motor model). The entire control process utilizes three controller models for simulation and control, ultimately achieving a 3D model that simulates the crane system's load's actual displacement as the target displacement.

[0086] The outermost of the three control loops is the position loop. The target displacement serves as the input to the position loop, which then monitors the actual displacement of the weight model and uses it as feedback to calculate the target velocity of the weight model through the controller model.

[0087] The target speed obtained by the position loop serves as the input for the speed loop. The target speed is converted into the target speed of the motor body model through changes. At the same time, the actual speed of the motor body model is monitored and used as feedback to calculate through the speed controller model to obtain the theoretical swing angle of the motor body. The theoretical swing angle of the motor body serves as the input of the swing angle loop, and then the actual swing angle is monitored and calculated through the swing angle controller model to output the target swing angle. Therefore, the target swing angle is used as the control parameter for controlling the crane system to control the electrical signal of the proportional valve in the motor of the crane system, thereby controlling the position of the middle plunger of the plunger motor, and finally controlling the speed of the motor so that the actual displacement of the weight is the target displacement, achieving the purpose of wave compensation.

[0088] In this embodiment, to obtain the actual displacement of the weight model, the actual rotational speed of the motor body model 301, and the actual swing angle, the model establishment method also includes constructing a detection model, wherein the detection model includes a first sensor, a second sensor, and a third sensor. The first sensor is used to simulate a displacement sensor, the second sensor is used to simulate an encoder, and the third sensor is used to simulate an inclination sensor.

[0089] The first sensor can detect the actual displacement of the weight model in real time. The second sensor can detect the actual rotation speed of the motor body model in real time. The third sensor can detect the actual swing angle of the motor body model in real time, thereby providing the required calculation parameters for the controller model 500 to perform different control closed loops.

[0090] On the other hand, the present disclosure also provides a simulation control method for a crane system, such as Figure 6 As shown, the simulation control method includes:

[0091] S601: Based on the three-dimensional model of the crane system, a target swing angle of a motor in the crane system is obtained.

[0092] S602: Control the motor according to the target swing angle of the motor.

[0093] Among them, the three-dimensional model of the crane system is constructed using the model building method mentioned above.

[0094] The above simulation control method has the same beneficial effects as the aforementioned model establishment method, and will not be described in detail here.

[0095] On the other hand, the embodiment of the present disclosure further provides a model building device for a crane system, such as Figure 7 As shown, the simulation control device 700 includes a first building unit 701 , a second building unit 702 and a third building unit 703 .

[0096] The first construction unit 701 is used to construct the boom model 100 and the winch device model 200 of the crane system. The winch device model 200 is connected to the weight model and the boom model 100.

[0097] The second construction unit 702 is used to construct the plunger motor model 300 and the hydraulic system model 400 of the crane system. There is a mapping relationship between the moving stroke of the plunger motor model and the swing angle of the plunger motor model. The hydraulic system model 400 is connected to the plunger motor model 300 and is used to drive the plunger in the plunger motor model to move back and forth, and to change the swing angle of the plunger motor model 300 and the speed of the output end of the plunger motor model 300 by changing the moving stroke. The output end of the plunger motor model 300 is connected to the winch device model 200 and is used to drive the heavy object model to move up and down.

[0098] The third construction unit 703 is used to construct a controller model 500 of the crane system. The controller model 500 is connected to the hydraulic system model 400 and the winch device model 200 respectively, and is used to obtain the target swing angle of the plunger motor model 300 according to the actual displacement of the heavy object model. The hydraulic system model 400 is used to make the plunger motor model 300 at the target swing angle to change the rotation speed so that the actual displacement of the heavy object model is consistent with the target displacement.

[0099] The above control device has the same beneficial effects as the control method, which will not be described in detail here.

[0100] It should be noted that the modeling apparatus for a crane system provided in the above embodiment uses the division of the aforementioned functional modules as an example to illustrate the creation of a three-dimensional model of the crane system. In actual applications, the aforementioned functions can be assigned to different functional modules as needed, i.e., the internal structure of the device can be divided into different functional modules to perform all or part of the functions described above. Furthermore, the modeling apparatus for a crane system provided in the above embodiment shares the same concept as the modeling method for a crane system. The specific implementation process is detailed in the method embodiment and will not be further elaborated here.

[0101] On the other hand, the embodiment of the present disclosure further provides a simulation control device 800, such as Figure 8 As shown, the simulation control device 800 includes a target swing angle determination module 801 and a control module 802 .

[0102] The target swing angle determination module 801 is used to obtain the target swing angle of the motor in the crane system based on the three-dimensional model of the crane system.

[0103] The control module 802 is used to control the motor according to the target swing angle of the motor. The three-dimensional model of the crane system is constructed using the model building method described above.

[0104] Figure 9 A schematic diagram of the structure of a computer device provided in an embodiment of the present disclosure, combined with Figure 9 , the computer device 900 may include one or more of the following components: a processor 901 , a memory 902 , a communication interface 903 , and a bus 904 .

[0105] Processor 901 includes one or more processing cores. Processor 901 executes various functional applications and information processing by running software programs and modules. Memory 902 and communication interface 903 are connected to processor 901 via bus 904. Memory 902 can be used to store at least one instruction, and processor 901 is used to execute the at least one instruction to implement each step of the above method.

[0106] In addition, the memory 902 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: magnetic disk or optical disk, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, and programmable read-only memory (PROM).

[0107] An embodiment of the present disclosure further provides a computer-readable storage medium storing computer instructions. When the computer instructions stored in the computer-readable storage medium are executed by an electronic device, the electronic device executes the crane system modeling method provided in the above method embodiment.

[0108] The above are merely optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included in the scope of protection of the present disclosure.

Claims

1. A crane system modeling method, characterized in that: The model building method comprises: Constructing a boom model (100) and a winch device model (200) of a crane system, wherein the winch device model (200) is connected to a weight model and the boom model (100), A plunger motor model (300) and a hydraulic system model (400) of the crane system are constructed, wherein a mapping relationship exists between a moving stroke of the plunger motor model (300) and a swing angle of the plunger motor model (300), an output end of the plunger motor model (300) is connected to the winch device model (200) for driving the weight model to move up and down, and the hydraulic system model (400) is connected to the plunger motor model (300) for driving the plunger in the plunger motor model (300) to move back and forth, and the swing angle of the plunger motor model (300) and the speed of the output end of the plunger motor model (300) are changed by changing the moving stroke; A controller model (500) of the crane system is constructed. The controller model (500) is connected to the hydraulic system model (400) and the winch device model (200) respectively, and is used to obtain a target swing angle of the plunger motor model (300) according to the actual displacement of the weight model. The plunger motor model (300) is placed at the target swing angle through the hydraulic system model (400) to change the rotation speed so that the actual displacement of the weight model is consistent with the target displacement.

2. The model building method according to claim 1, characterized in that The plunger motor model (300) includes a motor body model (301), a plunger model (302) and a first reversing valve (303), wherein a first working oil port and a second working oil port of the first reversing valve (303) are respectively connected to a first oil chamber and a second oil chamber of the plunger model (302), an oil inlet of the first reversing valve (303) is respectively connected to the first oil port of the hydraulic system model (400) and the motor body model (301), and an oil outlet of the first reversing valve (303) is respectively connected to the second oil port of the hydraulic system model (400) and the motor body model (301).

3. The model building method according to claim 2, characterized in that: The hydraulic system model (400) includes at least one flow control unit (401) and a pressure control unit (402); The flow control unit (401) comprises a first control valve (4011) and a first oil pump (4012), wherein the oil outlet of the first oil pump (4012) is connected to the first oil port of the first control valve (4011), the second oil port of the first control valve (4011) is connected to the oil inlet of the first reversing valve (303) and the first oil port of the motor body model (301) respectively, and the third oil port of the first control valve (4011) is connected to the first oil port of the first control valve (4011); The pressure control unit (402) includes a second control valve (4021), a second oil pump (4022) and a first overflow valve (4023), wherein the oil outlet of the second oil pump (4022) is connected to the first oil outlet of the second control valve (4021), the second oil outlet of the second control valve (4021) is connected to the oil outlet of the first reversing valve (303) and the second oil outlet of the motor body model (301), the third oil outlet of the second control valve (4021) is connected to the first oil outlet of the first overflow valve (4023), the second oil outlet of the first overflow valve (4023) is connected to the second oil outlet of the second control valve (4021), and the third oil outlet of the first overflow valve (4023) is connected to its own first oil outlet.

4. The model building method according to claim 2, characterized in that: The controller model (500) includes a displacement controller model (501), a speed controller model (502) and a swing angle controller model (503). The displacement controller model (501) is used to obtain a target speed of the weight model based on the target displacement of the weight model and the actual displacement of the weight model; The speed controller model (502) is connected to the displacement controller model (501) and is used to obtain a target speed of the motor body model (301) based on a target speed of the weight model, and to obtain a theoretical swing angle of the motor body based on the target speed and actual speed of the motor body model (301); The swing angle controller model (503) is connected to the speed controller model (502) and is used to obtain a target swing angle based on the theoretical swing angle and the actual swing angle, and control the plunger model (302) to change the movement stroke according to the target swing angle, so that the actual displacement of the weight model is the target displacement.

5. The model building method according to any one of claims 1 to 4, characterized in that: The boom model (100) comprises at least two connecting rods (101) connected end to end, at least two oil cylinder sub-models (102), and a base (103); the ends of two adjacent connecting rods (101) of the at least two connecting rods (101) are hinged through one of the oil cylinder sub-models (102); and one end of the connecting rod (101) located at the endmost end is hinged to the base (103) through one of the oil cylinder sub-models (102); The winch device model (200) includes a winch sub-model (201), a wire rope model (202) and a plurality of pulley block sub-models (203), wherein the plurality of pulley block sub-models (203) are connected to the at least two connecting rods (101) at intervals and in a rotatable manner, and the wire rope model (202) is connected across the plurality of pulley block sub-models (203) and is in sliding contact with the pulley block sub-models (203), and the two ends of the wire rope model (202) are respectively connected to the weight model and the winch sub-model (201).

6. A simulation control method for a crane system, characterized in that: The simulation control method comprises: obtaining a target swing angle of a motor in the crane system based on a three-dimensional model of the crane system; controlling the motor according to a target swing angle of the motor; Wherein, the three-dimensional model of the crane system is constructed by the model building method according to any one of claims 1-5.

7. A model building device for a crane system, characterized in that: The model building device comprises: A first construction unit is used to construct a boom model (100) and a winch device model (200) of a crane system, wherein the winch device model (200) is connected to a weight model and the boom model (100); A second construction unit is used to construct a plunger motor model (300) and a hydraulic system model (400) of the crane system, wherein a mapping relationship exists between the movement stroke of the plunger motor model and the swing angle of the plunger motor model, and the hydraulic system model (400) is connected to the plunger motor model (300) and is used to drive the plunger in the plunger motor model to move back and forth, and to change the swing angle of the plunger motor model (300) and the speed of the output end of the plunger motor model (300) by changing the movement stroke, and the output end of the plunger motor model (300) is connected to the winch device model (200) and is used to drive the heavy object model to move up and down; A third construction unit is used to construct a controller model (500) of the crane system. The controller model (500) is connected to the hydraulic system model (400) and the winch device model (200) respectively, and is used to obtain a target swing angle of the plunger motor model (300) according to the actual displacement of the weight model. The plunger motor model (300) is placed at the target swing angle through the hydraulic system model (400) to change the rotation speed so that the actual displacement of the weight model is consistent with the target displacement.

8. A simulation control device for a crane system, characterized in that: The simulation control device comprises: a target swing angle determination module, configured to obtain a target swing angle of a motor in the crane system based on a three-dimensional model of the crane system; a control module, configured to control the motor according to a target swing angle of the motor; The three-dimensional model of the crane system is constructed by the model building method according to any one of claims 1 to 5.

9. A computer device, characterized in that: include: A processor and a memory, the memory being configured to store processor-executable instructions; The processor is configured to execute the model building method according to any one of claims 1 to 5.

10. A computer storage medium having computer instructions stored thereon, characterized in that: When the computer instructions are executed by a processor, the model building method according to any one of claims 1 to 5 is implemented.

Images