Method, device and system for controlling crane and storage medium

文档序号：181799 发布日期：2021-11-02 浏览：42次中文

阅读说明：本技术 控制起重机的方法、装置和系统以及存储介质 (Method, device and system for controlling crane and storage medium ) 是由叶飞徐健于 2020-04-30 设计创作，主要内容包括：本申请涉及控制起重机的方法、装置和系统以及存储介质。该方法包括：获取第一电机的第一速度值,第一电机被配置为拉住起重机的吊具的第一端；获取第二电机的第二速度值,第二电机被配置为拉住起重机的吊具的第二端,第二端是第一端在起重机的小车运行方向的相对端；获取第一速度值与第二速度值的第一速度差；获取第一速度差阈值；并且如果第一速度值与第二速度值的第一速度差小于第一速度差阈值,向第一电机发送控制指令以在小车运行方向增加第一电机的转矩输出值。本申请技术方案有效防止起重机吊具摇摆。(The present application relates to a method, apparatus and system for controlling a crane and a storage medium. The method comprises the following steps: obtaining a first speed value of a first motor, the first motor configured to pull a first end of a spreader of a crane; acquiring a second speed value of a second motor, wherein the second motor is configured to pull a second end of a lifting appliance of the crane, and the second end is the opposite end of the first end in the trolley running direction of the crane; acquiring a first speed difference between a first speed value and a second speed value; acquiring a first speed difference threshold value; and if the first speed difference between the first speed value and the second speed value is less than the first speed difference threshold, sending a control command to the first motor to increase the torque output value of the first motor in the vehicle travel direction. This application technical scheme prevents effectively that the hoist from swaying.)

1. A method of controlling a crane, comprising:

obtaining a first speed value of a first motor (S201), the first motor being configured to pull a first end of a spreader of a crane, wherein the first speed value is positive when the first end of the spreader moves towards the first motor and negative when the first end of the spreader moves away from the first motor;

acquiring a second speed value of a second motor (S203), the second motor being configured to pull a second end of the spreader of a crane, the second end being an opposite end of the first end in a trolley travelling direction of the crane, wherein the second speed value is positive when the second end of the spreader moves towards the second motor and negative when the second end of the spreader moves away from the second motor;

acquiring a first speed difference between the first speed value and the second speed value (S205);

acquiring a first speed difference threshold (S207); and is

If the first speed difference between the first speed value and the second speed value is less than the first speed difference threshold, sending a control command to the first motor to increase the torque output value of the first motor in the vehicle moving direction (S209).

2. The method of claim 1, further comprising:

acquiring a third speed value of a third motor (S401), the third motor being configured to pull a third end of a spreader of a crane, the third end being an opposite end of the first end in a cart running direction of the crane, wherein the third speed value is positive when the third end of the spreader moves towards the third motor and negative when the third end of the spreader moves away from the third motor;

acquiring a second speed difference between the first speed value and the third speed value (S403);

acquiring a second speed difference threshold (S405); and is

If the second speed difference between the first speed value and the third speed value is less than the second speed difference threshold, sending a control command to the first motor to increase the torque output value of the first motor in the cart running direction (S407).

3. The method of claim 1, further comprising:

a first speed difference target value is obtained, and wherein,

increasing the torque output value of the first motor in the cart travel direction includes increasing the torque output value of the first motor until a first speed difference of the first speed value and the second speed value reaches the first speed difference target value.

4. The method of claim 2, further comprising:

a second speed difference target value is obtained, and wherein,

increasing the torque output value of the first motor in the cart travel direction includes increasing the torque output value of the first motor until a second speed difference of the first speed value and the third speed value reaches the second speed difference target value.

5. The method of claim 1 or 2, further comprising:

an enable instruction is obtained for allowing a control instruction to be sent to the first motor to increase a torque output value of the first motor.

6. The method of claim 1 or 2, further comprising:

an upper torque limit and a lower torque limit are obtained, and wherein,

the torque output value of the first electric machine is defined not to exceed the upper torque limit and the lower torque limit.

7. The method of claim 1 or 2, further comprising:

and acquiring a proportional parameter and an integral time, wherein the torque output value of the first motor is adjusted according to the proportional parameter and the integral time.

8. The method of claim 6, further comprising:

and if the first speed difference between the first speed value and the second speed value is larger than zero, sending a control command to the first motor to reduce the torque output value of the first motor in the running direction of the trolley.

9. The method of claim 6, further comprising:

and if the second speed difference between the first speed value and the third speed value is larger than zero, sending a control command to the first motor to reduce the torque output value of the first motor in the running direction of the cart.

10. Device for controlling a crane, comprising:

a first speed acquisition unit (101) configured to acquire a first speed value of a first motor configured to pull a first end of a spreader of a crane, wherein the first speed value is a positive value when the first end of the spreader moves towards the first motor and the first speed value is a negative value when the first end of the spreader moves away from the first motor;

a second speed acquisition unit (103) configured to acquire a second speed value of a second motor configured to pull a second end of the spreader of a crane, the second end being an opposite end of the first end in a trolley travelling direction of the crane, wherein the second speed value is positive when the second end of the spreader moves towards the second motor and negative when the second end of the spreader moves away from the second motor;

a first speed difference acquisition unit (105) configured to acquire a first speed difference of the first speed value and the second speed value;

a first speed difference threshold acquisition unit (107) configured to acquire a first speed difference threshold; and

a first PI regulator (109) configured to send a control command to the first motor to increase a torque output value of the first motor in the vehicle travel direction if the first speed difference of the first speed value and the second speed value is less than the first speed difference threshold.

11. The apparatus of claim 10, further comprising:

a third speed obtaining unit (201) configured to obtain a third speed value of a third motor, the third motor being configured to pull a third end of a spreader of a crane, the third end being an opposite end of the first end in a cart running direction of the crane, wherein the third speed value is a positive value when the third end of the spreader moves toward the third motor, and the third speed value is a negative value when the third end of the spreader moves away from the third motor;

a second speed difference acquisition unit (203) configured to acquire a second speed difference of the first speed value and the third speed value;

a second speed difference threshold acquisition unit (205) configured to acquire a second speed difference threshold; and

a second PI regulator (207) configured to send a control command to the first motor to increase a torque output value of the first motor in the cart travel direction if the second speed difference of the first speed value and the third speed value is less than the second speed difference threshold.

12. The apparatus of claim 10, further comprising:

a first target value acquisition unit (301) configured to acquire a first velocity difference target value, and wherein,

13. The apparatus of claim 11, further comprising:

a second target value acquisition unit (303) configured to acquire a second speed difference target value, and wherein,

14. The apparatus of claim 10 or 11, further comprising:

an enable instruction acquisition unit (305) configured to acquire an enable instruction for allowing a control instruction to be sent to the first motor to increase a torque output value of the first motor.

15. The apparatus of claim 10 or 11, further comprising:

a limit value acquisition unit (307) configured to acquire an upper torque limit and a lower torque limit, and wherein a torque output value of the first motor is defined so as not to exceed the upper torque limit and the lower torque limit.

16. The apparatus of claim 10 or 11, further comprising:

an adjustment parameter acquisition unit (309) configured to acquire a proportional parameter and an integral time, wherein a torque output value of the first motor is adjusted according to the proportional parameter and the integral time.

17. A system for controlling a crane, comprising:

a first motor (401) configured to pull a first end of a spreader of a crane;

a second motor (403) configured to pull on a second end of the spreader of the crane, the second end being the opposite end of the first end in the trolley travelling direction of the crane;

device (10) for controlling a crane, comprising:

a first speed acquisition unit (101) configured to acquire a first speed value of the first motor (401), wherein the first speed value is a positive value when the first end of the spreader is moving towards the first motor (401) and a negative value when the first end of the spreader is moving away from the first motor (401);

a second speed acquisition unit (103) configured to acquire a second speed value of the second motor (403), wherein the second speed value is a positive value when the second end of the spreader is moving towards the second motor (403), and the second speed value is a negative value when the second end of the spreader is moving away from the second motor (403);

a first speed difference acquisition unit (105) configured to acquire a first speed difference of the first speed value and the second speed value;

a first speed difference threshold acquisition unit (107) configured to acquire a first speed difference threshold; and

a first PI regulator (109) configured to send a control command to the first motor to increase a torque output value of the first motor (401) in the vehicle direction of travel if the first speed difference of the first speed value and the second speed value is less than the first speed difference threshold.

18. The system of claim 17, further comprising:

a third motor (405) configured to pull a third end of a spreader of the crane, the third end being an opposite end of the first end in a cart running direction of the crane;

the device (10) further comprises:

a third speed acquisition unit (201) configured to acquire a third speed value of a third motor (405), wherein the third speed value is a positive value when the third end of the spreader moves towards the third motor (405) and a negative value when the third end of the spreader moves away from the third motor (405);

a second speed difference acquisition unit (203) configured to acquire a second speed difference of the first speed value and the third speed value;

a second speed difference threshold acquisition unit (205) configured to acquire a second speed difference threshold; and

a second PI regulator (207) configured to send a control command to the first motor to increase a torque output value of the first motor (401) in the cart travel direction if the second speed difference of the first speed value and the third speed value is less than the second speed difference threshold.

19. Storage medium, characterized in that the storage medium comprises a stored program, wherein the program when run controls an apparatus in which the storage medium is located to perform the method according to any of claims 1 to 9.

20. Computer program product, characterized in that it is tangibly stored on a computer-readable medium and comprises computer-executable instructions that, when executed, cause at least one processor to perform the method according to any one of claims 1 to 9.

Technical Field

The present application relates to the field of crane control. In particular, the present application relates to a method, apparatus and system for controlling a crane, and a storage medium.

Background

Under the condition that the track crane or the tire crane does not have anti-swing control, when a trolley or a cart runs, the lifting appliance can swing to a large extent, a driver can manually follow the trolley to reduce the shaking degree of the lifting appliance, and the anti-swing operation influences the operation efficiency.

The mechanical anti-swing scheme adopts four anti-swing motors to reduce the swing degree of the lifting appliance by pulling four corners of the lifting appliance through steel wire ropes.

The existing mechanical anti-rolling principle is shown in fig. 1, for example, when a trolley runs in an acceleration mode in an x-axis negative direction (for example, the front direction of the trolley), a lifting appliance swings in the x-axis positive direction, and a motor a and a motor b pull the lifting appliance with proper torque, so that the swing amplitude of the lifting appliance in the x-axis positive direction is reduced. Similarly, when the trolley runs towards the positive direction of the x axis (for example, the rear direction of the trolley), the lifting appliance swings towards the negative direction of the x axis, the motor c and the motor d pull the lifting appliance with proper torque, and the swing amplitude of the lifting appliance towards the negative direction of the x axis is reduced.

At present, the mechanical anti-shake generally adopts a control method of calculating the horizontal acceleration moment of the load. The four motors all output smaller torque to pull the steel wire rope of the lifting appliance to be in a tight state. When the trolley is operated independently, if the trolley is accelerated towards the negative direction of the x axis (such as the front direction of the trolley), the torques of the motor a and the motor b are increased according to a certain proportion according to the total weight of the lifting appliance and the load. And when the acceleration is finished, canceling the torque quantity increased by the motor a and the motor b, simultaneously increasing the torques of the motor c and the motor d, roughly estimating the time required for keeping the torques or roughly calculating the time required for keeping the torques according to the clock pendulum period, finally simultaneously increasing the torques of the four anti-swing motors, and adjusting the torque keeping time according to the actual effect by utilizing the slope of the steel wire rope. When the cart runs alone, the same method is adopted. The control method has the advantages that the logic judgment program of various conditions is complex, the parameters need to be debugged and changed repeatedly, the anti-swing control effect is poor and even the situation which is suitable for the situation can occur when a driver controls the operation of repeated rapid acceleration and rapid deceleration, and the debugging is more complex when a lifting sling and a trolley or a cart run in a linkage mode or the trolley and the cart run in a linkage mode.

Disclosure of Invention

The embodiment of the application provides a method, a device and a system for controlling a crane, a storage medium and a processor, so as to at least solve the problem that in the prior art, a crane sling is difficult to control to swing in operation.

According to an aspect of an embodiment of the present application, there is provided a method of controlling a crane, including: acquiring a first speed value of a first motor, wherein the first motor is configured to pull a first end of a spreader of a crane, the first speed value is a positive value when the first end of the spreader moves towards the first motor, and the first speed value is a negative value when the first end of the spreader moves away from the first motor; acquiring a second speed value of a second motor, wherein the second motor is configured to pull a second end of a lifting appliance of the crane, and the second end is the opposite end of the first end in the trolley running direction of the crane, the second speed value is a positive value when the second end of the lifting appliance moves towards the second motor, and the second speed value is a negative value when the second end of the lifting appliance moves away from the second motor; acquiring a first speed difference between a first speed value and a second speed value; acquiring a first speed difference threshold value; and if the first speed difference between the first speed value and the second speed value is less than the first speed difference threshold, sending a control command to the first motor to increase the torque output value of the first motor in the vehicle travel direction.

In this way, when the spreader swings away from the first motor in the trolley travelling direction, the first motor on the opposite side of the spreader swing increases the torque output, thereby controlling the amplitude of the swing of the spreader in the trolley travelling direction.

The method according to an exemplary embodiment of the present application further comprises: acquiring a third speed value of a third motor, wherein the third motor is configured to pull a third end of a lifting appliance of the crane, and the third end is the opposite end of the first end in the cart running direction of the crane, the third speed value is a positive value when the third end of the lifting appliance moves towards the third motor, and the third speed value is a negative value when the third end of the lifting appliance moves away from the third motor; acquiring a second speed difference between the first speed value and the third speed value; acquiring a second speed difference threshold; and if a second speed difference between the first speed value and the third speed value is less than a second speed difference threshold, sending a control command to the first motor to increase a torque output value of the first motor in the cart travel direction.

In this way, when the spreader swings away from the first motor in the cart running direction, the first motor on the opposite side of the spreader swing increases the torque output, thereby controlling the swing amplitude of the spreader in the cart running direction.

The method according to an exemplary embodiment of the present application further comprises: obtaining a first speed difference target value, and wherein increasing the torque output value of the first motor in the direction of travel of the cart includes increasing the torque output value of the first motor until a first speed difference of the first speed value and the second speed value reaches the first speed difference target value.

In this way the amplitude of the swing of the spreader in the direction of travel of the trolley is controlled to be within a desired range.

The method according to an exemplary embodiment of the present application further comprises: a second speed difference target value is obtained, and wherein increasing the torque output value of the first motor in the direction of travel of the vehicle includes increasing the torque output value of the first motor until a second speed difference of the first speed value and the third speed value reaches the second speed difference target value.

In this way, the amplitude of the swing of the spreader in the traveling direction of the cart is controlled to be within a desired range.

In this way, it is possible to allow control of the swing amplitude of the spreader when it is required to control the swing amplitude of the spreader.

The method according to an exemplary embodiment of the present application further comprises: an upper torque limit and a lower torque limit are obtained, and wherein a torque output value of the first electric machine is defined so as not to exceed the upper torque limit and the lower torque limit.

In this way, the torque output by the motor is limited to a required range.

In this way, the torque output value of the motor can be automatically adjusted as the system state changes.

In this way, the torque of the first motor is reduced when the spreader is swung in the trolley travelling direction towards the first motor, but still the torque of the first motor is kept within a suitable range of torques.

In this way, when the spreader swings in the cart running direction toward the first motor, the torque of the first motor is reduced, but the torque of the first motor is still maintained within the appropriate range of torque.

According to another aspect of the embodiments of the present application, there is also provided an apparatus for controlling a crane, including: a first speed acquisition unit configured to acquire a first speed value of a first motor configured to pull a first end of a spreader of the crane, wherein the first speed value is a positive value when the first end of the spreader moves toward the first motor, and the first speed value is a negative value when the first end of the spreader moves away from the first motor; a second speed acquisition unit configured to acquire a second speed value of a second motor, the second motor being configured to pull a second end of a spreader of the crane, the second end being an opposite end of the first end in a trolley traveling direction of the crane, wherein the second speed value is a positive value when the second end of the spreader moves toward the second motor, and the second speed value is a negative value when the second end of the spreader moves away from the second motor; a first speed difference acquisition unit configured to acquire a first speed difference of a first speed value and a second speed value; a first speed difference threshold value acquisition unit configured to acquire a first speed difference threshold value; and a first PI regulator configured to send a control command to the first motor to increase a torque output value of the first motor in a vehicle travel direction if a first speed difference of the first speed value and the second speed value is less than a first speed difference threshold.

In this way, when the spreader is swinging in the direction of trolley travel, the motors on opposite sides of the spreader swing increase the torque output, thereby controlling the amplitude of the swing of the spreader in the direction of trolley travel.

The apparatus according to an exemplary embodiment of the present application further includes: a third speed acquisition unit configured to acquire a third speed value of a third motor configured to pull a third end of a spreader of the crane, the third end being an opposite end of the first end in a cart running direction of the crane, wherein the third speed value is a positive value when the third end of the spreader moves toward the third motor, and the third speed value is a negative value when the third end of the spreader moves away from the third motor; a second speed difference acquisition unit configured to acquire a second speed difference of the first speed value and the third speed value; a second speed difference threshold acquisition unit configured to acquire a second speed difference threshold; and a second PI regulator configured to send a control command to the first motor to increase a torque output value of the first motor in a cart running direction if a second speed difference of the first speed value and the third speed value is less than a second speed difference threshold.

In this way, when the spreader swings in the cart running direction, the motors on the opposite sides of the swing of the spreader increase the torque output, thereby controlling the swing amplitude of the spreader in the cart running direction.

The apparatus according to an exemplary embodiment of the present application further includes: a first target value acquisition unit configured to acquire a first speed difference target value, and wherein increasing the torque output value of the first motor in the vehicle traveling direction includes increasing the torque output value of the first motor until a first speed difference of the first speed value and the second speed value reaches the first speed difference target value.

In this way the amplitude of the swing of the spreader in the direction of travel of the trolley is controlled to be within a desired range.

The apparatus according to an exemplary embodiment of the present application further includes: a second target value acquisition unit configured to acquire a second speed difference target value, and wherein increasing the torque output value of the first motor in the vehicle running direction includes increasing the torque output value of the first motor until a second speed difference of the first speed value and the third speed value reaches the second speed difference target value.

In this way, the amplitude of the swing of the spreader in the traveling direction of the cart is controlled to be within a desired range.

The apparatus according to an exemplary embodiment of the present application further includes: an enable instruction acquisition unit configured to acquire an enable instruction for allowing a control instruction to be sent to the first motor to increase a torque output value of the first motor.

In this way, it is possible to allow control of the swing amplitude of the spreader when it is required to control the swing amplitude of the spreader.

The apparatus according to an exemplary embodiment of the present application further includes: a limit value acquisition unit configured to acquire an upper torque limit and a lower torque limit, and wherein a torque output value of the first motor is defined so as not to exceed the upper torque limit and the lower torque limit.

In this way, the torque output by the motor is limited to a required range.

The apparatus according to an exemplary embodiment of the present application further includes: an adjustment parameter acquisition unit configured to acquire a proportional parameter and an integral time, wherein a torque output value of the first motor is adjusted according to the proportional parameter and the integral time.

In this way, the torque output value of the motor can be automatically adjusted as the system state changes.

According to another aspect of the embodiments of the present application, there is also provided a system for controlling a crane, including: a first motor configured to pull a first end of a spreader of a crane; a second motor configured to pull a second end of a spreader of the crane, the second end being an opposite end of the first end in a trolley travel direction of the crane; apparatus for controlling a crane, comprising: a first speed acquisition unit configured to acquire a first speed value of the first motor, wherein the first speed value is a positive value when the first end of the spreader moves toward the first motor, and the first speed value is a negative value when the first end of the spreader moves away from the first motor; a second speed acquisition unit configured to acquire a second speed value of the second motor, wherein the second speed value is a positive value when the second end of the spreader moves toward the second motor, and the second speed value is a negative value when the second end of the spreader moves away from the second motor; a first speed difference acquisition unit configured to acquire a first speed difference of a first speed value and a second speed value; a first speed difference threshold value acquisition unit configured to acquire a first speed difference threshold value; and a first PI regulator configured to send a control command to the first motor to increase a torque output value of the first motor in a vehicle travel direction if a first speed difference of the first speed value and the second speed value is less than a first speed difference threshold.

The system according to an exemplary embodiment of the present application further comprises: a third motor configured to pull a third end of a spreader of the crane, the third end being an opposite end of the first end in a cart running direction of the crane; the device still includes: a third speed acquisition unit configured to acquire a third speed value of a third motor, wherein the third speed value is a positive value when the third end of the spreader moves toward the third motor, and the third speed value is a negative value when the third end of the spreader moves away from the third motor; a second speed difference acquisition unit configured to acquire a second speed difference of the first speed value and the third speed value; a second speed difference threshold acquisition unit configured to acquire a second speed difference threshold; and a second PI regulator configured to send a control command to the first motor to increase a torque output value of the first motor in a cart running direction if a second speed difference of the first speed value and the third speed value is less than a second speed difference threshold.

According to another aspect of the embodiments of the present application, there is also provided a storage medium including a stored program, where the program controls, when executed, an apparatus in which the storage medium is located to perform the method according to the embodiments of the present application.

According to another aspect of the embodiments of the present application, there is also provided a processor configured to execute a program, where the program executes to perform the method according to the embodiments of the present application.

According to another aspect of the embodiments of the present application, there is also provided a terminal, including: the computer program product includes one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing the methods according to embodiments of the present application.

According to another aspect of embodiments herein, there is also provided a computer program product, tangibly stored on a computer-readable medium and comprising computer-executable instructions that, when executed, cause at least one processor to perform a method according to embodiments herein.

In this way, when the spreader swings, the motors on the opposite sides of the spreader swing increase the torque output, thereby controlling the swing amplitude of the spreader.

In this application embodiment, the speed difference that a pair of anti-sway motors of the direction of swaying of obtaining the hoist is provided, according to the technical scheme of the output torque of the direction contralateral side motor that sways of speed difference control to at least, solve the technical problem that it is difficult to control the hoist and take place to sway in service, promoted the effect that prevents the hoist and sway, and dispose anti-sway system easily.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic diagram of a spreader anti-roll system according to the prior art;

FIG. 2 is a flow chart of a method of controlling a crane according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a method of controlling a crane according to an embodiment of the present application;

FIG. 4 is a flow chart of a method of controlling a crane according to an exemplary embodiment of the present application;

FIG. 5 is a schematic illustration of a method of controlling a crane according to an exemplary embodiment of the present application;

FIG. 6 is a schematic illustration of spreader sway in accordance with an exemplary embodiment of the present application;

FIG. 7 is a block diagram of an apparatus for controlling a crane according to an embodiment of the present application;

FIG. 8 is a block diagram of an apparatus for controlling a crane according to an exemplary embodiment of the present application;

FIG. 9 is a block diagram of a system for controlling a crane according to an embodiment of the present application;

FIG. 10 is a block diagram of a system for controlling a crane according to an exemplary embodiment of the present application;

fig. 11 is a schematic view of a sway prevention method in a system for controlling a crane according to an exemplary embodiment of the present application.

Detailed Description

In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or modules or elements is not necessarily limited to those steps or modules or elements expressly listed, but may include other steps or modules or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to an embodiment of the present application, a method of controlling a crane is provided. Fig. 2 is a flow chart of a method of controlling a crane according to an embodiment of the application. As shown in fig. 2, a method of controlling a crane according to an embodiment of the present application includes: in step S201, a first speed value of a first motor configured to pull a first end of a spreader of a crane is obtained, wherein the first speed value is a positive value when the first end of the spreader moves towards the first motor, and the first speed value is a negative value when the first end of the spreader moves away from the first motor. In step S203, a second speed value of a second motor is obtained, the second motor being configured to pull a second end of the spreader of the crane, the second end being an opposite end of the first end in the trolley travelling direction of the crane, wherein the second speed value is a positive value when the second end of the spreader moves towards the second motor and the second speed value is a negative value when the second end of the spreader moves away from the second motor. In step S205, a first speed difference between the first speed value and the second speed value is acquired. In step S207, a first speed difference threshold value is acquired. And in step S209, if the first speed difference between the first speed value and the second speed value is less than the first speed difference threshold, sending a control command to the first motor to increase the torque output value of the first motor in the vehicle traveling direction. It should be understood that the execution of step S205 of acquiring the first speed difference and step S207 of acquiring the first speed difference threshold value is not limited by the order as long as the first speed difference and the first speed difference threshold value can be acquired.

Fig. 3 is a schematic diagram of a method of controlling a crane according to an embodiment of the application. As shown in fig. 3, the traveling direction of the trolley of the crane is along the x-axis, and four corners of the spreader are respectively pulled by the anti-roll motors a, b, c and d. When the lifting appliance is static, the speeds of the four anti-swing motors are 0. When the lifting appliance moves up and down, the four anti-swing motors move along with the lifting appliance, and the speed is basically equal. In the embodiment according to the application, the speed difference of the two motors in relative positions is used as the controlled quantity of the swing, the controlled quantity is a given speed (target speed difference) 0 (namely, the speed difference of the two motors is 0), and in the condition that the lifting appliance does not swing, the actual speed of the motors is basically equal to the given speed. The speed difference of the two motors at the opposite positions can accurately reflect the swing direction and the swing strength of the lifting appliance.

When the hanger swings in the running direction of the trolley (for example, when the trolley runs or the hanger swings due to other reasons), namely swings along the x axis, taking the swing of the hanger in the positive direction of the x axis as an example, the anti-swing motor a is a first motor, and the anti-swing motor d on the opposite side of the x axis is a second motor. For example, a first speed value of the first motor and a second speed value of the second motor are obtained by the sensor, the first speed value is a positive value when the first end of the spreader moves towards the first motor, the first speed value is a negative value when the first end of the spreader moves away from the first motor, the second speed value is a positive value when the second end of the spreader moves towards the second motor, and the second speed value is a negative value when the second end of the spreader moves away from the second motor. In this exemplary case, the first speed difference of the first speed value and the second speed value is a negative value. The first speed difference may be compared with a preset first speed difference threshold value, and if the first speed difference is smaller than the first speed difference threshold value, the torque output value of the first motor (anti-swing motor a) in the x-axis direction is increased. In this way, the first motor (anti-sway motor a) tensions the first end of the spreader in the x-axis direction, thereby reducing the sway magnitude of the spreader in the x-axis positive direction. Setting the first speed difference threshold may avoid unnecessarily initiating the anti-roll process when the roll amplitude is small.

Taking the spreader swinging in the negative x-axis direction as an example, where the anti-swing motor c is the first motor and the anti-swing motor b on the opposite side is the second motor, based on the same principle as the above example, if the first speed difference is smaller than the first speed difference threshold, the torque output value of the first motor (anti-swing motor c) in the x-axis direction is increased. In this way, the first motor (anti-sway motor c) tensions the first end of the spreader in the x-axis direction, thereby reducing the sway amplitude of the spreader in the x-axis negative direction.

The method according to the embodiment of the application can be respectively adopted for the anti-swing motors a, b, c and d at the four corners of the lifting appliance, so that the swinging of the lifting appliance in the running direction of the trolley is limited.

In this way, when the spreader is swinging in the direction of trolley travel, the torque output is added to the motor on the opposite side of the spreader swing, thereby controlling the amplitude of the swing of the spreader in the direction of trolley travel.

Fig. 4 is a flowchart of a method of controlling a crane according to an exemplary embodiment of the present application. The method of controlling a crane according to an exemplary embodiment of the present application further includes: in step S401, a third speed value of a third motor is acquired, the third motor being configured to pull a third end of a spreader of the crane, the third end being an opposite end of the first end in a cart running direction of the crane, wherein the third speed value is a positive value when the third end of the spreader moves toward the third motor, and the third speed value is a negative value when the third end of the spreader moves away from the third motor. In step S403, a second speed difference between the first speed value and the third speed value is acquired. In step S405, a second speed difference threshold is acquired. And in step S407, if a second speed difference between the first speed value and the third speed value is less than a second speed difference threshold, sending a control command to the first motor to increase a torque output value of the first motor in the cart running direction. It should be understood that the execution of step S403 of acquiring the second speed difference and step S405 of acquiring the second speed difference threshold is not limited by the order as long as the second speed difference and the second speed difference threshold can be acquired.

Fig. 5 is a schematic diagram of a method of controlling a crane according to an exemplary embodiment of the present application. As shown in fig. 5, the traveling direction of the cart of the crane is a direction along the y-axis, and four corners of the spreader are respectively pulled by anti-roll motors a, b, c, and d.

When the lifting appliance swings in the running direction of the cart (for example, when the cart runs or the lifting appliance swings due to other reasons), namely swings along the y axis, taking the swing of the lifting appliance in the positive direction of the y axis as an example, the anti-swing motor a is the first motor, and the anti-swing motor b on the opposite side of the y axis is the third motor. For example, a third speed value of the third motor is also obtained by the sensor, the first speed value is a positive value when the first end of the spreader moves toward the first motor, the first speed value is a negative value when the first end of the spreader moves away from the first motor, the third speed value is a positive value when the third end of the spreader moves toward the third motor, and the third speed value is a negative value when the third end of the spreader moves away from the third motor. In this exemplary case, the second speed difference of the first speed value and the third speed value is a negative value. The second speed difference may be compared with a preset second speed difference threshold value, and if the second speed difference is smaller than the second speed difference threshold value, the torque output value of the first motor (anti-roll motor a) in the y-axis direction is increased. In this way, the first motor (anti-sway motor a) tensions the first end of the spreader in the y-axis direction, thereby reducing the sway magnitude of the spreader in the y-axis positive direction. Setting the second speed difference threshold may avoid unnecessarily initiating the anti-roll process when the roll amplitude is small.

Taking the example that the spreader swings in the y-axis negative direction, the anti-swing motor c is the first motor, and the anti-swing motor d on the opposite side is the third motor, based on the same principle as the above example, if the second speed difference is smaller than the second speed difference threshold, the torque output value of the first motor (anti-swing motor c) in the y-axis direction is increased. In this way, the first motor (anti-sway motor c) tensions the first end of the spreader in the y-axis direction, thereby reducing the sway amplitude of the spreader in the negative y-axis direction.

In this way, when the spreader swings in the cart running direction, torque output is added to the motor on the opposite side of the swing of the spreader, thereby controlling the swing amplitude of the spreader in the cart running direction.

Fig. 6 is a schematic view of spreader sway according to an exemplary embodiment of the present application. When the spreader is at rest, the spreader is in the V position, as shown in figure 6. When the spreader swings in the direction of travel of the trolley or cart, for example, in the U position or W position. Taking the anti-swing motors a and b which are positioned at opposite sides in the swing direction as an example, when the lifting appliance swings to the U position, namely the lifting appliance swings to the direction of the anti-swing motor a, the speed value of the anti-swing motor a is a positive value, the speed value of the anti-swing motor b is a negative value, the speed difference between the speed value of the anti-swing motor b and the speed value of the anti-swing motor a is a negative value, the anti-swing motor b is used as a 'first motor', and when the speed difference is smaller than the speed difference threshold value, the PI regulator is enabled, the torque output value of the anti-swing motor b is increased, so that the anti-swing motor b tensions the lifting appliance, and the lifting appliance is prevented from swinging to the direction of the anti-swing motor a. On the contrary, if the lifting appliance swings to the W position, namely the lifting appliance swings to the direction of the anti-swing motor b, the anti-swing motor a is used as a 'first motor', the speed difference between the speed value of the anti-swing motor a and the speed value of the anti-swing motor b is a negative value, when the speed difference is smaller than the speed difference threshold value, the PI regulator is enabled, the torque output value of the anti-swing motor a is increased, and therefore the lifting appliance is tensioned by the anti-swing motor a, and the lifting appliance is prevented from swinging to the direction of the anti-swing motor b.

In an exemplary embodiment, the process of adjusting the motor torque is implemented using a PI regulator. For example, the PI regulator performs a control method for making a speed difference between a controlled motor and a motor at a relative position in a swing direction of the controlled motor reach a target speed difference value, and has an advantage that when a given value (target speed difference value) and a feedback value (actual speed difference) deviate, the magnitude of an output value is automatically adjusted, and when no deviation exists, the magnitude of an original output value is maintained. Thus, the method may automatically adjust the torque output value in dependence on the speed difference until the speed difference reaches a speed difference target value, e.g. 0, or when a torque limit is reached the spreader is pulled backwards with maximum torque. When the lifting appliance runs or runs a trolley or a cart, the four anti-swing motors are all given torque values with proper sizes, so that the steel wire rope is ensured to be always in a tensioning state and can run passively along with the lifting appliance, and the steel wire rope can be automatically contracted when the lifting appliance swings by adopting the PI regulator, so that the swinging of the lifting appliance is limited. In this way, the torque output from the motor is limited to a required range, and the swing amplitude of the spreader in the traveling direction of the cart are controlled to a desired range.

The method according to an exemplary embodiment of the present application further comprises: an enable command is acquired for allowing a control command to be sent to the first motor to increase a torque output value of the first motor. In addition to enabling the PI regulator to initiate the anti-roll process when the speed difference is less than the speed difference threshold, the PI regulator may also be enabled to initiate the anti-roll process according to, for example, a manually entered command to enable limiting of spreader roll if desired.

The method according to an exemplary embodiment of the present application further comprises: and acquiring a proportional parameter and an integral time, wherein the torque output value of the first motor is adjusted according to the proportional parameter and the integral time. According to an exemplary embodiment of the present application, the PI regulator automatically adjusts a torque output value of the motor as a system state changes according to a proportional parameter and an integration time.

The method according to an exemplary embodiment of the present application further comprises: and if the first speed difference between the first speed value and the second speed value is larger than zero, sending a control command to the first motor to reduce the torque output value of the first motor in the running direction of the trolley. In this case the spreader is swung in the direction of trolley travel towards the first motor, e.g. the spreader may be on the same side or opposite the first motor, the torque of the first motor being reduced, but still controlled to be greater than the lower torque limit, thereby keeping the spreader taut.

The method according to an exemplary embodiment of the present application further comprises: and if the second speed difference between the first speed value and the third speed value is larger than zero, sending a control command to the first motor to reduce the torque output value of the first motor in the running direction of the cart. In this case the spreader is swung in the direction of travel of the cart towards the first motor, e.g. the spreader may be on the same side or opposite the first motor, the torque of the first motor being reduced, but still controlled to be greater than the lower torque limit, thereby keeping the spreader taut.

In this way, when the spreader swings towards the first motor in the trolley or in the cart running direction, the torque of the first motor is reduced, but still kept within a suitable range of torque. Since the four motors pulling the four corners of the spreader all adopt the method according to the exemplary embodiment of the present application, the first motor will increase the torque at the opposite side of the running direction of the trolley or the trolley, so that the swing amplitude of the spreader to the zero point position is controlled.

According to another aspect of the embodiment of the application, a device for controlling the crane is also provided. Fig. 7 is a block diagram of an apparatus for controlling a crane according to an embodiment of the present application. As shown in fig. 7, the apparatus 10 for controlling a crane according to an embodiment of the present application includes: a first speed acquisition unit 101, a second speed acquisition unit 103, a first speed difference acquisition unit 105, a first speed difference threshold acquisition unit 107, and a first PI regulator 109.

The first speed acquisition unit 101 is configured to acquire a first speed value of a first motor configured to pull a first end of a spreader of the crane, wherein the first speed value is a positive value when the first end of the spreader moves toward the first motor and the first speed value is a negative value when the first end of the spreader moves away from the first motor. The second speed acquisition unit 103 is configured to acquire a second speed value of a second motor configured to pull a second end of the spreader of the crane, the second end being an opposite end of the first end in the trolley travelling direction of the crane, wherein the second speed value is positive when the second end of the spreader moves towards the second motor and negative when the second end of the spreader moves away from the second motor. The first speed difference acquisition unit 105 is configured to acquire a first speed difference of the first speed value and the second speed value. The first speed difference threshold value acquisition unit 107 is configured to acquire a first speed difference threshold value. The first PI regulator 109 is configured to send a control command to the first motor to increase the torque output value of the first motor in the vehicle travel direction if a first speed difference of the first speed value and the second speed value is less than a first speed difference threshold.

Fig. 8 is a block diagram of an apparatus for controlling a crane according to an exemplary embodiment of the present application. As shown in fig. 8, the apparatus for controlling a crane according to an exemplary embodiment of the present application further includes: a third speed acquisition unit 201, a second speed difference acquisition unit 203, a second speed difference threshold acquisition unit 205, and a second PI regulator 207.

The third speed acquisition unit 201 is configured to acquire a third speed value of a third motor configured to pull a third end of a spreader of the crane, the third end being an opposite end of the first end in a cart running direction of the crane, wherein the third speed value is a positive value when the third end of the spreader moves toward the third motor, and the third speed value is a negative value when the third end of the spreader moves away from the third motor. The second speed difference acquisition unit 203 is configured to acquire a second speed difference of the first speed value and the third speed value. The second speed difference threshold acquisition unit 205 is configured to acquire a second speed difference threshold. The second PI regulator 207 is configured to send a control command to the first motor to increase the torque output value of the first motor in the cart running direction if a second speed difference of the first speed value and the third speed value is less than a second speed difference threshold.

As shown in fig. 8, the apparatus for controlling a crane according to an exemplary embodiment of the present application further includes: a first target value acquisition unit 301 configured to acquire a first speed difference target value, and wherein increasing the torque output value of the first motor in the vehicle traveling direction includes increasing the torque output value of the first motor until a first speed difference of the first speed value and the second speed value reaches the first speed difference target value.

In this way the amplitude of the swing of the spreader in the direction of travel of the trolley is controlled to be within a desired range.

As shown in fig. 8, the apparatus for controlling a crane according to an exemplary embodiment of the present application further includes: a second target value acquisition unit 303 configured to acquire a second speed difference target value, and wherein increasing the torque output value of the first motor in the vehicle running direction includes increasing the torque output value of the first motor until a second speed difference of the first speed value and the third speed value reaches the second speed difference target value.

In this way, the amplitude of the swing of the spreader in the traveling direction of the cart is controlled to be within a desired range.

As shown in fig. 8, the apparatus for controlling a crane according to an exemplary embodiment of the present application further includes: an enable instruction acquisition unit 305 configured to acquire an enable instruction for allowing a control instruction to be sent to the first motor to increase a torque output value of the first motor.

In this way, it is possible to allow control of the swing amplitude of the spreader when it is required to control the swing amplitude of the spreader.

As shown in fig. 8, the apparatus for controlling a crane according to an exemplary embodiment of the present application further includes: a limit value acquisition unit 307 configured to acquire an upper torque limit and a lower torque limit, and wherein a torque output value of the first motor is defined so as not to exceed the upper torque limit and the lower torque limit.

In this way, the torque output by the motor is limited to a required range.

As shown in fig. 8, the apparatus for controlling a crane according to an exemplary embodiment of the present application further includes: an adjustment parameter acquisition unit 309 configured to acquire a proportional parameter and an integral time, wherein the torque output value of the first motor is adjusted according to the proportional parameter and the integral time.

In this way, the torque output value of the motor can be automatically adjusted as the system state changes.

The device for controlling the crane according to the embodiment of the present application performs the method for controlling the crane according to the embodiment of the present application as described above, and is not described herein again.

According to another aspect of the embodiments of the present application, there is also provided a system for controlling a crane. FIG. 9 is a block diagram of a system for controlling a crane according to an embodiment of the present application. As shown in fig. 9, a system 1 for controlling a crane according to an embodiment of the present application includes: a first motor 401, a second motor 403 and a device 10 for controlling a crane.

The first motor 401 is configured to pull a first end of a spreader of a crane. The second motor 403 is configured to pull on a second end of the spreader of the crane, which is the opposite end of the first end in the trolley travelling direction of the crane. The first speed acquisition unit 101 of the device 10 controlling the crane is configured to acquire a first speed value of the first motor 401, wherein the first speed value is positive when the first end of the spreader is moving towards the first motor 401 and negative when the first end of the spreader is moving away from the first motor 401. The second speed acquisition unit 103 of the device 10 controlling the crane is configured to acquire a second speed value of the second motor 403, wherein the second speed value is positive when the second end of the spreader is moving towards the second motor 403 and negative when the second end of the spreader is moving away from the second motor 403. The first speed difference acquisition unit 105 of the device 10 controlling the crane is configured to acquire a first speed difference of the first speed value and the second speed value. The first speed difference threshold acquisition unit 107 of the device 10 controlling the crane is configured to acquire a first speed difference threshold. The first PI regulator 109 of the device 10 controlling the crane is configured to send a control command to the first motor 401 to increase the torque output value of the first motor 401 in the trolley travelling direction if the first speed difference of the first speed value and the second speed value is smaller than the first speed difference threshold.

It will be appreciated that the first motor 401 may be any one of four anti-roll motors that pull on the four ends of the spreader. When the lifting appliance swings to a certain direction, the motor on the opposite side of the swinging direction is the first motor.

FIG. 10 is a block diagram of a system for controlling a crane according to an exemplary embodiment of the present application. As shown in fig. 10, a system 1 for controlling a crane according to an exemplary embodiment of the present application includes: a third motor 405 and a device 10 for controlling a crane according to an exemplary embodiment of the present application.

The third motor 405 is configured to pull a third end of the spreader of the crane, which is the opposite end of the first end in the cart travelling direction of the crane. The third speed acquisition unit 201 of the device 10 for controlling a crane according to an exemplary embodiment of the present application is configured to acquire a third speed value of the third motor 405, wherein the third speed value is a positive value when the third end of the spreader moves toward the third motor 405 and the third speed value is a negative value when the third end of the spreader moves away from the third motor 405. The second speed difference acquisition unit 203 of the crane controlling apparatus 10 according to the exemplary embodiment of the present application is configured to acquire a second speed difference of the first speed value and the third speed value. The second speed difference threshold acquisition unit 205 of the crane controlling apparatus 10 according to the exemplary embodiment of the present application is configured to acquire the second speed difference threshold. The second PI regulator 207 of the crane controlling apparatus 10 according to the exemplary embodiment of the present application is configured to send a control command to the first motor 401 to increase the torque output value of the first motor in the cart running direction if the second speed difference of the first speed value and the third speed value is less than the second speed difference threshold.

The system for controlling a crane according to an embodiment of the present application includes a device for controlling a crane, which performs the method for controlling a crane according to an embodiment of the present application as described above, and will not be described herein again.

Fig. 11 is a schematic view of a sway prevention method in a system for controlling a crane according to an exemplary embodiment of the present application. As shown in fig. 11, for the anti-rolling process in the cart direction, a first speed value of the first motor is acquired in S201, a second speed value of the second motor is acquired in S203, and a first speed difference between the first speed value and the second speed value is acquired in the first speed difference acquisition unit 105. A first speed difference target value, for example, 0.0, is acquired at S111. A first speed difference threshold value is acquired at a first speed difference threshold value acquisition unit 107. A first speed difference between the first speed value and the second speed value is compared to a first speed difference threshold and if the first speed difference is less than the first speed difference threshold, the first PI regulator 109 is enabled at S115 to increase the torque output of the first motor in the direction of vehicle travel. In an exemplary embodiment, if the first speed difference is greater than 0.0, the first PI regulator 109 is not enabled. In an exemplary embodiment, an enable instruction may be input through the PLC at S113 to enable the first PI regulator 109 at S115. In S119, an upper limit and a lower limit of torque are set. The first PI regulator 109 automatically regulates the output torque according to the input proportional parameter Kp and integral parameter Tn, and outputs the regulated output torque to the first motor in S121, thereby preventing the spreader from swinging in the traveling direction of the trolley. Further, in S123, the motor is controlled by the PLC to tighten the rope that the motor pulls the spreader.

As shown in fig. 11, for the anti-rolling process in the cart direction, a first speed value of the first motor is acquired at S201, a third speed value of the third motor is acquired at S401, and a second speed difference between the first speed value and the third speed value is acquired at the second speed difference acquisition unit 203. A second speed difference target value, for example, 0.0, is acquired at S112. The second speed difference threshold value is acquired in the second speed difference threshold value acquisition unit 205. A second speed difference between the first speed value and the third speed value is compared to a second speed difference threshold, and if the second speed difference is less than the second speed difference threshold, the second PI regulator 207 is enabled at S116 to increase the torque output value of the first motor in the cart running direction. In an exemplary embodiment, if the second speed difference is greater than 0.0, the second PI regulator 207 is not enabled. In an exemplary embodiment, an enable instruction may be input through the PLC at S114 to enable the second PI regulator 207 at S116. In S120, an upper limit and a lower limit of torque are set. The second PI regulator 207 automatically regulates the output torque according to the input proportional parameter Kp and integral parameter Tn, and outputs the regulated output torque to the first motor at S122, thereby preventing the spreader from swinging in the traveling direction of the cart. Through ADD _ R, the purpose of preventing the lifting appliance from swinging is finally achieved.

In an exemplary embodiment, as shown in fig. 11, the given values of the first PI regulator 109 and the second PI regulator 207 are 0.0, and the feedback value is a speed difference of the controlled motor and the controlled motor in a relative position to a swing direction of the controlled motor. And defining the direction of the anti-swing motor for receiving the steel wire rope, namely the ascending direction of the lifting appliance is the positive direction of the speed, and the reverse direction of the speed. When the speed difference is smaller than the speed difference threshold (for example, it can be set to-3.0, which can be appropriately changed according to the speed error value of the two motors only when the spreader is lifted), the first PI regulator 109 and the second PI regulator 207 are activated, and the first PI regulator 109 and the second PI regulator 207 automatically adjust the output torque according to the proportional parameter Kp and the integral parameter Tn. When the speed difference is larger than the set value (which may be set to 0.0), that is, when the swing direction is reversed, the PI regulator is turned off and the output torque thereof is set to 0. In an exemplary case, when the trolley is in an acceleration or deceleration state, the spreader will be kept at a certain angle (at the maximum swing position, where the speed difference is about 0) to obtain a matched acceleration, in which case the first PI regulator 109 can be activated by the PLC, for example, the enabling command is input at S113, and the first PI regulator 109 is enabled at S115 to keep the anti-roll function of the first PI regulator 109 effective. And setting an upper limit and a lower limit of the torque at S119 and S120, wherein the torque output set torque of the PI regulator is not less than 0 because the wire rope of the sling pulled by the anti-swing motor is required to be always in a tight state, so the lower limit of the torque of the first PI regulator 109 and the second PI regulator 207 is set to be 0.0, and the upper limit of the torque of the first PI regulator 109 and the second PI regulator 207 in the trolley direction and the trolley direction is set to be 50-100 according to the condition that the trolley and the trolley run independently or in linkage, and is output and controlled by a PLC.

Referring to fig. 6 and 11, taking the anti-swing motor a and the anti-swing motor b at the relative position of the anti-swing motor a in the swing direction of the spreader as an example when the cart runs, when the cart runs at an accelerated speed, the spreader swings from the V position to the W position, at this time, the speed of the anti-swing motor a is less than 0, and the speed of the anti-swing motor b is greater than 0, so that the speed difference between the anti-swing motor a and the anti-swing motor b is negative, and the second PI regulator 207 outputs a matched torque output value to the anti-swing motor a to reduce the swing amplitude. The speed difference between the anti-swing motor b and the anti-swing motor a is positive, and the torque output from the second PI regulator 207 to the anti-swing motor b is 0, even if the second PI regulator 207 is always enabled by the PLC, when the speed difference becomes positive, the torque output from the second PI regulator 207 will decrease rapidly until the torque output lower limit: torque Low limit is 0.0. Similarly, when the cart just enters into the constant-speed operation after acceleration, the lifting appliance swings from the W position to the V position, at this time, the speed of the anti-swing motor b is less than 0, and the speed of the anti-swing motor a is greater than 0, so that the speed difference between the anti-swing motor b and the anti-swing motor a is negative, and the second PI regulator 207 outputs a matched torque output value to the anti-swing motor b, so that the lifting appliance slowly swings back to the original point. The speed difference between the anti-swing motor a and the anti-swing motor b is positive, and the torque output of the second PI regulator 207 to the anti-swing motor a is 0, even if the second PI regulator 207 is always enabled by the PLC, when the speed difference becomes positive, the torque output of the second PI regulator 207 will decrease rapidly until the torque output lower limit: torque Low limit is 0.0. Therefore, although the four anti-swing motors have the same control program, when the lifting appliance is in different swing positions, the respective controlled torques of the four motors can be completely adapted to the torque required by each swing position.

In this way, when the spreader swings, the motors on the opposite sides of the spreader swing increase the torque output, thereby controlling the swing amplitude of the spreader.

The anti-shaking system is simple in debugging, few in parameters needing to be changed and adjusted, even good control effect is still achieved by adopting default parameters, debugging time is greatly saved, and debugging efficiency is improved.

According to the anti-swing system provided by the embodiment of the application, when the mechanisms of the lifting sling, the trolley and the cart are operated in a linkage manner, the anti-swing effect is not influenced.

The anti-swing system has a good anti-swing effect on swing generated by external disturbance.

According to the embodiment of the application, the torque set value of the anti-swing system is automatically adjusted through the output of the PI regulator, and the load of a lifting appliance does not need to be considered.

Because the speed difference is used as the controlled quantity, when a trolley or a cart runs, whether the hoisting mechanisms run simultaneously or not is avoided, and the controlled quantity is not greatly influenced. Therefore, the controlled quantity can accurately reflect the swing condition, and cannot be influenced by simultaneously operating the lifting mechanism and the anti-swing effect. Because the steel wire rope is always in a tightened state under the control of the motor, the speed difference can be generated immediately as long as the steel wire rope swings, and the steel wire rope has a good anti-swing effect on the swing generated by external disturbance. As with the speed closed loop control, the deviation of the set value from the feedback value causes the PI regulator to automatically adjust the magnitude of the output torque until the deviation of the set value from the feedback value is 0, so that the torque can be adjusted very appropriately without regard to the magnitude of the load of the hoist.

In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units or modules is only one logical division, and there may be other divisions when the actual implementation is performed, for example, a plurality of units or modules or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of modules or units through some interfaces, and may be in an electrical or other form.

The units or modules described as separate parts may or may not be physically separate, and parts displayed as units or modules may or may not be physical units or modules, may be located in one place, or may be distributed on a plurality of network units or modules. Some or all of the units or modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, functional units or modules in the embodiments of the present application may be integrated into one processing unit or module, or each unit or module may exist alone physically, or two or more units or modules are integrated into one unit or module. The integrated unit or module may be implemented in the form of hardware, or may be implemented in the form of a software functional unit or module.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

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Method, device and system for controlling crane and storage medium

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