The invention belongs to the field of cranes, and discloses a multi-winch single-hook crane and a control method and system thereof. The control method comprises the following steps: determining a rope length local variation D1 and a rope length local variation D2 which are respectively generated by a first suspension rope section of a first winch and a second suspension rope section of a second winch when the suspension arm stretches out and draws back relative to before the suspension arm stretches out and draws back; determining a total rope length variation D3 and a total rope length variation D4 which are respectively generated by a first release rope section of the first winch and a second release rope section of the second winch when the suspension arm stretches out and draws back relative to before the suspension arm stretches out and draws back; and the rope length compensation deviation value D5 is maintained within a preset allowable compensation deviation range by regulating and controlling the second winch, and the requirement that D5 = (D4-D3)-(D1-D2) is met. When the suspension arm stretches out and draws back, the length variation of the suspension rope sections of all the winches tends to be basically consistent, that is, the lengths of the suspension rope sections of all the winches are kept basically consistent, and therefore balance of a lifting hook is guaranteed.
本发明属于起重机领域,公开了一种多卷扬单吊钩式起重机及其控制方法和控制系统,其中的控制方法包括:确定第一卷扬的第一悬挂绳段和第二卷扬的第二悬挂绳段在吊臂伸缩时相对于吊臂伸缩前分别产生的绳长局部变化量D1和绳长局部变化量D2;确定第一卷扬的第一释放绳段和第二卷扬的第二释放绳段在吊臂伸缩时相对于吊臂伸缩前分别产生的绳长总变化量D3和绳长总变化量D4;通过调控第二卷扬以将绳长补偿偏差量D5维持在预设的允许补偿偏差范围内,其中,满足:D5=(D4‑D3)‑(D1‑D2)。本发明能够在吊臂伸缩时使得各个卷扬的悬挂绳段的长度变化量趋于基本一致,也就是使得各个卷扬的悬挂绳段的长度维持基本一致,从而保证吊钩平衡。
Multi-winch single-hook crane and control method and control system thereof
多卷扬单吊钩式起重机及其控制方法和控制系统
2023-08-22
Patent
Electronic Resource
Chinese
IPC: | B66C Krane , CRANES |
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