CN105217454A - The anti-sway crashproof control system of a kind of revolving crane lift heavy and control method - Google Patents

Abstract

The invention discloses the anti-sway crashproof control system of a kind of revolving crane lift heavy and control method, comprise coordinating control module, handling control module, lift heavy anti-swing control module, track optimizing control module, PROFIBUS fieldbus, driver train, the first testing agency, the second testing agency and the 3rd testing agency; Coordinating control module, handling control module, lift heavy anti-swing control module and track optimizing control module are all connected with PROFIBUS fieldbus; One end of driver train connects PROFIBUS fieldbus, the other end connects hoisting crane entity; Driver train is given by activation bit after coordinating between coordinating control module, handling control module, lift heavy anti-swing control module and track optimizing control module, driver train drives revolving crane entity to carry out operation, three testing agencies detect driver train information and crane job state information and feed back to associated control modules, form three closed loop controls.Realize the anti-sway of lift heavy operation process and collision prevention function preferably.

Description

The anti-sway crashproof control system of a kind of revolving crane lift heavy and control method

Technical field

The present invention relates to engineering machinery field, particularly relate to the anti-sway crashproof control system of a kind of revolving crane lift heavy and control method.

Background technology

Revolving crane is a kind of conventional construction machinery and equipment, generally be made up of pitching, revolution, lifting and walking four large operating unit and column, arm and driver's cab etc., it mainly relies on the designated movement driving the driven by motor revolution of associated mechanisms, pitching, lifting and traveling gear four great institutions, and realizes the handling reprinting of goods by the contraction of steel rope.Its working process, due to the driving effect of revolution, pitching, lift system, causes the lift heavy that is suspended on steel rope lower end can not transfixion but occur dancing at once behind arrival target location.Such dancing, not only affects normally carrying out of handling reprinting work, and the threat to surrounding devices, goods, load itself and field operation personnel component secure context.Meanwhile, because the safety movement space constraint of operation is reprinted in handling, require that lift heavy runs with straight line or particular space track, such motion often needs multiple kinematic mechanism coordinated movement of various economic factors to realize, and this adds the difficulty that operation is reprinted in handling undoubtedly.

In order to suppress this dancing of swinging lifting, realize the optimal control of handling track, relevant Crane Industry and research institute also expand certain research to this problem simultaneously, and achievement in research is also different.With regard to current research conditions, anti-swing control mainly concentrates on gate-type, overhead traveling crane equipment, the particularly anti-swing control of lift heavy under crane in bridge type running trolley, and research in the weave control preventing revolving crane lift heavy operation process and track optimizing control is also more shallow, be mostly that electrical control system of crane automatically can carry out real-time adjustment control to crab traversing speed, load do not produced and waves.

Application number is 201120724182.7, name is called the utility model patent of " a kind of crane rotation anti roll device and hoisting crane ", propose, on arm, actuating device and tightening device be installed, and suppress to occur in crane rotation process by the traction being attached thereto the steel rope connect wave situation.But the real-time Detection & Controling scarce capacity of above-mentioned mechanical type antiswing device; In addition, the operation height of actuating device needs manual regulation, can not realize operation process Automated condtrol, can not realize the function that track optimizing controls too.

Application number is 201210752281.5, and the patent of invention that name is called " a kind of hoisting crane and crane rope are prevented shaking control method ", proposes to adopt the steel rope of suppression X-direction and Y-direction to limit and put control method, achieve automatic fine tuning revolution and luffing speed.But there is the measurement blind area of steel rope position in this anti-swing control method, anti-sway reliability is poor, and work efficiency is also lower, more do not have the function that track optimizing controls.

Application number is 200810225150.5, name is called the patent of invention of " rotation-type crane track optimization control system and control method thereof ", propose the coordinate information that a kind of place coordinate motion trace information by lift heavy converts the lift heavy designed in advance to, the control command by optimal control module realizes the operation of specific handling track; But although this patent proposes a kind of track optimized controlling method, but be only the control of the handling track undertaken by simple constraint condition, simultaneously, also the anti-swing control function of lift heavy in operation process is lacked, just by restriction hoisting crane speed, reach lift heavy and arrive the slight oscillatory behind target location, lack high efficiency.

Summary of the invention

For overcoming above-mentioned the deficiencies in the prior art, the present invention proposes the anti-sway crashproof control system of a kind of revolving crane lift heavy and control method, the technical scheme of employing is as follows:

An anti-sway anti-collision control system for revolving crane lift heavy, comprising: coordinating control module, handling control module, lift heavy anti-swing control module, track optimizing control module, PROFIBUS fieldbus, driver train;

Described coordinating control module, described handling control module, described lift heavy anti-swing control module and described track optimizing control module are all connected with described PROFIBUS fieldbus; Described coordinating control module carries out comprehensive coordination to described handling control module, described lift heavy anti-swing control module and described track optimizing control module respectively by PROFIBUS fieldbus and controls and safety guard-safeguard;

One end of described driver train connects PROFIBUS fieldbus, the other end of described driver train connects revolving crane entity; Give described driver train by activation bit by PROFIBUS fieldbus after comprehensive coordination between described coordinating control module, described handling control module, described lift heavy anti-swing control module and described track optimizing control module, described driver train drives revolving crane entity to carry out operation.

Further, the anti-sway anti-collision control system of described a kind of revolving crane lift heavy also comprises: the first testing agency; One end of described first testing agency connects the other end of described driver train, the other end of described first testing agency connects PROFIBUS fieldbus; The information of detection is passed to described coordinating control module by PROFIBUS fieldbus by described first testing agency; Described driver train comprises: gyroscopic movement driver train, luffing driver train and the motion driving mechanism that hoists.

Further, the anti-sway anti-collision control system of described a kind of revolving crane lift heavy also comprises: the second testing agency; One end of described second testing agency connects revolving crane entity, the other end of described second testing agency connects PROFIBUS fieldbus; The information of detection is delivered to described lift heavy anti-swing control module by PROFIBUS fieldbus by described second testing agency.

Further, the anti-sway anti-collision control system of described a kind of revolving crane lift heavy also comprises: the 3rd testing agency; One end of described 3rd testing agency connects revolving crane entity, the other end of described 3rd testing agency connects PROFIBUS fieldbus; The information of detection is delivered to described track optimizing control module by PROFIBUS fieldbus by described 3rd testing agency.

Further, described coordinating control module comprises upper PC I and comprehensive coordination controller; Described upper PC I is connected with described comprehensive coordination controller, and described comprehensive coordination controller is connected with described PROFIBUS fieldbus;

Described handling control module comprises control panel, hoisting crane master controller and mechanism kinematic controller; Described control panel is all connected with described mechanism kinematic controller with described hoisting crane master controller, and described mechanism kinematic controller is connected with described PROFIBUS fieldbus;

Described lift heavy anti-swing control module comprises upper PC II and lift heavy anti-swing controller; Described upper PC II is connected with described lift heavy anti-swing controller, and described lift heavy anti-swing controller is connected with described PROFIBUS fieldbus;

Described track optimizing control module comprises upper PC III and track optimizing controller; Described upper PC III is connected with described track optimizing controller, and described track optimizing controller is connected with described PROFIBUS fieldbus.

Further, described first testing agency comprises: swing type mechanism photoelectric encoder, luffing mechanism photoelectric encoder and lifting mechanism photoelectric encoder; Described swing type mechanism photoelectric encoder detects the output of described gyroscopic movement driver train, described luffing mechanism photoelectric encoder detects the output of described luffing driver train, the output of the motion driving mechanism that hoists described in described lifting mechanism photoelectric encoder detects.

Further, described second testing agency is lift heavy deflection angle measurement device, comprising: deflection angle measurement device and the outer deflection angle measurement device of arm plane in arm plane; In described arm plane, deflection angle measurement device is arranged on arm top; The outer deflection angle measurement device of arm plane is arranged on below the arm end on rotary middle spindle.

Further, described 3rd testing agency is lift heavy position-measurement device, comprising: arm degreeof turn measurement mechanism and arm luffing angle measurement mechanism; Described arm degreeof turn measurement mechanism is arranged on the left of arm; Described arm luffing angle measurement mechanism is arranged on the right side of arm.

Based on said system, the invention allows for a kind of anti-sway anticollision control method of revolving crane lift heavy, comprise the steps:

Step 1, connects revolving crane control system power supply, inputs to definite value to the upper PC III of track optimizing control module and the upper PC II of lift heavy anti-swing control module simultaneously;

Step 2, described given value after the upper PC II of the upper PC III of track optimizing control module and lift heavy anti-swing control module transforms respectively correspondence pass to track optimizing controller and lift heavy anti-swing controller, the comprehensive coordination controller that information is delivered to coordinating control module after the process of track optimizing controller optimization and lift heavy anti-swing controller Shape correction carries out Coordination Treatment;

Step 3, the information of comprehensive coordination controller process be delivered to again the mechanism kinematic controller of handling control module, mechanism kinematic controller by being delivered to gyroscopic movement driver train, luffing driver train after convert information process respectively, hoist motion driving mechanism; Described gyroscopic movement driver train, luffing driver train, the motion driving mechanism that hoists carry out corresponding action according to the activation bit passed over, and revolving crane entity enters operating condition;

Step 4, swing type mechanism photoelectric encoder detects the revolution n of swing type mechanism drive motor in real time ₁; Luffing mechanism photoelectric encoder detects the revolution n of luffing mechanism drive motor in real time ₂; Lifting mechanism photoelectric encoder detects the revolution n of lifting mechanism drive motor in real time ₃;

Step 5, by n ₁, n ₂and n ₃information is delivered in the comprehensive coordination controller of coordinating control module by PROFIBUS fieldbus carries out comparing calculation;

Step 6, in arm plane, deflection angle measurement device detects the pivot angle θ of lift heavy in arm plane in operation process in real time ₁; The outer deflection angle measurement device of arm plane to detect in operation process lift heavy in real time at the out-of-plane pivot angle θ of arm ₂;

Step 7, by pivot angle θ ₁and θ ₂information be delivered to by PROFIBUS fieldbus in the lift heavy anti-swing controller of lift heavy anti-swing control module and carry out comparing calculation;

Step 8, arm degreeof turn measurement mechanism detects the degreeof turn α of arm in operation process in real time; Arm luffing angle measurement mechanism detects the luffing angle β of arm in operation process in real time;

Step 9, is delivered to the information of degreeof turn α and luffing angle β by PROFIBUS fieldbus in the track optimizing controller of track optimizing control module and carries out comparing calculation;

Step 10, the result of calculation of step 5, step 7, step 9 be delivered in the mechanism kinematic controller of handling control module, mechanism kinematic controller sends corresponding instruction to drive gyroscopic movement driver train, luffing driver train and the motion driving mechanism that hoists;

Step 11, gyroscopic movement driver train, luffing driver train and the motion driving mechanism that hoists adjust swing that lift heavy makes near linear running orbit and adjust the lift heavy under described running orbit in allowed limits by changing corresponding parameter.

Compared to the prior art, beneficial effect of the present invention:

(1) space for revolving crane lift heavy swings and track optimizing problem, have employed cooperation control principle, the theory of optimal control and the input shaper technique construction anti-sway crashproof control program based on revolving crane, can realize the anti-sway of the operation process of lift heavy and collision prevention function preferably, anti-sway and crashproof reliability is stronger.

(2) track optimizing that simultaneously can realize lift heavy operation process controls and the anti-swing control two ore control function of lift heavy under this track.

(3) use cooperation control principle, achieve the coordinative operation of the anti-sway of revolving crane lift heavy and crashproof control.

(4) this anti-shakes anti-collision control system and method safety is reliable, and degree of automation is high, simple to operate, and stability and high efficiency are given prominence to.

Accompanying drawing explanation

Fig. 1 is revolving crane lift heavy anti-sway anti-collision control system composition schematic diagram;

Fig. 2 is the control method schematic diagram of the anti-sway anti-collision control system of revolving crane lift heavy;

Fig. 3 is the equivalent schematic of revolving crane entity operation.

Detailed description of the invention

The present invention proposes the anti-sway crashproof control system of a kind of revolving crane lift heavy and control method, real-time feedback control can be carried out to the swing of the lift heavy under the track of lift heavy in revolving crane operation process and this track simultaneously, its control system controls based on revolving crane handling, merge track optimizing to control and anti-swing control, constitute safe and efficient stable anti-sway crashproof comprehensive coordination control system; The control method of its system is passed through the combination of three of revolving crane control modules, and carries out Real-Time Monitoring by coordinating control module to the track of lift heavy and swing situation, ensures the safety of crane job process, high efficiency and stability.

The present invention by a system integrated to the coordinating control module of revolving crane, handling control module, lift heavy anti-swing control module and track optimizing control module, and carries out Comprehensive Control and safety guard-safeguard by cooperation control principle; Meanwhile, driver train and hoisting crane entity configure suitable monitoring device respectively, make the cooperation control of revolving crane, lift heavy anti-swing control and track optimizing control the parallel closed-loop feedback control system of formation 3; Carry out coordination by the comprehensive coordination controller of coordinating control module to the coherent signal that monitoring device feeds back on this basis to calculate, with the swing of the near linear running orbit and control lift heavy that ensure revolving crane lift heavy in allowed limits.

Below in conjunction with accompanying drawing, the invention will be further described.

As shown in Figure 1, for revolving crane lift heavy anti-sway anti-collision control system composition schematic diagram, this system comprises coordinating control module, handling control module, lift heavy anti-swing control module and track optimizing control module and driver train, the first testing agency, the second testing agency, the 3rd testing agency.Described coordinating control module carries out comprehensive coordination to handling control module, lift heavy anti-swing control module and track optimizing control module respectively by PROFIBUS fieldbus and controls; Described driver train comprises gyroscopic movement driver train, luffing driver train and the motion driving mechanism that hoists; Described first testing agency comprises swing type mechanism photoelectric encoder, luffing mechanism photoelectric encoder and lifting mechanism photoelectric encoder, described swing type mechanism photoelectric encoder detects the output of described gyroscopic movement driver train, described luffing mechanism photoelectric encoder detects the output of described luffing driver train, the output of the motion driving mechanism that hoists described in described lifting mechanism photoelectric encoder detects; Described second testing agency one end connects revolving crane entity, described second testing agency's other end connects PROFIBUS fieldbus, and the information of detection is delivered to described lift heavy anti-swing control module by PROFIBUS fieldbus; Described 3rd testing agency one end connects revolving crane entity, the other end of described 3rd testing agency connects PROFIBUS fieldbus, and the information of detection is delivered to described track optimizing control module by PROFIBUS fieldbus.

Described coordinating control module comprises upper PC I and comprehensive coordination controller; The transmission of data message can be carried out between upper PC I and comprehensive coordination controller, and realize external information transmission and control by comprehensive coordination controller by PROFIBUS fieldbus; The comprehensive coordination controller of described coordinating control module utilizes average principle to control handling control module, lift heavy anti-swing control module and track optimizing control module, carry out average value processing by the information passed over PROFIBUS fieldbus, reach the object of cooperation control.

Described handling control module comprises control panel, hoisting crane master controller, mechanism kinematic controller.Be bi-directionally connected between described control panel and described mechanism kinematic controller, described hoisting crane master controller is connected with described mechanism kinematic controller; Control panel is for allowing user to check and operating basic Operation system setting and control; Mechanism kinematic controller by PROFIBUS fieldbus realize drive revolving crane gyroscopic movement driver train, luffing driver train, hoist motion driving mechanism synchronous working, makes revolving crane entity enter operating condition.

Described gyroscopic movement driver train, luffing driver train and the motion driving mechanism that hoists are made up of frequency converter, drive motor, retarder, also can be made up of servo-control unit, servomotor and retarder, wherein, frequency converter is installed to drive motor outside by wire, and drive motor is connected with retarder by coupler.The swing type mechanism photoelectric encoder of described first testing agency is installed on the drive motor of gyroscopic movement driver train, for detecting the revolution n of the drive motor of gyroscopic movement driver train in real time ₁; The luffing mechanism photoelectric encoder of described first testing agency is installed on the drive motor of luffing driver train, for detecting the revolution n of the drive motor of luffing driver train in real time ₂; The lifting mechanism photoelectric encoder of described first testing agency is installed on and hoists on the drive motor of motion driving mechanism, for detecting the revolution n of the drive motor of the motion driving mechanism that hoists in real time ₃; The information detected is delivered in the comprehensive coordination controller of coordinating control module by PROFIBUS fieldbus by three photoelectric encoders (swing type mechanism photoelectric encoder, luffing mechanism photoelectric encoder, lifting mechanism photoelectric encoder), forms first closed loop feedback and controls.

Described lift heavy anti-swing control module comprises upper PC II and lift heavy anti-swing controller; Described lift heavy anti-swing controller is the mode of operation according to hoisting crane, the input shaper controller based on input shaper technology of design, and it can by the shaping to input information, and the swing realized behind lift heavy arrival target location is limited in allowed band.

Described track optimizing control module comprises upper PC III and track optimizing controller; Described track optimizing controller is the optimal controller adopting theory of optimal control design, and track optimizing controller can make lift heavy running orbit close to straight line, and its constraint equation optimizing lift heavy linear running track is:

$V_{LF}=\frac{A_{LF}+{\mathrm{\α}}_{SLW}*X_1}{{\mathrm{\ω}}_{SLW}}---\left(1\right)$

In formula (1): V _lFfor luffing speed, A _lFfor pitch acceleration, ω _sLWfor angle of revolution speed, α _sLWfor angular acceleration, X ₁for lift heavy initial point abscissa.

Above-described upper PC I, upper PC II and upper PC III all adopt SIMATICIPC547ECO, and convenient operation person is to track optimal controller, comprehensive coordination controller and lift heavy anti-swing controller input dependent instruction.

Described second testing agency is lift heavy deflection angle measurement device, comprises deflection angle measurement device and the outer deflection angle measurement device of arm plane in arm plane.In arm plane, deflection angle measurement device is arranged on arm top, and the outer deflection angle measurement device of arm plane is arranged on below the arm end on rotary middle spindle, is respectively used to measure hoisting crane entity lift heavy pivot angle θ in arm plane in operation process ₁pivot angle θ outer with arm plane ₂; In arm plane, the information PROFIBUS fieldbus detected is delivered in the lift heavy anti-swing controller of lift heavy anti-swing control module by deflection angle measurement device and the outer deflection angle measurement device of arm plane, forms second closed loop feedback and controls.

Described 3rd testing agency is lift heavy position-measurement device, comprises arm degreeof turn measurement mechanism and arm luffing angle measurement mechanism.Arm degreeof turn measurement mechanism is arranged on the left of arm, and arm luffing angle measurement mechanism is arranged on the right side of arm, is respectively used to the degreeof turn α and the luffing angle β that measure hoisting crane entity arm in operation process; The information PROFIBUS fieldbus detected is delivered in the track optimizing controller of track optimizing control module by arm degreeof turn measurement mechanism and arm luffing angle measurement mechanism, forms the 3rd closed loop feedback and controls.

The coordinate of lift heavy can calculate according to following formula (2):

$\left\{\begin{array}{c}{x}_t=x_b+L{\mathrm{cos\θ}}_2{\mathrm{sin\θ}}_1\cos \mathrm{\α}-L{\mathrm{sin\θ}}_2\sin \mathrm{\α}\\ y_t=y_b+L{\mathrm{cos\θ}}_2{\mathrm{sin\θ}}_1\sin \mathrm{\α}+L{\mathrm{sin\θ}}_2\cos \mathrm{\α}\\ z_t=z_b-L{\mathrm{cos\θ}}_1{\mathrm{cos\θ}}_2\end{array}\right.---\left(2\right)$

In formula (2): L is rope length, x _t, y _t, z _tbe respectively the coordinate of lift heavy under inertial coordinates system, x _b, y _b, z _bfor the coordinate of arm top under inertial coordinates system, its expression formula is such as formula (3):

$\left\{\begin{array}{c}{x}_b=L_B\sin \mathrm{\β}\cos \mathrm{\α}\\ y_b=L_B\sin \mathrm{\β}\sin \mathrm{\α}\\ z_b=L_B\cos \mathrm{\β}+h\end{array}\right.---\left(3\right)$

In formula (3): L _bfor the length of arm, h is the height of arm installation shaft to reference plane, and described reference plane is the XOY plane of revolving crane system in Fig. 1.

As shown in Figure 2, be the control method schematic diagram of the anti-sway anti-collision control system of revolving crane lift heavy, Fig. 3 is the equivalent schematic of revolving crane entity operation.The method that the present invention proposes configures suitable sensor respectively in the handling control system of revolving crane, lift heavy Antisway Control System and track optimizing control system, and (information of measurement is the revolution n of the drive motor of gyroscopic movement driver train to realize the detection of measurement of correlation amount ₁, luffing driver train the revolution n of drive motor ₂, the motion driving mechanism that hoists the revolution n of drive motor ₃, lift heavy is pivot angle θ in arm plane ₁, lift heavy is at the outer pivot angle θ of arm plane ₂the degreeof turn α of arm, the luffing angle β of arm), and the information of detection is delivered to corresponding control module by PROFIBUS fieldbus, make the handling control of revolving crane, lift heavy anti-swing control and track optimizing control the parallel closed-loop feedback control system of formation 3; Carry out coordination by the comprehensive coordination controller of coordinating control module to the signal of sensor feedback on this basis to calculate, the near linear running orbit realizing revolving crane lift heavy and the swing controlling lift heavy are in allowed limits.Specific implementation step is as follows:

Step 1, connects revolving crane control system power supply, inputs to definite value to the upper PC of track optimizing control module and lift heavy anti-swing control module, as a reference simultaneously;

Step 2, described given value after the upper PC of track optimizing control module and lift heavy anti-swing control module transforms respectively correspondence pass to track optimizing controller and lift heavy anti-swing controller, the comprehensive coordination controller that information is delivered to coordinating control module after the process of track optimizing controller optimization and lift heavy anti-swing controller Shape correction carries out Coordination Treatment;

Step 3, the information of comprehensive coordination controller process exports to the mechanism kinematic controller of handling control module, mechanism kinematic controller by being delivered to gyroscopic movement driver train, luffing driver train after information processing respectively, hoist motion driving mechanism; Described gyroscopic movement driver train, luffing driver train, the motion driving mechanism that hoists carry out corresponding action according to the activation bit passed over, and make revolving crane entity enter operating condition;

Step 4, swing type mechanism photoelectric encoder detects the revolution n of the drive motor of gyroscopic movement driver train in real time ₁; Luffing mechanism photoelectric encoder detects the revolution n of the drive motor of luffing driver train in real time ₂; Lifting mechanism photoelectric encoder detects the revolution n of the drive motor of the motion driving mechanism that hoists in real time ₃;

Step 5, by n ₁, n ₂and n ₃information be delivered to by PROFIBUS fieldbus in the comprehensive coordination controller of coordinating control module and carry out comparing calculation;

Step 6, in arm plane, deflection angle measurement device detects the pivot angle θ of lift heavy in arm plane in operation process in real time ₁; The outer deflection angle measurement device of arm plane to detect in operation process lift heavy in real time at the out-of-plane pivot angle θ of arm ₂;

Step 7, by pivot angle θ ₁and θ ₂information be delivered to by PROFIBUS fieldbus in the lift heavy anti-swing controller of lift heavy anti-swing control module and carry out comparing calculation, computing of the observed reading of detection and given value being made comparisons;

Step 8, arm degreeof turn measurement mechanism detects the degreeof turn α of arm in operation process in real time; Arm luffing angle measurement mechanism detects the luffing angle β of arm in operation process in real time;

Step 9, is delivered to the information of degreeof turn α and luffing angle β by PROFIBUS fieldbus in the track optimizing controller of track optimizing control module and carries out comparing calculation, computing of the observed reading of detection and given value being made comparisons;

Step 10, the result of calculation of step 5, step 7, step 9 is delivered in the mechanism kinematic controller of handling control module by PROFIBUS fieldbus, mechanism kinematic controller send corresponding instruction to drive described gyroscopic movement driver train, luffing driver train, hoist motion driving mechanism;

Step 11, described gyroscopic movement driver train, luffing driver train, the motion driving mechanism that hoists adjust swing that lift heavy makes near linear running orbit and adjust the lift heavy under described running orbit in allowed limits by changing corresponding parameter.

The above is only for explaining technical scheme of the present invention and specific embodiment; the protection domain be not intended to limit the present invention; be to be understood that; under the prerequisite without prejudice to flesh and blood of the present invention and spirit, institute changes, improve or be equal to replacement etc. all will fall within the scope of protection of the present invention.

Claims (9)

1. an anti-sway anti-collision control system for revolving crane lift heavy, is characterized in that, comprising: coordinating control module, handling control module, lift heavy anti-swing control module, track optimizing control module, PROFIBUS fieldbus, driver train;

Described coordinating control module, described handling control module, described lift heavy anti-swing control module and described track optimizing control module are all connected with described PROFIBUS fieldbus; Described coordinating control module carries out comprehensive coordination to described handling control module, described lift heavy anti-swing control module and described track optimizing control module respectively by PROFIBUS fieldbus and controls and safety guard-safeguard;

One end of described driver train connects PROFIBUS fieldbus, the other end of described driver train connects revolving crane entity; Give described driver train by activation bit by PROFIBUS fieldbus after comprehensive coordination between described coordinating control module, described handling control module, described lift heavy anti-swing control module and described track optimizing control module, described driver train drives revolving crane entity to carry out operation.

2. the anti-sway anti-collision control system of a kind of revolving crane lift heavy according to claim 1, is characterized in that, also comprise: the first testing agency; One end of described first testing agency connects the other end of described driver train, the other end of described first testing agency connects PROFIBUS fieldbus; The information of detection is passed to described coordinating control module by PROFIBUS fieldbus by described first testing agency;

Described driver train comprises: gyroscopic movement driver train, luffing driver train and the motion driving mechanism that hoists.

3. the anti-sway anti-collision control system of a kind of revolving crane lift heavy according to claim 1, is characterized in that, also comprise: the second testing agency; One end of described second testing agency connects revolving crane entity, the other end of described second testing agency connects PROFIBUS fieldbus; The information of detection is delivered to described lift heavy anti-swing control module by PROFIBUS fieldbus by described second testing agency.

4. the anti-sway anti-collision control system of a kind of revolving crane lift heavy according to claim 1, is characterized in that, also comprise: the 3rd testing agency; One end of described 3rd testing agency connects revolving crane entity, the other end of described 3rd testing agency connects PROFIBUS fieldbus; The information of detection is delivered to described track optimizing control module by PROFIBUS fieldbus by described 3rd testing agency.

5. the anti-sway anti-collision control system of a kind of revolving crane lift heavy according to claim 1, is characterized in that,

Described coordinating control module comprises upper PC I and comprehensive coordination controller; Described upper PC I is connected with described comprehensive coordination controller, and described comprehensive coordination controller is connected with described PROFIBUS fieldbus;

Described handling control module comprises control panel, hoisting crane master controller and mechanism kinematic controller; Described control panel is all connected with described mechanism kinematic controller with described hoisting crane master controller, and described mechanism kinematic controller is connected with described PROFIBUS fieldbus;

Described lift heavy anti-swing control module comprises upper PC II and lift heavy anti-swing controller; Described upper PC II is connected with described lift heavy anti-swing controller, and described lift heavy anti-swing controller is connected with described PROFIBUS fieldbus;

Described track optimizing control module comprises upper PC III and track optimizing controller; Described upper PC III is connected with described track optimizing controller, and described track optimizing controller is connected with described PROFIBUS fieldbus.

6. the anti-sway anti-collision control system of a kind of revolving crane lift heavy according to claim 2, is characterized in that, described first testing agency comprises: swing type mechanism photoelectric encoder, luffing mechanism photoelectric encoder and lifting mechanism photoelectric encoder; Described swing type mechanism photoelectric encoder detects the output of described gyroscopic movement driver train, described luffing mechanism photoelectric encoder detects the output of described luffing driver train, the output of the motion driving mechanism that hoists described in described lifting mechanism photoelectric encoder detects.

7. the anti-sway anti-collision control system of a kind of revolving crane lift heavy according to claim 3, it is characterized in that, described second testing agency is lift heavy deflection angle measurement device, comprising: deflection angle measurement device and the outer deflection angle measurement device of arm plane in arm plane; In described arm plane, deflection angle measurement device is arranged on arm top; The outer deflection angle measurement device of arm plane is arranged on below the arm end on rotary middle spindle.

8. the anti-sway anti-collision control system of a kind of revolving crane lift heavy according to claim 4, is characterized in that, described 3rd testing agency is lift heavy position-measurement device, comprising: arm degreeof turn measurement mechanism and arm luffing angle measurement mechanism; Described arm degreeof turn measurement mechanism is arranged on the left of arm; Described arm luffing angle measurement mechanism is arranged on the right side of arm.

9. an anti-sway anticollision control method for revolving crane lift heavy, is characterized in that, comprise the steps:

Step 1, connects revolving crane control system power supply, inputs to definite value to the upper PC III of track optimizing control module and the upper PC II of lift heavy anti-swing control module simultaneously;

Step 2, described given value after the upper PC II of the upper PC III of track optimizing control module and lift heavy anti-swing control module transforms respectively correspondence pass to track optimizing controller and lift heavy anti-swing controller, the comprehensive coordination controller that information is delivered to coordinating control module after the process of track optimizing controller optimization and lift heavy anti-swing controller Shape correction carries out Coordination Treatment;

Step 3, the information of comprehensive coordination controller process be delivered to again the mechanism kinematic controller of handling control module, mechanism kinematic controller by being delivered to gyroscopic movement driver train, luffing driver train after convert information process respectively, hoist motion driving mechanism; Described gyroscopic movement driver train, luffing driver train, the motion driving mechanism that hoists carry out corresponding action according to the activation bit passed over, and revolving crane entity enters operating condition;

Step 4, swing type mechanism photoelectric encoder detects the revolution n of swing type mechanism drive motor in real time ₁; Luffing mechanism photoelectric encoder detects the revolution n of luffing mechanism drive motor in real time ₂; Lifting mechanism photoelectric encoder detects the revolution n of lifting mechanism drive motor in real time ₃;

Step 5, by n ₁, n ₂and n ₃information is delivered in the comprehensive coordination controller of coordinating control module by PROFIBUS fieldbus carries out comparing calculation;

Step 6, in arm plane, deflection angle measurement device detects the pivot angle θ of lift heavy in arm plane in operation process in real time ₁; The outer deflection angle measurement device of arm plane to detect in operation process lift heavy in real time at the out-of-plane pivot angle θ of arm ₂;

Step 7, by pivot angle θ ₁and θ ₂information be delivered to by PROFIBUS fieldbus in the lift heavy anti-swing controller of lift heavy anti-swing control module and carry out comparing calculation;

Step 8, arm degreeof turn measurement mechanism detects the degreeof turn α of arm in operation process in real time; Arm luffing angle measurement mechanism detects the luffing angle β of arm in operation process in real time;

Step 9, is delivered to the information of degreeof turn α and luffing angle β by PROFIBUS fieldbus in the track optimizing controller of track optimizing control module and carries out comparing calculation;

Step 10, the result of calculation of step 5, step 7, step 9 be delivered in the mechanism kinematic controller of handling control module, mechanism kinematic controller sends corresponding instruction to drive gyroscopic movement driver train, luffing driver train and the motion driving mechanism that hoists;

Step 11, gyroscopic movement driver train, luffing driver train and the motion driving mechanism that hoists adjust swing that lift heavy makes near linear running orbit and adjust the lift heavy under described running orbit in allowed limits by changing corresponding parameter.