CN-115849198-B - Crane multi-way valve control method and control system based on redundant signals

CN115849198BCN 115849198 BCN115849198 BCN 115849198BCN-115849198-B

Abstract

The invention discloses a crane multi-way valve control method and a control system based on redundant signals, wherein the method comprises the steps that a control handle sends a first message to a multi-way valve integrated control unit through at least one CAN bus to control the multi-way valve integrated control unit to execute lifting action, and simultaneously sends an analog quantity signal to a controller; the controller converts the analog quantity signal into a second message according to a preset rule and sends the second message to the multi-way valve integrated control unit through at least one CAN bus to serve as a first redundant signal for controlling the multi-way valve integrated control unit to execute the lifting action, and the controller sends the analog quantity signal to the multi-way valve integrated control unit through an analog port to serve as a second redundant signal for controlling the multi-way valve integrated control unit to execute the lifting action. By arranging a plurality of redundancy measures, the safety and the reliability of system control are greatly improved.

Inventors

HU XIAODONG
Yuan Ruichen
GONG CHUANWEI
LI SHAOJING
ZHANG LONGJI

Assignees

徐州重型机械有限公司

Dates

Publication Date: 20260505
Application Date: 20221222

Claims (7)

1. A crane multiway valve control method based on redundant signals is characterized by comprising the following steps: The method comprises the steps that a man-machine interaction device sends a first message to a multi-way valve integrated control unit through at least one CAN bus to control the multi-way valve integrated control unit to execute a lifting action, and meanwhile, the man-machine interaction device sends an analog quantity signal to a controller; The controller converts the received analog quantity signal into a second message according to a preset rule, and sends the second message to the multi-way valve integrated control unit through at least one CAN bus to be used as a first redundant signal for controlling the multi-way valve integrated control unit to execute the lifting action; the controller directly sends the received analog quantity signal to the multi-way valve integrated control unit through an analog port to be used as a second redundant signal for controlling the multi-way valve integrated control unit to execute the lifting action; the multi-way valve integrated control unit judges and selects the received first message, second message and analog quantity signal according to a preset hierarchical selection rule, wherein the rule comprises: if the first message information is judged to be correct, the first message is adopted to execute lifting action; if the first message information is judged to be wrong, switching to adopting the second message to execute lifting action; if the first message and the second message are both wrong, stopping executing the bus signal, and switching to executing the lifting action by adopting the analog quantity signal sent by the controller through the analog port.
2. The crane multiway valve control method based on the redundant signals according to claim 1, wherein the multiway valve integrated control unit judges the correctness of the control signals contained in the first message and the second message through a preset control curve.
3. The crane multiway valve control method based on the redundant signals according to claim 1, wherein the network master control right is returned to the man-machine interaction device after the man-machine interaction device is restored to be normal.
4. The crane multi-way valve control method based on the redundant signals, which is disclosed in claim 1, is characterized in that the number of CAN buses is two, the man-machine interaction equipment sends a first message to the multi-way valve integrated control unit through CANI buses and CANII buses, the controller converts the analog quantity signals into a second message according to a preset rule and sends the second message to the multi-way valve integrated control unit through buses CANI and CANII, and the CANII buses are standby buses.
5. The crane multi-way valve control system based on the redundant signals is characterized by comprising man-machine interaction equipment, a controller, a multi-way valve integrated control unit and a force limiter; The man-machine interaction equipment, the controller, the multi-way valve integrated control unit and the force limiter are all communicated with at least one CAN bus; the man-machine interaction equipment is communicated with the controller through an analog port, and the controller is communicated with the multi-way valve integrated control unit through the analog port; wherein the system is configured to perform the method of claim 1, in particular: the man-machine interaction equipment is used for sending a first message and an analog quantity signal; the controller is used for receiving the analog quantity signal, converting the analog quantity signal into a second message to be sent, and simultaneously directly sending the analog quantity signal through an analog port; The multi-way valve integrated control unit is used for receiving the first message, the second message and the analog quantity signal and performing switching control among the first message, the second message and the analog quantity signal according to a preset level selection rule.
6. The redundant signal based crane multi-way valve control system of claim 5, wherein the force limiter sends an alarm signal to the controller when the vehicle state reaches the limit position, the controller sends a signal to the multi-way valve integrated control unit to stop receiving the control handle signal, and the controller reads the control signal and transmits the control signal in the safety direction to the multi-way valve integrated control unit through the CAN line.
7. The crane multiway valve control system based on redundant signals according to claim 5, wherein the man-machine interaction device is a control handle, a display control integrated machine or a remote controller.

Description

Crane multi-way valve control method and control system based on redundant signals Technical Field The invention relates to the technical field of cranes, in particular to a crane multiway valve control method and a crane multiway valve control system based on redundant signals. Background At present, the CAN bus technology is widely used in various detection and control systems in various industries, and is a serial communication network for effectively supporting a distributed control system, the CAN bus has become a main data transmission channel in the crane industry, and CAN effectively connect electronic equipment and control units on a crane, and generally, the CAN bus is connected with more than one control center, wherein the control center comprises controllers of various parts of a vehicle and moment limiters related to the working safety of the vehicle. Along with the gradual development of the crane towards digitization, the CAN bus is not only used for transmitting sensor signals and controller information, but also plays a role in transmitting complete machine action control signals, a multiway valve is used as an action key device, the control signals influence the safety of complete machine actions, when the CAN path branches or control equipment breaks down, the system elements cannot communicate, particularly in the working process of the crane, a communication signal breaks down in an extending state of a suspension arm, the complete machine actions are stopped, a suspended weight is suspended in mid-air, hidden danger of safety accidents exists, and construction progress is influenced. In the prior art, patent CN104503350B proposes a dual-redundancy CAN bus implementation method, in which a controller encodes first message information according to a preset encoding rule and sends the encoded first message information to a first CAN bus and a second CAN bus, the controller receives second message information from the first CAN bus and simultaneously receives second message information from the second CAN bus, and judges whether the second message information is correct according to a preset judging rule, and the controller determines the applied second message information according to a preset selecting rule, thereby implementing the application of the dual-redundancy CAN bus, wherein the first CAN bus and the second CAN bus are redundant, and the anti-failure capability is improved. The technical scheme has the defects that the redundant setting of the system CAN only be carried out on the bus layer, but when a CAN signal frame is lost or a main node for transmitting the signal is in a problem, the controller gives an alarm and limits the action, so that the working efficiency and the safety of the crane CAN be directly influenced. Disclosure of Invention The invention aims to provide a crane multiway valve control method and a control system based on redundant signals, which ensure the safety of crane operation by carrying out redundant design on control signals and CAN buses. In order to achieve the above purpose, in one aspect, the invention discloses a crane multiway valve control method based on redundant signals, comprising the following steps: The man-machine interaction equipment sends a first message to the multi-way valve integrated control unit through at least one CAN bus, controls the multi-way valve integrated control unit to execute lifting action, and simultaneously sends an analog quantity signal to the controller; the controller converts the analog quantity signal into a second message according to a preset rule, and sends the second message to the multi-way valve integrated control unit through at least one CAN bus to be used as a first redundant signal for controlling the multi-way valve integrated control unit to execute the lifting action; and the controller sends the analog quantity signal to the multi-way valve integrated control unit through an analog port to be used as a second redundant signal for controlling the multi-way valve integrated control unit to execute the lifting action. Further, the integrated control unit of the multi-way valve judges the correctness of the first message and the second message information and decides a preset selection rule for triggering the first redundant signal and the second redundant signal. Further, the integrated control unit of the multi-way valve judges the correctness of control signals contained in the first message and the second message through a preset control curve. Further, the preset selection rule for triggering the first redundant signal and the second redundant signal is: If the first message information is judged to be correct, adopting the first message information data; if the first message information is wrong, adopting the second message information; If the first message and the second message are both wrong, stopping executing the bus signal, and executing the action according to the analog quantity sig