CN-121990466-A - Accurate in-place control method and system for high-altitude tower material assembly of crane

CN121990466ACN 121990466 ACN121990466 ACN 121990466ACN-121990466-A

Abstract

The invention discloses a method and a system for accurately controlling the assembly and positioning of a crane high-altitude tower material. Acquiring the working condition of a preset crane according to a target working scheme, matching working condition control parameters, performing state detection on the preset crane, performing anomaly correction according to detection results, acquiring basic characteristic data of the target working scheme, including tower state characteristic data, hoisting characteristic data and environment characteristic data, processing according to the tower state characteristic data, the hoisting characteristic data and the environment characteristic data, acquiring attitude adjustment control parameters, performing tower attitude adjustment according to the attitude adjustment control parameters, extracting attitude parameter deviation values in the attitude adjustment process, performing parameter correction and pre-alignment state confirmation according to the deviation values, starting a precise docking mode if the pre-alignment of the tower is confirmed, acquiring docking deviation parameters, performing in-situ confirmation and docking deviation correction, and thus realizing the technology of high-altitude tower assembly precise in-position control of the crane.

Inventors

LI JIE
LUO YUANJIE
LIU YUHONG
CHEN LITAO
ZHU CHUNCAN
CHEN YUYANG
HUANG YI
XU YUAN
WANG TAO
ZHANG HENGWU

Assignees

湖南省送变电工程有限公司
国网湖南省电力有限公司
国家电网有限公司

Dates

Publication Date: 20260508
Application Date: 20260402

Claims (10)

1. The accurate in-place control method for assembling the high-altitude tower materials of the crane is characterized by comprising the following steps of: Acquiring the operation working condition of a preset crane according to a target operation scheme, and matching the control parameters of the working condition; Detecting the state of a preset crane, and performing abnormality correction according to a detection result; Basic characteristic data of a target operation scheme is collected, wherein the basic characteristic data comprise tower material state characteristic data, hoisting characteristic data and environment characteristic data; Processing according to the tower material state characteristic data, the hoisting characteristic data and the environment characteristic data to obtain attitude adjustment control parameters; performing tower material posture adjustment according to the posture adjustment control parameters, extracting posture parameter deviation values in the posture adjustment process, and performing parameter correction and pre-alignment state confirmation according to the deviation values; if the pre-alignment of the tower is confirmed to be completed, starting a precise docking mode, collecting docking deviation parameters, and executing in-place confirmation and docking deviation correction.
2. The method for accurately positioning the crane high-altitude tower splicing according to claim 1, wherein the step of obtaining the working condition of the preset crane according to the target working scheme and matching the working condition control parameters comprises the steps of: Acquiring the operation working condition of a preset crane according to the operation requirement of a target operation scheme, wherein the operation working condition comprises an operation arm mode and a configuration type; Matching working condition control parameters according to the mode of the operation arm and the configuration type; The working condition control parameters comprise a boom amplitude speed range, a swing speed range, a lifting speed range and a traction rope tension threshold value.
3. The method for controlling the accurate positioning of the splicing of the high-altitude tower of the crane according to claim 1, wherein the step of performing the state detection on the preset crane and performing the abnormality correction according to the detection result comprises the steps of: acquiring preset crane state parameters including a fuselage inclination angle value, a boom stress value, landing leg stress uniformity and a hydraulic system pressure value; Acquiring a state detection reference value, wherein the state detection reference value comprises an inclination angle allowable deviation value, a rated stress value, a landing leg stress allowable deviation value and a rated working pressure value; Processing through a preset state detection evaluation model according to the inclination angle value of the machine body, the stress value of the suspension arm, the stress uniformity of the supporting leg, the pressure value of the hydraulic system, the inclination angle allowable deviation value, the rated stress value, the supporting leg stress allowable deviation value and the rated working pressure value to obtain a state abnormal value; comparing the state abnormal value with a preset state abnormal threshold value to obtain a comparison result; If the state abnormal value is smaller than the preset state abnormal threshold value, the preset crane state is not abnormal; If the abnormal state value is greater than or equal to the preset abnormal state threshold value, the preset crane state is abnormal, and abnormal correction needs to be executed.
4. The method for accurately positioning and controlling the assembly of the high-altitude tower of the crane according to claim 1, wherein the collecting basic characteristic data of the target operation scheme, including tower state characteristic data, hoisting characteristic data and environmental characteristic data, comprises: Basic characteristic data of a target operation scheme is collected, wherein the basic characteristic data comprise tower material state characteristic data, hoisting characteristic data and environment characteristic data; the tower material state characteristic data comprise tower material weight, tower material size, attitude angle, angular speed, gravity center position and elastic modulus; the hoisting characteristic data comprise hoisting height, traction rope tension, crane boom angle and lifting displacement of a lifting hook; the environmental characteristic data includes wind speed, temperature, and vibration.
5. The method for accurately positioning the crane high-altitude tower assembly according to claim 4, wherein the processing according to the tower state characteristic data, the hoisting characteristic data and the environmental characteristic data to obtain the attitude adjustment control parameters comprises: processing according to the wind speed, the temperature and the vibration through a preset control interference evaluation model to obtain a control interference coefficient; Processing through a preset motion and dynamics model according to tower material state characteristic data and hoisting characteristic data and combining control interference coefficients to obtain attitude adjustment control parameters; The gesture adjustment control parameters comprise traction rope winch winding and unwinding speed, boom amplitude, rotation angle and adjustment time.
6. The method for accurately positioning the crane high-altitude tower splicing according to claim 5, wherein the step of performing tower attitude adjustment according to the attitude adjustment control parameters, extracting an attitude parameter deviation value in the process of attitude adjustment, performing parameter correction and pre-alignment state confirmation according to the deviation value, comprises the steps of: Executing tower posture adjustment according to the winding and unwinding speed of the traction rope winch, the amplitude of the boom, the rotation angle and the adjustment time; Extracting attitude parameter deviation values in the process of attitude adjustment, including attitude angle deviation values and position deviation values; Acquiring a preset deviation threshold set, wherein the preset deviation threshold set comprises a first attitude angle deviation threshold, a first position deviation threshold, a second attitude angle deviation threshold and a second position deviation threshold; the first attitude angle deviation threshold is larger than the second attitude angle deviation threshold; The first position deviation threshold is greater than the second position deviation threshold; comparing the attitude angle deviation value and the position deviation value with a preset deviation threshold set; if the attitude angle deviation value is larger than the first attitude angle deviation threshold value or the position deviation value is larger than the first position deviation threshold value, correcting the attitude adjustment control parameter; And if the attitude angle deviation value is smaller than or equal to the second attitude angle deviation threshold value and the position deviation value is smaller than or equal to the second position deviation threshold value, confirming that the pre-alignment of the tower material is completed.
7. The method for controlling the accurate positioning of the crane high-altitude tower assembly according to claim 6, wherein if the pre-alignment of the tower is confirmed, starting an accurate docking mode, collecting docking deviation parameters, and performing positioning confirmation and docking deviation correction, comprises: If the pre-alignment of the tower material is confirmed to be completed, starting a precise tower material butt-joint mode; Collecting docking deviation parameters, including docking deviation values and corresponding collecting time lengths; Comparing the butt joint deviation value with a preset butt joint deviation threshold value; If the docking deviation value is larger than a preset docking deviation threshold value, triggering a secondary fine tuning process; If the butt joint deviation value is smaller than or equal to the preset butt joint deviation threshold value and the corresponding acquisition time length is longer than the preset acquisition time length threshold value, confirming that the tower material is in place.
8. A crane high-altitude tower material assembling accurate in-place control system, which realizes the crane high-altitude tower material assembling accurate in-place control method as claimed in any one of claims 1 to 7, characterized by comprising: the working condition matching module is used for executing crane working condition selection according to the target working scheme and automatically matching control parameters; the equipment state detection module is used for carrying out omnibearing detection on the running state of the crane, quantitatively evaluating the equipment state and carrying out correction processing on the abnormal state; The multi-source data acquisition module is used for acquiring basic characteristic data of a target operation scheme; The interference evaluation and parameter calculation module is used for quantitatively evaluating the environmental interference and calculating tower material posture adjustment control parameters; the attitude adjustment and dynamic correction module is used for driving the execution mechanism to complete the attitude adjustment of the tower material according to the control parameters, monitoring the adjustment deviation in real time and executing correction processing; The accurate butt joint and deviation correction module is used for collecting the butt joint deviation in real time and executing secondary fine adjustment on the super-threshold deviation; and the in-situ confirmation and flow closed loop module is used for final in-situ confirmation of tower material assembly and complete flow closed loop treatment of tower material assembly.
9. The crane high-altitude tower splicing accurate in-place control system according to claim 8, further comprising a memory and a processor, wherein the memory stores a program of a crane high-altitude tower splicing accurate in-place control method, and the crane high-altitude tower splicing accurate in-place control method program is executed by the processor to realize the following steps: Acquiring the operation working condition of a preset crane according to a target operation scheme, and matching the control parameters of the working condition; Detecting the state of a preset crane, and performing abnormality correction according to a detection result; Basic characteristic data of a target operation scheme is collected, wherein the basic characteristic data comprise tower material state characteristic data, hoisting characteristic data and environment characteristic data; Processing according to the tower material state characteristic data, the hoisting characteristic data and the environment characteristic data to obtain attitude adjustment control parameters; performing tower material posture adjustment according to the posture adjustment control parameters, extracting posture parameter deviation values in the posture adjustment process, and performing parameter correction and pre-alignment state confirmation according to the deviation values; if the pre-alignment of the tower is confirmed to be completed, starting a precise docking mode, collecting docking deviation parameters, and executing in-place confirmation and docking deviation correction.
10. The crane high-altitude tower splicing accurate-positioning control system according to claim 9, wherein the acquiring the operation condition of the preset crane according to the target operation scheme, matching the operation condition control parameters, comprises: Acquiring the operation working condition of a preset crane according to the operation requirement of a target operation scheme, wherein the operation working condition comprises an operation arm mode and a configuration type; Matching working condition control parameters according to the mode of the operation arm and the configuration type; The working condition control parameters comprise a boom amplitude speed range, a swing speed range, a lifting speed range and a traction rope tension threshold value.

Description

Accurate in-place control method and system for high-altitude tower material assembly of crane Technical Field The invention belongs to the technical field of engineering machinery control, and particularly relates to a method and a system for accurately controlling assembly and positioning of high-altitude tower materials of a crane. Background In the high-altitude tower material assembling operation of a crane, the tower material is easy to swing due to the influence of self structure, hoisting traction and external environment, in-plane and out-of-plane motion coupling are carried out, the problems of low attitude control precision and large docking deviation exist, the prior art mostly adopts centralized quality modeling, combines PID, fuzzy control and the like to realize anti-swing and positioning, but has insufficient fusion precision on multi-source state information, insufficient consideration on factors such as elastic deformation, tension friction and the like, poor robustness against external disturbance and difficulty in realizing accurate regulation and stable docking of the tower material attitude, meanwhile, the existing control strategy lacks real-time deviation correction of the accurate matching and adjusting process of the operation working condition, and cannot meet the accurate in-place requirement of high-altitude tower material assembling under the complex environments such as mountain lands and the like, and an accurate in-place control technology integrating multi-source data, adapting working conditions and capable of correcting the deviation in real time is needed. Disclosure of Invention The application aims to provide a method and a system for accurately controlling the assembly of a crane high-altitude tower in position, wherein the method and the system can be used for acquiring the operation working condition of a preset crane according to a target operation scheme, matching working condition control parameters, detecting the execution state of the preset crane, executing abnormal correction according to a detection result, collecting basic characteristic data of the target operation scheme, including tower state characteristic data, hoisting characteristic data and environment characteristic data, processing according to the tower state characteristic data, hoisting characteristic data and environment characteristic data, obtaining attitude adjustment control parameters, executing tower attitude adjustment according to the attitude adjustment control parameters, extracting attitude parameter deviation values in the attitude adjustment process, carrying out parameter correction and pre-alignment state confirmation according to the deviation values, starting an accurate docking mode if the pre-alignment of the tower is completed, collecting docking deviation parameters, executing the positioning confirmation and docking deviation correction, and realizing the technology of accurately controlling the assembly of the crane high-altitude tower in position. The application also provides a control method for accurately assembling and positioning the crane high-altitude tower materials, which comprises the following steps: Acquiring the operation working condition of a preset crane according to a target operation scheme, and matching the control parameters of the working condition; Detecting the state of a preset crane, and performing abnormality correction according to a detection result; Basic characteristic data of a target operation scheme is collected, wherein the basic characteristic data comprise tower material state characteristic data, hoisting characteristic data and environment characteristic data; Processing according to the tower material state characteristic data, the hoisting characteristic data and the environment characteristic data to obtain attitude adjustment control parameters; performing tower material posture adjustment according to the posture adjustment control parameters, extracting posture parameter deviation values in the posture adjustment process, and performing parameter correction and pre-alignment state confirmation according to the deviation values; if the pre-alignment of the tower is confirmed to be completed, starting a precise docking mode, collecting docking deviation parameters, and executing in-place confirmation and docking deviation correction. Optionally, in the method for accurately positioning and assembling high-altitude tower materials of a crane according to the present application, the acquiring the operation condition of a preset crane according to a target operation scheme, and matching the operation condition control parameters include: Acquiring the operation working condition of a preset crane according to the operation requirement of a target operation scheme, wherein the operation working condition comprises an operation arm mode and a configuration type; Matching working condition control parameters according to the mode of