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CN-121999674-A - Multifunctional tower shaking inhibition verification system and method

CN121999674ACN 121999674 ACN121999674 ACN 121999674ACN-121999674-A

Abstract

The invention discloses a multifunctional tower shaking inhibition verification system and method, which can adjust the rigidity of a structure by replacing a spring piece and effectively simulate the mechanical characteristics of equipment under different working conditions. The verification system comprises a supporting bottom plate, a stand column, a cross beam and a controller, wherein the supporting bottom plate comprises a main bottom plate and an adjusting bottom plate, the adjusting bottom plate can be arranged on the main bottom plate in a swinging mode, a base inclination sensor is arranged on the adjusting bottom plate, the bottom of the stand column is fixed on the adjusting bottom plate, the top of the stand column is connected with the cross beam through a rotary servo driving mechanism and a pitching joint mechanism, the rotary servo driving mechanism is connected to the top of the stand column through a flange, the pitching joint mechanism is arranged between the rotary servo driving mechanism and the cross beam, the cross beam can do pitching motion around the pitching joint mechanism, one end of the cross beam is provided with a counterweight, the other end of the cross beam is provided with a hoisting servo mechanism through a guide rail in a movable mode, the lower portion of the stand column is provided with a product placement platform, and the product placement platform is perpendicular to the stand column.

Inventors

  • SHAN XIAOHANG
  • YU LEI
  • JIANG WANSHAN
  • WANG YALIANG
  • ZHAO JIE

Assignees

  • 浙江工业大学

Dates

Publication Date
20260508
Application Date
20251224

Claims (10)

  1. 1. A multifunctional tower shake inhibition verification system comprises a supporting bottom plate (1), a stand column (2) and a cross beam (3), and is characterized in that the supporting bottom plate (1) comprises a main bottom plate (1-1) and an adjusting bottom plate (1-2), the adjusting bottom plate (1-2) can be arranged on the main bottom plate (1-1) in a swinging mode, a base inclination sensor (1-3) is arranged on the adjusting bottom plate (1-2), the bottom of the stand column (2) is fixed on the adjusting bottom plate (1-2), the top of the stand column is connected with the cross beam (3) through a rotary servo driving mechanism (4) and a pitching joint mechanism (5), the rotary servo driving mechanism (4) is connected to the top of the stand column (2) through a flange, the pitching joint mechanism (5) is arranged between the rotary servo driving mechanism (4) and the cross beam (3), the cross beam (3) can do pitching motion around the pitching joint mechanism (5), one end of the cross beam (3) is provided with a counterweight (6), the other end of the cross beam (3) is provided with a guide rail (3), the lifting mechanism (1) is provided with a lifting platform (8), the lifting platform (8) is arranged below the lifting platform (2), the product placement platform (8) is perpendicular to the upright post (2); The verification system further comprises a controller, wherein the controller comprises an upper computer, a PLC and a motion control embedded unit, the upper computer is used for man-machine interaction between the multifunctional tower and an experimenter, the PLC is used for monitoring and executing motion and controlling each motor to acquire displacement and angle, and the motion control embedded unit is used for real-time control of shaking inhibition of the multifunctional tower.
  2. 2. The system for verifying the vibration suppression of the multifunctional tower according to claim 1, wherein the rotary servo driving mechanism (4) comprises a shell (4-1), a rotary motor (4-2), a speed reducer (4-3) and a rotary shaft (4-4) are sequentially arranged in the shell (4-1) from bottom to top, an output shaft of the rotary motor (4-2) is connected with the speed reducer (4-3) through keys, the speed reducer (4-3) is connected with the rotary shaft (4-4) through keys, power output by the rotary motor (4-2) is transmitted to the rotary shaft (4-4) after the speed is reduced and the torque is increased, the rotary shaft (4-4) is sleeved with a rotary bearing bush (4-5), the rotary bearing bush (4-5) is rigidly connected with the bottom of the pitch joint mechanism (5), radial bearings (4-6) are respectively arranged between the rotary shaft (4-4) and the shell (4-1), the rotary bearing (4-4) is supported by the bottom of the rotary bearing bush (4-5), the rotary bearing (4-4) is supported by a positive bearing (4-9), the reed clamping seat (4-9) is assembled with the pitching joint mechanism (5) through a fastener, the reed clamping seat (4-9) clamps the rotary reed (4-8), one end of the rotary reed (4-8) is installed in the reed clamping seat (4-9), and the middle part of the rotary reed is detachably assembled with the aluminum profile (5-8) arranged on the pitching joint mechanism (5) through a screw rod and a bolt.
  3. 3. The multifunctional tower shaking inhibition verification system according to claim 2, wherein the pitching joint mechanism (5) comprises a pitching joint block (5-1) and a pitching rotating shaft (5-2), the pitching joint block (5-1) is of a U-shaped structure, two ends of the pitching rotating shaft (5-2) penetrate through two side walls of the pitching joint block (5-1) and are fastened through flanges (5-3), a beam joint block (5-4) is arranged in an opening groove of the pitching joint block (5-1), the beam joint block (5-4) is rotatably sleeved on the pitching joint block (5-2) through a bearing group (5-5), the bottom wall of the pitching joint block (5-1) is in flange connection with the rotating shaft (4-4) and the rotating bearing bush (4-5), and the bottom wall of the pitching joint block (5-1) is provided with a magnetic grating ruler (10) and a magnetic head (10-1) through a Z-shaped seat so as to measure the angle and the rotation speed of the rotating head.
  4. 4. A multi-functional tower shake suppression verification system according to claim 3, characterized in that the pitching joint mechanism (5) further comprises a pitching reed (5-6) and a connecting rod (5-7), one end of the pitching reed (5-6) is fixedly connected with the bottom wall of the pitching transfer block (5-1), the other end of the pitching reed is connected with the lower part of the connecting rod (5-7), the top of the connecting rod (5-7) is rigidly connected with the lower end face of the cross beam (3), and a cross beam inclination sensor (9) is arranged on the upper end face of the cross beam (3) and used for acquiring the inclination angle of the cross beam (3) relative to the ground.
  5. 5. The multi-functional tower shaking inhibition verification system according to claim 4, wherein the winch lifting servo mechanism (7) comprises a pulley (7-1), the upper end face of the pulley (7-1) is in sliding connection with a guide rail (3-1) arranged on the lower end face of the cross beam (3) through a guide rail seat (7-2), photoelectric switches (3-2) are arranged at two ends of the guide rail (3-1), a winch base (7-3), a fixed pulley (7-4), a pulley motor (7-5) and a limiting seat II (7-13) are sequentially arranged on the lower end face of the pulley (7-1), a winch wheel (7-6) and a winch shaft (7-7) are arranged in the winch base (7-3), a steel wire rope (7-11) is wound on the winch wheel (7-6), one end of the winch wheel (7-7) penetrates through the winch wheel (7-6) and the winch base (7-3) and is connected with a wire arranging gear (7-8) through a key, the other end of the winch wheel is connected with the winch shaft (7-8) through a shaft coupling arranged on the outer side of the winch base (7-3), the wire arranging gear (7-8) is connected with a tooth strip arranged on the lower end face of the cross beam (3) through an adjusting gear (7-10), a two-dimensional inclination angle measuring mechanism (11) is arranged after the wire rope (7-11) bypasses the fixed pulley (7-4), the two-dimensional inclination angle measuring mechanism (11) comprises an out-of-plane angle rotary encoder and an in-plane angle rotary encoder, a limiting seat I (7-12) is arranged below the two-dimensional inclination angle measuring mechanism (11), the wire rope (7-11) penetrates through the limiting seat I (7-12) and is fixedly connected with a fixed ring in the limiting seat II (7-13), a load counterweight (7-14) is arranged on the wire rope (7-11), and the load counterweight (7-14) is arranged between the limiting seat I (7-12) and the limiting seat II (7-13).
  6. 6. A verification method based on the multifunctional tower shake suppression verification system of claim 5, comprising the steps of: Step 1, initializing a system; Step 2, data acquisition setting; step 3, setting motor control parameters; step 4, setting and checking rigidity; and 5, selecting a system control mode.
  7. 7. The method according to claim 6, wherein in the step 2, the configuration key of the host computer is used to enter a sampling channel of a system configuration page to configure a sensor sampling channel, the configuration values of the sampling channel include a sampling channel serial number, a sampling value name, a data processing mode and a zero point, the sampling values obtained by the sensor include an internal angle, an internal angle speed, an external angle, an external angle speed, a rotation angle speed and a beam inclination angle, and the sampling values read directly by encoders of the rotation motor (4-2), the pulley motor (7-5) and the winding motor (7-9) include the rotation motor angle, the rotation motor angle speed, the pulley motor position, the pulley motor speed, the winding motor (7-9) position and the winding motor (7-9) speed, wherein analog quantity data of the beam inclination sensor (9) collected by the PLC is subjected to analog-to digital conversion and then is subjected to linear processing by the host computer.
  8. 8. The method according to claim 6, wherein in the step 3, a control channel page of the system configuration is entered, the control channel 0 is a rotary motor (4-2), the control channel 1 is a sled motor (7-5), the control channel 2 is a hoist motor (7-9), control Parameters ExecuteMode in the control channels 0,1, 2 are set to MoveAbsolute, the rotary motor (4-2), the sled motor (7-5) and the hoist motor (7-9) are controlled in an absolute position mode, startMode, stopMode, EMGStopMode is set to an Instruction to start operation after the Instruction is obtained, and acceletion and decelerations in Parameters under the control channels 0,1, 2 are set to a motor target Acceleration of 1000, so that response speeds of the rotary motor (4-2), the sled motor (7-5) and the hoist motor (7-9) in a sway suppression control are sufficiently fast, click Parameters are written into buttons, and configuration Parameters are written into the PLC.
  9. 9. The method according to claim 6, wherein the specific operation of step 4 is as follows: Step 4.1, controlling a pulley motor (7-5) to move the pulley (7-1) to a position where the far end of the cross beam (3) is limited; Step 4.2, manually replacing a rotary reed (4-8) of the rotary servo driving mechanism (4), applying force parallel to the ground to a beam (3) after two ends of the rotary reed (4-8) are fixed, releasing the force, enabling the beam (3) to swing on a rotary shaft (4-4) as the center, drawing a rotary shaft angle data curve of a read magnetic head (10-1) through an upper computer, judging whether the rotary reed (4-8) meets the requirement of rotary rigidity frequency under the action of the rotary reed (4-8), and replacing the rotary reed (4-8) with different thickness if the rotary reed does not meet the requirement, and repeating the step 4.2; Step 4.3, manually replacing a pitching reed (5-6) of the pitching joint mechanism (5), manually applying force vertical to the ground to the cross beam (3) after two ends of the pitching reed (5-6) are fixed, releasing the force, enabling the cross beam (3) to swing by taking a pitching rotating shaft (5-2) as the center, drawing a tilt angle data curve of a cross beam tilt angle sensor (9) through an upper computer, judging whether the pitching reed (5-6) meets the requirement of pitching rigidity frequency or not, and replacing the pitching reed (5-6) with different thickness if the pitching reed does not meet the requirement, and repeating the step 4.3.
  10. 10. The method according to claim 6, wherein the mode selection in the step 5 includes a manual mode and an automatic mode, and the manual mode is controlled by a user to directly input the target positions and target speeds of the rotary motor (4-2), the pulley motor (7-5) and the winding motor (7-9) into the upper computer, to manually click the operation button, and the target positions and target speed parameters are transmitted to variables of the PLC through the upper computer, and the variables are directly used as input values of a motion axis control instruction block in the PLC to control the rotary motor (4-2), the pulley motor (7-5) and the winding motor (7-9) to move to the target positions at the target speeds; The automatic mode control adopts a shake suppression algorithm, and comprises the following steps: ① The model establishes a dynamic model for the tail end of the steel wire rope, and reads the angle of the rotary motor in real time Position of pulley motor Angle of internal angle of face Angle of out-of-plane angle Establishing a position state vector; ② Defining a system sliding mode surface; ③ The approach rate design ensures that the system state is quickly converged to the sliding mode surface by adopting an index approach law; ④ Deriving the control rate to obtain the acceleration of the pulley motor And rotary motor acceleration A corresponding expression; ⑤ Calculating output quantity and acceleration of pulley motor For controlling the amount of in-plane angle, the acceleration of the rotary motor The method comprises the steps of obtaining the speed of a pulley motor by integrating the acceleration of the pulley motor, obtaining the position of the pulley motor by integrating the speed of the pulley motor, obtaining the speed of a rotary motor by integrating the acceleration of the rotary motor, and obtaining the angle of the rotary motor by integrating the speed of the rotary motor.

Description

Multifunctional tower shaking inhibition verification system and method Technical Field The invention belongs to the technical field of engineering machinery, and particularly relates to a multifunctional tower shaking inhibition verification system and method. Background The tower crane is used as a key engineering mechanical device and is widely applied to large-scale engineering sites such as building construction, bridge construction, port operation and the like. The heavy goods can be stably carried in a wide operation range through various motion modes such as lifting, translation, rotation and the like. However, the tower crane has a high structure and a long cantilever crane, and is very easy to cause structural vibration when being influenced by external factors such as wind load, inertia force or sudden disturbance (such as scram or luffing operation), so that the lifting load is rocked. The lifting and shaking not only increases the difficulty of accurately positioning the goods and prolongs the working period, but also can have adverse effects on the engineering progress, and threatens the working safety and the lifting and carrying safety under serious conditions. In order to improve the operation stability and the operation efficiency of the tower crane under different environmental conditions, a shaking suppression technology is particularly important. The core aim of the shake suppression is to reduce or eliminate the unexpected swing generated in the operation process of the lifting load, thereby realizing quick and accurate positioning, improving the whole operation efficiency and guaranteeing the construction safety. In ground work, the suppression of the sway is usually manually controlled by an operator through experience, and the sway of the suspended load is slowed down by adjusting the operation rhythm, slowly stopping, or the like. However, this method has a large fluctuation in control effect when the experience of the operator is insufficient or in a fatigue state, and has a remarkable uncertainty. More serious, the misoperation often cannot effectively inhibit shaking, but can induce more severe shaking, so that the operation risk is increased. In special environments such as lunar surfaces, the sloshing problem is more pronounced. Because the gravitational acceleration of the moon is only one sixth of the earth, the swing period of the lifting load is obviously prolonged, the amplitude is increased, the time required for the system to restore to stability is longer, and the potential danger is increased. In addition, lunar operations often rely on ground instructions for remote control. Due to the influence of the ground-month communication period, the control signal has unavoidable time delay, so that an operator cannot respond to the shaking state in real time, the risk of overshoot and instability of the system and even structural damage is increased, the fault-tolerant space is extremely small, and the operation safety is extremely difficult to guarantee. Therefore, the shake suppression method which is controlled by the ground depending on the manual experience is not applicable to the lunar environment, and development of a more efficient and stable intelligent control strategy is urgently required. Currently, conventional tower cranes commonly employ a single stiffness structure. If the sloshing suppression algorithm needs to be researched and verified under the condition of multiple rigidities, multiple tower crane equipment with different rigidities must be used respectively. The method not only occupies a large amount of experimental sites and resources, but also needs repeated equipment installation and debugging, and has heavy preparation work and low efficiency. In addition, other structural parameter differences among different rigidity structures are difficult to avoid, so that additional variables interfere with experimental results, and comparability and credibility of experimental data are reduced. Therefore, the construction of the multifunctional tower crane experimental platform with the variable stiffness structure has important significance. The platform can realize switching of different rigidity states in the same structural system, ensures consistency of other structural parameters, effectively avoids experimental interference caused by equipment difference, and provides a unified and reliable experimental foundation for systematic research and verification of a shake suppression algorithm under various rigidity conditions. Particularly in the research and development of crane control strategies facing to lunar environments, the variable-rigidity tower crane platform becomes a key support and provides important guarantee for efficient and safe lifting operation in future lunar construction and exploration tasks. Disclosure of Invention In order to make up for the defects of the prior art, the multifunctional tower shaking inhibition verification system